• Proceedings of the Korea Information Processing Society Conference
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• 2013.05a
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• pp.236-239
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• 2013

사람과 휴모노이드 로봇 간의 상호작용에 대한 연구는 로봇 연구의 핵심이다. 본 논문에서는 휴모노이드 로봇인 나오 로봇을 통해 서비스 로봇과 사람 간의 상호작용 방법을 연구한다. 특히 로봇이 사람에게 서비스를 제공함으로써 발생하는 상호작용에 초점을 둔다. 로봇이 서비스를 제공하기 위해서는 모터 프리미티브와 작업을 사전에 정의하는 것이 필요하다. 본 논문에서는 작업을 생성하기 위하여 필요한 모터 프리미티브 데이터를 생성하는 시스템을 제안한다. 본 연구에서 설계한 시스템은 모터 프리미티브를 생성하는 단계까지이며, 향후 연구에서는 작업을 생성하는 하기 위한 기반 시스템으로 활용될 수 있다.

• Proceedings of the Korea Information Processing Society Conference
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• 2009.04a
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• pp.663-665
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• 2009

Ubi-Home 환경에서 장치제어를 하기위해 다양한 방법이 제안되었다. 그 중 원격지에서 장치제어를 하기 위해 특정 기기(로봇)를 활용할 수 있다. 하지만 이와 같은 방법에는 로봇과 장치들의 위치인식과 이동경로 설정에 따른 제약사항이 따른다. 또한 이러한 위치인식 및 이동에는 미리 작성된 하나의 맵이 사용되므로 새로운 환경의 변화나 확장에 적용할 수 없다. 따라서 본 논문에서는 로봇과 장비의 위치인식과 이동경로를 위한 학습형 맵 작성 기법을 제안하며, 테스트를 위해 Atmega128v4 MCU와 AX-12+ Motor, AX-S1 Sensor, ZBS-200 Zigbee, CL-1L5/603LM Infrared Ray Sensor로 로봇을 제작하여 실내 환경 모형에서 테스트하였다.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.8
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• pp.168-175
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• 1995

A robust speed control algorithm under disturbances and reference change is developed using the self tuning control method in order to control induction motors. The method incorporates the concepts of the well known internal model principle and the annihilator polynomial. The effectiveness of the method is evaluated through the speed control experimental results of an induction motor for refernce change and arbitrary distrbance.

• International conference on construction engineering and project management
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• 2015.10a
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• pp.26-27
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• 2015

In the trend of globalization and location transfer of existing production bases is still characterized by an extremely unstable status between different countries and different regions. The results are negative impacts on cost, quality and speed of project implementation, especially automobile industry which is one of the most complex manufacturing sectors. In order to overcome problems from Global Standardization of Production Line and its Localization, it is highly required comprehensive coordination among design of production equipment, production technology, space and interfaces. It is necessary to set up standard of production equipment and building for parallel progress, in order to complete production line in shortest time for launching product. In addition, this standard should keep flexibility with consideration of local situation which means "Glocalization."

• Proceedings of the Korea Information Processing Society Conference
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• 2023.05a
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• pp.517-518
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• 2023

최근 뇌-컴퓨터 인터페이스 분야에서는 뇌파 신호를 이용한 운동 심상 분류 연구가 활발히 이루어지고 있다. 뇌파는 개인별 차이가 큰 생체 신호로, 사용자에 독립적인 경우 추론이 어려워지는 문제가 있어 운동 심상 분류에서는 주로 피험자 종속적인 연구가 행해져 왔다. 본 논문에서는 컨볼루션 신경망 기반의 뇌파 분류 모델인 EEGNet 에 새로운 방식으로 개선한 Squeeze-and-Excitation block 을 적용해 피험자에 대해 독립적인 운동 심상 분류 성능을 향상시키는 방법을 제안하며, 제안한 Squeeze-and-Excitation block 을 적용한 모델이 기존 모델보다 높은 분류 성능을 보여주는 것을 실험적으로 확인하였다.

• Journal of IKEEE
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• v.27 no.4
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• pp.391-398
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• 2023

In this paper, we propose an alternative analysis to regulate DC motors using a PID controller with a gain scaling factor. We start by providing a systematic design method for selecting the PID gains of our proposed controller by seeing the effect of ϵ on damping ratio, overshoot and settling time from the frequency response analysis. With the help of matlab (simulink), We proceed to show that the proposed controller provides robust stability against system parameter uncertainty and the effect of the gain scaling factor on steady-state error. The validity of our control method along with the analysis is verified with the simulation results.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.39-44
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• 2024

This study introduces a novel method for predicting the shape of soft catheter robots embedded with electromagnets. As an advancement in the realm of soft robotics, these catheter robots are crafted from flexible and pliable materials, ensuring enhanced safety and adaptability during interactions with human tissues. Given the pivotal role of catheters in minimally invasive surgeries (MIS), our design stands out by facilitating active control over the orientation and intensity of the inbuilt electromagnets. This ensures precise targeting and manipulation of the catheter segments. The research encompasses a comprehensive breakdown of the magnetic modeling, tracking algorithms, experimental layout, and analytical techniques. Both simulation and experimental results validate the efficacy of our method, underscoring its potential to augment accuracy in MIS and revolutionize healthcare-oriented soft robotics.

• Therapeutic Science for Rehabilitation
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• v.5 no.1
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• pp.77-87
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• 2016

Objective : The purpose of this study is to investigate the impact of task-oriented approach based on upper limb coordinated movement on the ability of the Korean handwriting in children with developmental coordination disorder(DCD). Methods/Design : This randomized controlled trial designed as a pre-/post- test will compare the effectiveness of task-oriented approach and process-oriented approach on handwriting performance for children with DCD aged 5 to 10. These interventions consist of 10 training sessions and 4 assessment sessions over 7weeks. Children will be measured regard to handwriting legibility, speed and pre-handwriting skills including upper limb movement skills, visual perception and visual motor coordination. Conclusion : This is the first attempt to investigate effects of a task-oriented approach in children with DCD. The significance of this study is to provide the clinical evidences to apply the task-oriented approach improves the children's handwriting performance. Furthermore it will also present a more effective intervention for handwriting by figuring out each approach's impact on the improvement of pre-handwriting skills.

• Physical Therapy Korea
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• v.12 no.2
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• pp.81-89
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• 2005

The purpose of this study was to investigate the effect of Modified Constraint-Induced Therapy (MCIT) on the effected upper extremity of children with hemiparesis. Four children with hemiparetic upper extremity caused by brain injuries were trained by MCIT for ten weeks. During the same period, all of the subjects were also involved in thirty-minute regular physical therapy and occupational therapy. During the treatment period, the unaffected upper extremities of the subjects were restrained by a specially designed hand splint or a mitten for five hours a day, five days per week. For two hours out of the five-hour restraint period, the affected upper extremities were intensively trained by performing various functional tasks, which were individually structured to emphasize use of the affected arm. A single-subject design with A-B-A reversal was employed in this study. The affected limb motor ability was evaluated by Melbourne Assessment, measuring the time to grasp and release nine pegs, and measuring grasping power. As a consequence of this study, the affected limb motor test scores of all four subjects in the baseline period were improved during the treatment period. Furthermore, the treatment effect was maintained during a one-month follow-up period. The results of this study support the assumption that MCIT is an effective therapeutic method to improve the sensory and motor abilities of hemiparetic children. It also increases the frequency of functional use of the hemiparetic hands of brain-injured children. Based on the results of this study, it can also be assumed that the modified CIT method is especially beneficial to these children by reducing the negative emotional effects of forceful restraint of the unaffected upper extremity. To optimize the functional recovery of the paretic upper extremity by CIT, the restriction period per day should be decided individually, according to the characteristics of the individual.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.12
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• pp.5860-5866
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• 2012

BOLD technique in functional MRI has to apply multiple stimulations. However as the stimulation time increases failure rates rise. In this study we are proposing proper number of stimulations through our experiments. Ten normal people underwent functional MRI hand motor sanning and the paradigms were designed from first to seventh stimulation. Under Philips Intera Achieva 3.0T MR system and Invivo cop's Eloquence equipment, activation periods and rest periods were repeated ten times each, using BOLD EPI technique. Primary hand motor area stimulation and number of clusters, activation rates and number of activated clusters in and outside the region of interest were compared to each other. Number of clusters in region of interest was lower than others at second stimulation and became static from third stimulation. The stimulated ratios were elevated as the number of stimulations were increased but it was not proportional. Number of clusters outside the ROI became static from the third stimulation and started increasing from sixth stimulation. As results, given the activation ratios of ROI and out side the ROI, three times stimulation was the most appropriate because it does not affect accuracy, also decreasing the fatigue of patients by with the decreased scanning time.