• Journal of International Academy of Physical Therapy Research
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• v.4 no.1
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• pp.532-538
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• 2013

The purpose of this study is to analyze the grip strength by the girth of upper arm and forearm and their muscle activities by duration of grip strength. The subjects were consisted of 20 healthy adults(10 males & 10 females) who had no medical history of neurological and surgical problems with their arms. Girth of upper arm/ forearm and maximum grip strength for 4sec and 30sec were measured. Muscle activity was by wireless electrode EMG system. Co-relation of girth of upper arm/ forearm was significantly high. Upper arm's muscle activity performed for 4sec and 30sec was significantly high. In this study. It suggests that training of upper arm should be performed with the training of grip strength because both of upper arm and forearm affected grip strength.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.9
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• pp.125-132
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• 2002

We use a compound-cam twin arm structure and random tool access method to achieve a faster ATC (Automatic Tool Changer) system for the accurate position and rotation control of a tool magazine and an exchange am. Based on the data obtained from various sensors, it is possible to follow the sequence of commands in each control step for an exchange arm. However, it is not so easy to reduce the exchange time of the system because of the slow responses of the sensors and execution mode delays of PLC (Programmable Logic Controller) scan time. In this paper, we propose a new programmed limit-switch position control method to obtain the shortest possible delays for the random tool access method and compound-cam twin arm structure. With some experimental results, we have achieved below 0.9sec tool exchange time with the proposed method.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.12
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• pp.1086-1092
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• 2012

It has been studied for DGPS/INS(Differential Global Positioning System/Inertial Navigation System) to offer the more precise and reliable navigation data with the aviation industry development. The flight performance evaluation of navigation system is very significant because the reliability of navigation data directly affect the safety of aircraft. Especially, the high-level navigation system, as DGPS/INS, need more precise flight performance evaluation method. The performance analysis is performed by comparing between the DGPS/INS navigation data and reference trajectory which is more precise than DGPS/INS. The GPS receiver, which is capable of post-processed CDGPS(Carrier-phase DGPS) method, can be used as reference system. Generally, the DGPS/INS is estimated the CG(Center of Gravity) point of aircraft while the reference system is output the position of GPS antenna which is mounted on the outside of aircraft. For this reason, estimated error between DGPS/INS and reference system will include the error due to lever arm. In order to more precise performance evaluation, it is needed to compensate the lever arm. This paper presents procedure and result of flight test which includes lever arm compensation in order to verify reliability and performance of DGPS/INS more precisely.

• Physical Therapy Korea
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• v.18 no.2
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• pp.27-34
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• 2011

The aim of this study was to determine the effect of action-observation training on arm function in people with stroke. Fourteen chronic stroke patients participated in action-observation training. Initially, they were asked to watch video that illustrated arm actions used in daily activities; this was followed by repetitive practice of the observed actions for 3 times a week for 3 weeks. Each training session lasted 30 min. All subject participated 12 training session on 9 consecutive training days. For the evaluation of the clinical status of standard functional scales, Wolf motor function test was carried out at before and after the training and at 2 weeks after the training. Friedman test and Wilcoxon signed rank test was used to analyze the results of the clinical test. There was a significant improvement in the upper arm functions after the 3-week action-observation training, as compared to that before training. The improvement was sustained even at two weeks after the training. This result suggest that action observation training has a positive additional impact on recovery of stroke-induced motor dysfunctions through the action observation-action execution matching system, which includes in the mirror neuron system.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.10
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• pp.941-946
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• 2013

In this paper, an enhanced method for attitude determination is proposed for systems using an IMU (Inertial Measurement Unit). In attitude determination with IMU, it is generally assumed that the IMU can be located in the center of gravity on the vehicle. If the IMU is not located in the center of gravity, the accelerometers of the IMU are disturbed from additive accelerations such as centripetal acceleration and tangential acceleration. Additive accelerations are derived from the lever arm which is the distance between the center of gravity and the position of the IMU. The performance of estimation errors can be maintained in system with a non-zero lever arm, if the lever arm is estimated to remove the additive accelerations from the accelerometer's measurements. In this paper, an estimation using Kalman filter is proposed to include the lever arm in the state variables of the state space equation. For the Kalman filter, the process model and the measurement model for attitude determination are made up by using quaternion. In order to evaluate the proposed algorithm, both of the simulations and the experiments are performed for the simplified scenario of motion.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.677-683
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• 2015

This paper proposes a helicopter direction adjustment system using barycenter shift. Most conventional methods for direction adjustment of uniaxial helicopters rely on the angle of inclination of the main rotor. However, the inherent burden of the bearing of the main rotor and serious abrasion of the helicopter using the above methods may results in loss of balance. To decrease abrasion and enhance the barycenter stability, the proposed method was used to shift the barycenter of the helicopter instead of the main rotor for direction adjustment. We set a biaxial ARM on a uniaxial helicopter to adjust the direction of ARM pointing as well as to realize stable direction control when the helicopter loses its balance. The method may enhance the landing safety of helicopters in emergencies. Uniaxial helicopters can be controlled under any environment by adjusting the motor parameters of the ARM which is dependent on the center of mass using neural network. The experiment results show that the helicopter can return to the starting position quickly under the external disturbance.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.2
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• pp.137-142
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• 2015

Teleoperation of a robot arm working in hazardous environments has been studied in the field of defense and security. A master system is an essential part that plays an important role in the teleoperation. We developed a master system, which is an essential part in the teleoperation, so that it can operate the slave robot arm intuitively and has excellent mobility and portability compared to conventional master systems. The master system adopted a Stewart platform to minimize the size and weight, and the legs of the Stewart platform are composed of wires to improve the operation range of the system. The experimental validation of the developed master system is conducted with a commercial IMU, and the experimental results show that the proposed master system can perform reliable and dexterous teleoperation.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.417-424
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• 2022

In this paper, the developed trunk cargo unloading automation system is introduced, and the RGB-D sensor-based box loading situation recognition method and unloading plan applied to this system are suggested. First of all, it is necessary to recognize the position of the box in a truck. To do this, we first apply CNN-based YOLO, which can recognize objects in RGB images in real-time. Then, the normal vector of the center of the box is obtained using the depth image to reduce misrecognition in parts other than the box, and the inner wall of the truck in an image is removed. And a method of classifying the layers of the boxes according to the distance using the recognized depth information of the boxes is suggested. Given the coordinates of the boxes on the nearest layer, a method of generating the optimal path to take out the boxes the fastest using this information is introduced. In addition, kinematic analysis is performed to move the conveyor to the position of the box to be taken out of the truck, and kinematic analysis is also performed to control the robot arm that takes out the boxes. Finally, the effectiveness of the developed system and algorithm through a test bed is proved.

• Journal of Multimedia Information System
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• v.2 no.3
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• pp.255-262
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• 2015

The modern manufacturing systems and technologies produce products that are more accurate day by day. This can be reached mainly by improvement the manufacturing process with at the same time restricting more and more the quality specifications and reducing the uncertainty in part. The main objective an industry becomes to lower the part's variability, since the less variability - the better is product. One of the part of this task is measuring the object's uncertainty. The main purpose of this study is to understand the application of bootstrap method for uncertainty evaluation. Bootstrap method is a collection of sample re-use techniques designed to estimate standard errors and confidence intervals. In the case study a surface of an automobile engine block - (Top view side) is measured by Coordinate Measuring Machine (CMM) and analyzed for uncertainty using Geometric Least Squares in complex with bootstrap method. The designed experiment is composed by three similar measurements (the same features in unique reference system), but with different points (5, 10, 20) concentration at each level. Then each cloud of points was independently analyzed by means of non-linear Least Squares, after estimated results have been reported. A MatLAB software tool used to generate new samples using bootstrap function. The results of the designed experiment are summarized and show that the bootstrap method provides the possibility to evaluate the uncertainty without repeating the Coordinate Measuring Machine (CMM) measurements many times, i.e. potentially can reduce the measuring time.

• Journal of the Korean Society of Costume
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• v.28
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• pp.19-30
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• 1996

This study investigate through the Balin-banchado in the Kookjangdogameuigue how the system of banchado ceremony exchanged during the middle late the Yi dynasty and in the period of introducing Wastern civilization The Balinbanchado is carry a coffin out of the house to the royal mausoleum. The characteristic in the general strucutre share banchado with rites of introduction rites of center and rites of finishing. Balin-banchado varies according to the objects and the times of a state funeral. In comparsion with Karaebanchado there are investigate the general structure cer-emonial arms and ceremonial costumes. The special feature of two banchado varies rites of center among rites of three. in the ceremonial arms aspect the characteristic of two ban-chado differ from the objects and the times. In the ceremonial costumes the peculiarity of two banchado can be divided into the guard costumes and the ceremonial arm costumes. The most formal attire of the guard costumes. were murning dress and yang-kwan-chobok and samo-danryeong In the ceremonial arm costumes the most outstanding was hongkun-hongeui baik-kun-baikeui in two banchado.