• 드라이브 ㆍ 컨트롤
• /
• 제14권3호
• /
• pp.25-31
• /
• 2017

This study presents a methodology for simulating a unified approach that controls interaction force between tool and objective by using a synthesis method of robot interacting control law for stabilizing the transient process of motion. Root locus is used to analyze stabilization of motion deviation characteristics. Based on responses of motion deviation, contact force is derived to satisfy exponential stability and we generate control input with respect to motion trajectories and interaction force. Moreover, simulation is applied to experimental application of a Cartesian robot driven by two stepper motors, and the noise of feedback signals is considered as presence of system inaccuracies, and the unified approach of interaction force control is examined precisely.

• 제어로봇시스템학회논문지
• /
• 제8권9호
• /
• pp.812-817
• /
• 2002

This paper presents a development of high accuracy aligner and describes a method to find the orientation of a substantially circular disk shaped wafer with at least one flat region on an edge thereof. In the developed system, the wafer is spun one 360 degree turn on a chuck and the edge position is measured by a linear array to obtain a set of data points at various wafer orientation. The rotation axis may differ from wafer center by an unknown eccentricity. The flat angle is found by fitting a cosine curve to the actual data to obtain a deviation. The maximum deviation is then corrected for errors due to a finite number of data points and wafer eccentricity by calculating an adjustment angle from data points on the wafer fiat. After determining the flat angle the wafer is spun to the desired orientation. The wafer eccentricity can be calculated from four of the data points located away from the flat edge region. and the wafer is then centered.

• 한국컴퓨터정보학회논문지
• /
• 제20권12호
• /
• pp.29-36
• /
• 2015

In this paper, we propose the horizontal line detection using the Haar-like features and linear regression in infrared images. In the marine environment horizon image is very useful information on a variety of systems. In the proposed method Haar-like features it was noted that the standard deviation be calculated in real time on a static area. Based on the pixel position, calculating the standard deviation of the around area in real time and, if the reaction is to filter out the largest pixel can get the energy map of the area containing the straight horizontal line. In order to select a horizontal line of pixels from the energy map, we applied the linear regression, calculating a linear fit to the transverse horizontal line across the image to select the candidate optimal horizontal. The proposed method was carried out in a horizontal line detecting real infrared image experiment for day and night, it was confirmed the excellent detection results than the legacy methods.

• International Journal of Control, Automation, and Systems
• /
• 제4권3호
• /
• pp.318-324
• /
• 2006

The mobile manipulator is expected to work in partially defined or unstructured environments. In our global/local approach to path planning, joint trajectories are generated for a desired Cartesian space path, designed by the global path planner. For a local path planner, inverse kinematics for a redundant system is used. Joint displacement limit for the manipulator links is considered in the motion planner. In an event of failure to obtain feasible trajectories, the task cannot be accomplished. At the point of failure, a deviation in the Cartesian space path is obtained and a replanner gives a new path that would achieve the goal position. To calculate the deviation, a nonlinear optimization problem is formulated and solved by standard Sequential Quadratic Programming (SQP) method.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2000년도 추계학술대회 논문집
• /
• pp.31-35
• /
• 2000

A cantilever deflection measurement system for AFM(atomic force microscope) was constructed by the laser deflection method using LEP type PSD. Design process including sensitivity analysis was presented and the performance of the system was demonstrated by several experiments using a sample specimen with 50nm-step on the surface. The measured displacement-amplification-factor showed good agreement with the expected one with about 8% deviation. The step height measurement data were compared to what were acquired by commercial AFM, and the result showed that there were about 5nm-deviation between the two data. These results satisfies our expectation in the stage of system design.

• 제어로봇시스템학회논문지
• /
• 제19권11호
• /
• pp.984-990
• /
• 2013

Pick and placement systems need high speeds and reliability for the position alignment process of semiconductor packages in picking up and placing them on placement trays. Image processing is usually adopted for position aligning where finding out the most suitable method is considered most important aspect of the process. This paper proposes a method for judging the performance of different image processing algorithms based on the PCI (Process Capability Index). The PCI is an index which represents the error distribution acquired from many experimental data. The bigger the index, the more reliable the results or the lower the deviation. Two compared and candidate methods are Hough Transform and PCA (Principal Component Analysis), both of which are very suitable for oblong or rectangular type packages such as BGA's. Comparing the two approaches through a CPI with enough experimental results leads to the conclusion that the PCA is much better than the Hough Transform in not only reliability, but also processing speed.

• 융합신호처리학회논문지
• /
• 제21권2호
• /
• pp.80-85
• /
• 2020

최근 학생 및 사무직 종사자에게서 근골격계 질환의 발병률이 증가하고 있으며, 바른 자세의 유지 및 교정 훈련의 필요성이 요구되고 있으나, 관련 연구는 부족한 현실이다. 기존 연구에서는 의자 방석부분에 멤브레인 센서 또는 압력센서를 배치하여 무게의 편중을 보거나, 사용자를 구속하는 센서를 부착하여 체위 변환을 측정하였다. 본 연구에서는 착용편의성을 고려한 체위 변환 감지 센서 디바이스를 개발하였으며, 측정한 각도를 분석앱을 통해 확인하였다. 앉은 자세에서 체위 변환을 측정하기 위하여 경추 및 척추에 IMU 센서로 구성된 센서 디바이스를 부착한다. 두 개의 센서에서 측정되는 체위의 변화값을 각도로 변환하였으며, 각도값은 실시간으로 분석앱을 통해 보여 진다. 본 연구에서는 체위 변화에 따른 실시간 변화값의 측정 가능성과, 착용편의성, 각도 측정의 경향성을 확인해 보았다. 향후 연구에서는 보다 정밀한 각도의 연산 및 동잡음의 보정을 위한 연구를 진행해야 한다.

• 대한물리치료과학회지
• /
• 제6권1호
• /
• pp.915-921
• /
• 1999

The purpose of this study was to determine the effect of testing posture and shoulder position on grip strength. The subjects were one hundred volunteers of Shinsung College (50 males and 50 females), ages from 20 to 27 years(mean age of 22.1 years). This study was carried out from september 7 to setember 10, 1998. The data were analyzed by mean and deviation, unpaired t-test, paired t-test, one way ANOVA and correlation. These results were obtained as follows; 1. Comparison on grip strength by left and right hand, there was a significant difference in standing and sitting position (p<0.05). 2. Comparison on grip strength between male and female, there was a significant difference in standing and sitting position (p<0.05). 3. One-way ANOVA on grip strength according to shoulder joint angle, there was a no significant difference in standing and sitting position (p>0.05). 4. Correlation on grip strength by sitting verus standing, there was a very significantly difference (p<0.01).

• 인터넷정보학회논문지
• /
• 제9권1호
• /
• pp.145-158
• /
• 2008

Cone Intersection(CI) 방법에 의해서 추출된 호는 원래의 곡선으로부터 항상 허용오차 이내에 존재한다. 그러나 CI 방법에 의한 breakpoint의 위치는 허용오차에 영향을 많이 받으며 breakpoint의 위치 오차는 호의 중심 또는 반지름 추출에 나쁜 영향을 준다. 이 논문에서는 CI방법을 개선하여 중심 추출과 호 분리를 위한 방법을 제안하였다. 제안된 방법에 의해 추출된 호는 주어진 곡선으로부터 매우 안정적인 평균 오차를 가진다. 제안된 방법에 의해 추출된 breakpoint들의 위치가 다른 방법들보다 실제 위치에 더 가까운 것을 실험으로 확인하였다.

• 한국응급구조학회지
• /
• 제14권1호
• /
• pp.5-18
• /
• 2010

Objective : This study compares Video laryngoscope and Direct laryngoscope in tracheal Intubation on rapidity and accuracy by paramedic and aims to improve efficiency of airway management and survival rate in pre-hospital treatment for the patients with severe trauma, cardiac arrest or dyspnea caused by acute diseases. Methods : 60 paramedics were recruited from 13 fire stations located in C province. With the consent of the paramedics, likelihood ratio test was carried out and they were divided into two different groups; DL group (30) and GVL group (30). Regarding intubation conditions, difficult airway grade I, grade II and grade III as well as sniffing position and neutral position were examined. This study also compared between ambulance in motion and in stand still. Frequency, average and standard deviation were analyzed with statistics program, SPSS WIN 17.0 and repeated measure design was introduced to examine inter-relations between position, grade and groups. Results : Intubation was performed more rapidly in neutral position and GVL than in sniffing position and DL(F = 15.260, p = .000). Rapidity value was better with grade I and grade II than grade III and better with GVL than DL(F = 32.629, p = .000). Accuracy value was higher with neutral position and GVL than sniffing position and DL(F = 5.008, p = .011). grade III was less accurate than grade I, grade II and GVL was more accurate than DL(F = 10.966, p = .000). Ambulance motion status did not show any statistically significant differences in accuracy and rapidity. Conclusion : Given this study results, neutral position is better for the patient with severe trauma. For a better survival, GVL intubation can be considered since GVL can enhance accuracy as well as rapidity regarding difficult airway. Since there is no significant differences in ambulance motion factors, intubation can be recommended even in moving ambulance for shortening traveling time to a hospital.