• 한국지능시스템학회논문지
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• 제19권4호
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• pp.451-456
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• 2009

본 논문에서는 Virtual Mass-Spring-Damper 모델을 사용하여 이동로봇과 주위 물체와의 관계를 모델링하고 장애물의 충돌벡터를 검출하여 가상의 척력을 발생시키는 가상 임피던스 방법을 제안하였다. 이를 위하여 원격지 슬래이브 로봇의 주위 환경 정보 즉, 이동 로봇과 장애물과의 거리 및 접근 속도 등의 정보를 조작자에게 입체적으로 전달하기 위해 조이스틱의 각축에 연결된 모터를 이용하여 힘을 발생시킬 수 있도록 한다. 제안한 방법의 실제 로봇적용에 앞서 이동로봇의 장애물 회피 시뮬레이션을 통하여 알고리즘을 검증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.524-527
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• 1988

Basic types of bilateral servo systems were described and practical consideration in the bilateral servo controller design was introduced. Power assistance to the operator is essential for high efficiency and accurate force reflection is necessary for dexterous manipulation. This paper shows a controller structure under development at KIMM which employs nonlinear friction compensation and memory based gravity compensation technique for efficiency and dexterity.

• 한국산업보건학회지
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• 제29권3호
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• pp.298-309
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• 2019

Objectives: This study aimed to investigate stages of safety and health culture change through a reflection on 40 years of hearing conservation history at a multinational company. Methods: The target workplaces were multinational companies with more than 1,000 employees. The research used the clinical case study and system analysis methods based on direct observation of the research from 1994 to 2009. The latter method performed an analysis of the equilibrium state of the cross-section in the given period and the longitudinal profile of the change during the given period. Results: The stages of cultural change are divided into five stages and summarized as follows. In the first stage, workplace noise was not widely recognized as a hazard, while in the second stage, the measurement of noise levels and audiometric testing were conducted under the Korean Occupational Safety and Health Act (KOSHA). The driving force for change in the second stage was the amendment of the KOSHA. In the third stage, noise came to be recognized as a hazard factor through awareness training. The driving force of change during the third stage was the strong executive power exerted by the audit of the industrial hygiene program from the US head office. In the fourth step, there was a change to actually reduce noise. The driving force in this stage was a change in company executives' risk perception resulting from lawsuits over noise-induced hearing loss and the task force team activities for culture change based on the action learning protocol. At the fifth stage, a 'buy quiet policy' was institutionalized. The management's experience that noise reduction was difficult was the motivation to manage noise from the time of purchase of equipment. Conclusions: The activities of a hearing conservation program are determined by the improvement of the legal system and by the way it is enforced. Noise control activities to reduce noise areas may be possible through the shared risk perception of noise-induced hearing loss and by a change agent role as a facilitator to implement noise control.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.387-392
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• 2007

The paper presents control performance of a magnetorheological (MR) fluid-based haptic knob which is applicable to invehicle comfort functions. As a first step, MR fluid-based haptic knob is devised to be capable of both rotary and push motions with a single device. Under consideration of spatial limitation, design parameters are optimally determined to minimize a reciprocal of control torque using finite element analysis. The proposed haptic knob is then manufactured and its fielddependent torque is experimentally evaluated. Subsequently, in-vehicle comfort functions are constructed in virtual environment and make them communicate with the haptic knob. Control performances such as reflection force are experimentally evaluated via simple feed-forward control strategy.

• 한국소음진동공학회논문집
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• 제18권3호
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• pp.307-314
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• 2008

The paper presents control performance of a magnetorheological(MR) fluid-based haptic knob which is applicable to in-vehicle comfort functions. As a first step, MR fluid-based haptic knob is devised to be capable of both rotary and push motions with a single device. Under consideration of spatial limitation, design parameters are optimally determined to minimize a reciprocal of control torque using finite element analysis. The proposed haptic knob is then manufactured and its field-dependent torque is experimentally evaluated. Subsequently, in-vehicle comfort functions are constructed in virtual environment and make them communicate with the haptic knob. Control performances such as reflection force are experimentally evaluated via simple feed-forward control strategy.

• 한국HCI학회논문지
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• 제1권1호
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• pp.37-44
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• 2006

물체의 반사 효과는 물체의 재질, 기하학적 모양 및 조명 환경을 표현하는데 있어 매우 중요한 요소이다. 사진품질을 추구하는 사실적 렌더링에서는 기존의 국소 반사 모델을 사용하여 좋은 결과를 얻을 수 있지만, 사용자의 주관이 중시되는 비사실적 렌더링에서는 사용자가 원하는 반사 효과를 표현할 수 있어야 한다. 텍스처는 사용자가 원하는 반사 효과를 직관적으로 표현할 수 있는 수단이며, 이 텍츠처를 모델에 투영하면 원하는 반사 효과를 얻을 수 있다. 이 때 사용자는 텍스처가 투영될 위치와 크기, 방향을 직접 키프레임으로 정해 줄 수 있다. 그러나 모든 반사 효과를 사용자가 직접 정해준다는 것은 번거로운 일이며, 아울러 실시간 응용분야에는 적용할 수 없는 단점이 있다. 본 논문에서는 국소반사모델과 주곡률 해석을 통해 반사 효과의 위치, 방향 및 크기를 결정하기 위한 텍스처 투영기의 새로운 설정 방법을 제시한다. 광원과 시점 정보로부터 주어진 모델 위에서 최대 명점을 구한 후, 텍스처 투영기를 최대 조명점을 지나는 법선 벡터에 평행한 직선 위에 위치시킨다. 투영기의 방위를 최대 조명점에서의 주방향에 따라서 일치시키고, 투영기의 투영 피라미드의 크기를 주곡률에 따라서 결정한다. 텍스처 투영기의 단순한 이동, 회전 및 주곡률 값의 조절을 통하여 반사 영역의 이동, 회전 및 확대/축소가 가능하다. 본 논문에서 제시한 방법은 DirectX 9.0c와 프로그램이 가능한 셰이더 2.0을 사용하여 GeForce FX 7800 그래픽 카드에 구현되었다. 본 논문의 연구 결과는 만화적 표현을 추구하는 게임 등과 같은 실시간 응용분야에 사용될 수 있으며, 실험 결과에 의하면 수만 개의 다면체 모델에 대한 스타일 반사효과를 실시간에 렌더링할 수 있다.

• 한국운동역학회지
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• 제29권3호
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• pp.157-166
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• 2019

Objective: This study examined the effects of stimulating fingertip temperature on the patterns of force sharing and stability properties during multi-finger force production tasks. Method: 9 adult subjects (male: 3, female: 6, age: $26.11{\pm}4.01yrs$, height: $169.22{\pm}5.97cm$, weight: $61.44{\pm}11.27kg$) participated in this study. The experiment consisted of three blocks: 1) maximal voluntary contraction (MVC) task, 2) single-finger ramp task to quantify enslaving (i.e., unintended force production by non-task fingers), and 3) 12 trials of multi-finger steady-state force production task at 20% MVC. There were three temperature conditions including body-temperature (i.e., control condition), $40^{\circ}C$, and $43^{\circ}C$, and the stimulation was given to the index finger only for all experimental conditions. Results: There were no significant differences in the MVC forces, enslaving, and the accuracy of performance during the steady-state task between the conditions. However, the share of stimulated index finger force increased with the index fingertip temperature, while the share of middle finger force decreased. Also, the coefficient of variation of both index and middle finger forces over repetitive trials increased with the index fingertip temperature. Under the framework of the uncontrolled manifold (UCM) hypothesis used to quantify indices of multi-finger synergies (i.e., stability property) stabilizing total force during the steady-state task, the two variance components within the UCM analysis increased together with the fingertip temperature, while no changes in the synergy indices between the conditions. Conclusion: The current results showed that fingertip temperature stimulation only to index finger does not affect to muscle force production capability of multi-finger, independence of individual fingers, and force production accuracy by the involvement of all four fingers. The effect of fingertip temperature on the sharing pattern and force variation may be due to diffuse reflex effects of the induced afferent activity on alpha-motoneuronal pools. However, the unchanged stability properties may be the reflection of the active error compensation strategies by non-stimulated finger actions.

• Membrane and Water Treatment
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• 제11권4호
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• pp.237-245
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• 2020

The effects of the mixed two solvents, Dimethylacetamide (DMAc) and Dimethylformamide (DMF), and Polyethylene glycol (PEG) and Polyvinylpyrrolidone (PVP) as additives on performance of Polyvinylidene fluoride (PVDF) membranes were studied. Initially, PEG200 was used as a primary additive at fixed percentage of 5% wt. PVP was then blended with PEG200 in different concentrations. PVDF and DMAc were used as polymer and solvent in the casting solutions, respectively. To control the diffusion rate of PVP in the presence of PEG200 and PVP blend, mixtures of DMAc and DMF were used as the mixed solvent in the casting solutions. Asymmetric PVDF membranes were prepared via phase inversion process in a water bath and the effects of two additives and two solvents on the membrane morphology, pure water flux (PWF), hydrophilicity and rejection (R) were investigated. Attenuated Total Reflection Fourier Transform Infrared Spectra (ATR-FTIR) analysis was used to show the residual PVP on the surface of the membranes. Atomic Force Microscopy (AFM) was utilized to determine roughness of membrane surface. The use of mixed solvents in the casting solution resulted in reduction of PVP diffusion rate and increment of PEG diffusion rate. Eventually, PWF and R values reduced, while porosity and hydrophilicity increased.

• International Journal of Aeronautical and Space Sciences
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• 제17권3호
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• pp.324-331
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• 2016

The present study focuses on the characteristics of a supersonic jet flowing from a rectangular nozzle exit on a flat plate. Flow visualization techniques using schlieren and kerosene-lampblack tracing are utilized to investigate shock reflection structures and boundary-layer separations over a flat plate. Wall pressure measurements are also carried out to quantitatively analyze the flow structures. All observations are repeated for multiple jet flow boundary conditions by varying the flap length and nozzle pressure ratio. The experimental results show that the jet flow structures over the flat plate are highly three-dimensional with strong bleeding flows from the plate sides, and that they are sensitive to plate length and nozzle pressure ratio. A multi-component force measurement device is also utilized to observe the characteristics of the jet flow thrust vectoring over the plate. The maximum thrust deflection angle of the jet is about $8^{\circ}$, demonstrating the applicability of thrust vector control via a flat plate installed at the nozzle exit.

• 한국세라믹학회지
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• 제42권6호
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• pp.399-404
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• 2005

Anti-reflection film was coated by using spherical silica nano colloidal particles and fumed silica particles. Silica colloid sol was reserved between two inclined slide glasses by capillary force, and particles were stacked to form a film onto the substrate as the upper glass was sliding. The deposition processes were studied to enhance the wavelength dependency of the light transmittance and to control the effective refractive index of the film. Both of the spherical and fumed silica particles showed an enhancement of $4.0-4.4\%$ in light transmittance by one step coating. The dependence of the transmittance on wavelength was largely improved at the longer wavelength by partial coating of fumed particles on the film of spherical particles. The effective refractive index of the film was controlled by removing latex particles that were co-deposited with silica particles. Using this process the light reflectance from one side of the glass substrate could be reduced from $4.2\%$ to $0.6\%$ although zero reflectance was not achieved due to the agglomeration of the latex particles.