• 한국생산제조학회지
• /
• 제8권2호
• /
• pp.108-115
• /
• 1999

This paper proposes the robot inverse calibration method using a neural networks. A highorder networks called Pi-Sigma networks has been used. The Pi-Sigma networks uses linear summing units in the hidden layer and product unit in output layer. The inverse calibration model which compensates the difference of joint variables only between measuring value and analytic value about the desired pose(position orientation) of a robot is proposed. The compensated values are determined by using the weights obtained from the learning process of the neural networks previously. To prove the reasonableness the SCARA type direct drive robot(4-DOF) and anthropomorphic robot(6-DOF) are simulated. It shows that the proposed calibration method can reduce the errors of the joint variables from $\pm$3 to $\pm$0.1.

• 한국지구물리탐사학회:학술대회논문집
• /
• 한국지구물리탐사학회 2003년도 Proceedings of the international symposium on the fusion technology
• /
• pp.60-65
• /
• 2003

A new algorithm was developed to interpret joint orientations from a pair of images of the rock slope to overcome the limitation of photographing direction as in the parallel stereophotogrammetric system and to maximize the range of image measurement. This algorithm can be regarded as a modified multistage convergent photographing system. To determine camera parameters in the perspective projection equation that are the major elements in the photogrammetric technique, a new concept was developed by using three ground control points and single ground guide point. This method could be considered to be very simple when compared with other existing methods which use a number of ground control points and complicated analysis processes.

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
• /
• pp.131-136
• /
• 1999

This paper proposes the robot inverse calibration method using a neural networks. A highorder networks called Pi-Sigma networks has been used. The Pi-Sigma networks uses linear summing units in the hidden layer and product unit in output layer. The inverse calibration model which compensates the difference of joint variables only between measuring value and analytic value about the desired pose(position, orientation) of a robot is proposed. The compensated values are determined by using the weights obtained from the learning process of the neural networks previously. To prove the reasonableness, the SCARA type direct drive robot(4-DOF) and anthropomorphic robot(6-DOF) are simulated. It shows that the proposed calibration method can reduce the errors of the joint variables from $\pm$2$^{\circ}$to $\pm$ 0.1$^{\circ}$.

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 1999년도 춘계학술대회 논문집
• /
• pp.199-204
• /
• 1999

The robot inverse calibration method using a neural networks is proposed in this paper. A high-order networks has been used in this study. The Pi-Sigma networks uses linear summing units in the hidden layer and product unit in output layer. The inverse calibration model which compensates the difference of joint variables only between measuring value and analytic value about the desired pose(position orientation) of a robot is proposed. The compensated values are determined by using the weights obtained from the learning process of the neural networks previously. To prove the reasonableness, the selected compliance automatic robot arm type direct drive robot and anthropomorphic robot are simulated. It shows that the proposed calibration method can reduce the errors of the joint variables from ${\pm}$0.15$^{\circ}$to ${\pm}$0.12$^{\circ}$.

• 대한기계학회논문집
• /
• 제18권8호
• /
• pp.2016-2025
• /
• 1994

A hierarchical planning strategy for dextrous manipulation of multifingered hands with soft finger contact model is proposed. Dextrous manipulation planning can be divided into a high-level stage which specifies the position/orientation trajectories of the fingertips on the object and a low-level stage which determines the contact forces and joint trajectories for the fingers. In the low-level stage, various nonlinear optimization problems are formulated according to the contact modes and integrated into a manipulation planning algorithm to find contact forces and joint velocities at each time step. Montana's contact equations are used for the high-level planning. Quasi-static simulation results are presented and illustrated by employing a three-fingered hand manipulating a sphere to demonstrate the validity of the proposed low-level planning strategy.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2002년도 추계학술대회논문집
• /
• pp.505-510
• /
• 2002

The attenuation of waves transmitted through non-conservative joints that are shown in many paractical structures, is affected by the impedance and the orientation of the joint. In this paper, the joints between plate structures are assumed to be modeled as linear spring-dashpot systems and the transmission and reflection of vibration energy in the medium to high frequency ranges are investigated. The calculated power transmission and reflection coefficients are applied to the PFA method for the prediction of energy density and intensity in structures.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2002년도 추계학술대회논문초록집
• /
• pp.353.2-353
• /
• 2002

The attenuation of waves transmitted through non-conservative joints that are shown in many practical structures, is affected by the impedance and the orientation of the joint. In this paper, the joints between plate structures are assumed to be modeled as linear spring-dashpot systems and the transmission and reflection of vibration energy in the medium to high frequency ranges are investigated. (omitted)

• 자원환경지질
• /
• 제52권3호
• /
• pp.231-241
• /
• 2019

운동학적 분석은 암반사면 내에 존재하는 불연속면의 방향과 사면 방향 사이의 상관관계에 대한 분석을 통해 사면의 안정성을 파악하는 기법으로 본 연구에서는 지상라이다를 활용하여 암반사면으로부터 다수의 불연속면 자료를 획득하고 이를 활용하여 운동학적 분석을 수행하였다. 특히 본 연구에서는 지상라이다로부터 획득된 불연속면 방향성 자료의 확률특성을 파악하였으며 확률밀도함수인 Fisher 함수를 이용하여 방향자료를 생성하고 확률론적 분석을 수행하였다. 그리고 이러한 결과를 실제 현장으로부터 획득한 방향자료를 활용하여 분석을 수행한 확률론적 해석 결과와 비교해 보았다. 분석 결과 Fisher 함수로부터 생성된 자료를 활용한 확률론적 분석 결과와 현장자료를 활용한 확률론적 해석 결과는 값의 차이를 보이기는 하지만 유사한 결과를 도출하였다. 따라서 지상라이다 등과 같은 방법을 활용하여 충분한 방향성 자료가 제공되는 경우 확률밀도함수로부터의 방향자료 생성 없이 현장자료를 활용한 분석이 가능할 것으로 판단된다. 또한 본 연구에서는 확률론적 해석기법의 결과를 기존의 해석방식인 대표방향을 이용한 결정론적 해석기법과 비교해 보았다. 분석 결과 확률론적 해석 결과와 결정론적 해석 결과는 거의 유사하게 해석되었으며 이는 절리군내의 분산이 그리 크지 않아 확률론적 해석 결과와 결정론적 해석 결과가 유사한 것으로 판단된다.

• Archives of Reconstructive Microsurgery
• /
• 제11권1호
• /
• pp.11-18
• /
• 2002

Large soft tissue defects around the knee joint are known to significantly diminish joint function. Severe soft tissue defects on the anterior aspect of the knee joint especially bring on significant joint motion limitation. Although simple split skin grafts can cover the skin defect, the progressing scar contracture of the grafted skin causes joint stiffness. One of the best solutions of large soft tissue defects around the knee joint is covering the defect with a good quality skin flap. Separated flaps with one vascular pedicle are good candidates for covering anterior and posterior aspects of the joint for example. Authors performed 12 cases of combined scapular and latissimus dorsi free flaps from 1984 to 2000. Among them, we experienced 5 cases of knee joint defect covering using the double free flap for coverage of the soft tissue defect with preservation of the knee joint function and satisfactory results. The system of flaps based on the subscapular artery and vein provides a variety of composite free flaps. The possible flaps that can be harvested based on this single vascular pedicle include the scapular and parascapular skin flap, the serratus anterior and latissimus dorsi muscular flap, the lateral scapular bone flap, the latissimus dorsi-rib flap, and the serratus anterior-rib flap. This combined flap is available for multiple tissue defects or complex defects because it can be incorporated with skin, muscle and bone flaps. A main advantage is the independent vascular pedicles of each component, which allow freedom in orientation of each components. Consequently it can be freely applied to any form of three dimensional defects on the upper and lower extremities. The combination of scapular cutaneous flap and latissimus dorsi musculocutaneous flap can be resurfaced for massive cutaneous defects on the extremities. We report the use of the combined scapular and latissimus dorsi free flap in five patients to reconstruct massive defects on the extremities with resultant improved joint function. There was no flap failure and minimal complications and disadvantages. The anatomy of this flap is reviewed and the indication and advantages are discussed. All of the five flaps survived and there was no scar contracture affecting the joint motion.

• 대한인간공학회:학술대회논문집
• /
• 대한인간공학회 1996년도 추계학술대회논문집
• /
• pp.219-224
• /
• 1996

By integrating the wired-glove and the position sensor using the magnetic fields, we developed the system which could measure the functional dimension of the hand and arm of the human. Magnetic position sensor traces the position and orientation of the arm while the wired-glove measures 18 phalangeal joint angles(including abduction between fingers, pitch and yaw of the wiist). The system could be used to monitor and quantify the functional dimension of the hand and arm and also could be used to test the product usability where the hand motion is important. Another important application lies in determining the degree of paralysis.