• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.24.2-27
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• 1996

This paper is a study on the fuzzy force control of a miniature gripper driven by piezoelectric bimorph actuator. The system is composed of two flexible cantilevers, a stepping motor, a laser displacement transducer and two semiconductor force sensors attached to the beams. Obtained results show that the present artificial finger system works well as a miniature gripper, which produces approximately 0.06N force in the maximum. Further, the fuzzy position/force control algorithm is applied to the soft-handing gripper for stable grasping of a object. It revealed that the fuzzy rule-based controller be efficient controller for the stable drive of the flexible miniature gripper. It also showed that two semiconductor strain gauges located in the flexible beam play an important roles for force control, position control and vibration suppression control.

• Journal of Advanced Marine Engineering and Technology
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• v.20 no.1
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• pp.37-43
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• 1996

This paper presents a new control scheme for decoupling the dynamics of two coordinating robot manipulators. A simple full-state feedback scheme with configuration dependent gains can be devised to decouple the system dynamics such that the dynamics of each arm and that of an object held by the two arms is independent of one another. A condition for stability is shown. The advantage of the proposed scheme is that the same control scheme can be applied both for the closed kinematic chain(object-grasping) case and open kinematic chain(no object-grasping) case.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.694-697
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• 1996

The aim of this work for 5 years from 1994 is to develop a multi-fingered robot hand and its control system for grasp and manipulation of objects dexterously. Since the robot hand is still being developed, a commercialized robot hand from Barrett Company is utilized to implement a hand controller and control algorithm. For this, VME based motion control and interface boards are developed and multi-sensors such as encoder, force/torque sensor, dynamic sensor and artificial skin sensor are partly developed and employed for the grasping control algorithm. In oder to handle uncertainties such as mechanical idleness and backlash, a fuzzy rule based grasping algorithm is also considered and tested with the developed control system.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.132.6-132
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• 2001

This paper aims to derive a mathematical model of the dynamics of handling tasks in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.331-333
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• 2007

Robot manipulator is one of the important features in service robot area. Until now, there has been a lot of research on robot" manipulator that can imitate the functions of a human being by recognizing and grasping objects. In this paper, we present a robot arm based on the object recognition vision system. We have implemented closed-loop control that use the feedback from visual information, and used a sonar sensor to improve the accuracy. We have placed the web-camera on the top of the hand to recognize objects. We also present some vision-based manipulation issues and our system features.

• Proceedings of the Korea Information Processing Society Conference
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• 2017.11a
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• pp.395-398
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• 2017

We propose a web crawler system with keyword extraction function in this paper. Researches on the keyword extraction in existing text mining are mostly based on databases which have already been grabbed by documents or corpora, but the purpose of this paper is to establish a real-time keyword extraction system which can extract the keywords of the corresponding text and store them into the database together while grasping the text of the web page. In this paper, we design and implement a crawler combining RAKE keyword extraction algorithm. It can extract keywords from the corresponding content while grasping the content of web page. As a result, the performance of the RAKE algorithm is improved by increasing the weight of the important features (such as the noun appearing in the title). The experimental results show that this method is superior to the existing method and it can extract keywords satisfactorily.

• Journal of Oral Medicine and Pain
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• v.20 no.1
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• pp.171-183
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• 1995

This study was carried out to investigate the relationship between tensed mandibular positions, muscle tenderness and EMG activity, respectively, and between range of motion of the neck and sternocleidomastoid muscle tenderness. Under stressful conditions, most of people take several types of behavioral patterns. Two of them observed frequently are clenching of teeth and grasping of fist. Prolonged clenching or grasping should increase electromyographic activity of associated muscle, especially muscles of mastication and neck muscles and will cause hyperfunction, dysfunction and muscle pain. So it is necessary to relate EMG activity with muscle pain. The author performed routine clinical examination in 47 patients with Temporomandibular Disorders, especially for presence or absence of muscle tenderness. Mandibular rest position was used as a baseline reference position and two more position in which EMG activity was taken were rest postion with grasping of fist and teeth clenching position. BioEMG of Biopak system (Bioresearch Inc, USA) was used for measuring of integrated EMG in masseter, anterior temporalis, anterior belly of digastic muscle and sternocleidomastoid muscle. To measure of the range of neck motion. CROM(Cervical-Range-of Motion, USA) was used. The obtained results were as follows : 1. EMG activity of all muscles except in masseter was higher in grasping of fist than those in rest position and there were significant correlation in EMG activity between the two position except in anterior belly of digastric muscle. 2. When comparing EMG activity between tender and non-tender muscle, all examined muscles did not show any significant difference. From this data, we could conclude that EMG activity was generally not changed with tenderness, of couse, it might be dependent with degree of muscle tenderness. 3. Number of tender points in examined muscles was also not significantly different between in patients with masticatory muscle disorders and in patients with internal derangement. 4. Cervical posture and range of motion of the neck was not differed significantly between in patients with and in patients without tenderness of sternocleidomastoid muscle.

• The Journal of the Korea Contents Association
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• v.9 no.8
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• pp.138-146
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• 2009

Recently big-sized hospitals showed their interest in medical information event monitoring system based on Sense and Respond in order to give patients in emergency a safer medical treatment. In this paper we implemented medical information event monitoring system based on Sense and Respond which stand on event and monitoring process. This system consists of event definition, event extraction, event delivery, and monitoring. It ensures real-time response by grasping and delivering medical information in real-time, and well-balanced understanding of information for hospital management by real-time tracking. Also early confrontation case by case by, event delivery make the safety of patients be secured, the efficiency of hospital can be maximized by early grasping the problems in hospital management problems.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.4
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• pp.216-223
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• 2015

Recently Manipulation capability is important for a robot. Interaction between a robot hand and objects can be properly controlled only is suitable sensors are available. Recently the tendency is to create robot hands more compact and high integrated sensors system, in order to increase the grasping capability and in order to reduce cabling through the finger, the palm and the arm. As a matter of fact, miniaturization and cabling harness represents a significant limitation to the design of small sized embedded sensor. Ongoing work is focusing on a flexible manipulation system, which consists of a dual flexible multi-fingered hand-arm system, and a dual active vision system.

• Journal of Sensor Science and Technology
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• v.19 no.5
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• pp.349-355
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• 2010

Stroke patients, etc. can't use their hands because of the paralysis of their fingers, and their fingers could be recovered by rehabilitating training. In order to judge the rehabilitating extent of their fingers, the patients should grasp a cylindrical object in hospital. At present, the used object in hospital is only a cylindrical object, and can't measure the force of fingers. Therefore, doctors judge the rehabilitating extent by touching and watching at their fingers. So, the four-finger force measuring system which can measure the force of their fingers should be developed. In this paper, four-finger force measuring system with four force sensors which can measure the grasping force is developed. The force sensors are designed and fabricated, and the force measuring device is designed and manufactured by using DSP(digital signal processing). Also, the grasping force test of men is performed by using the developed four-finger force measuring system. It was confirmed that the finger average force of right hand is about 214.6 N and that of left hand is about 212.8 N.