• 대한정형도수물리치료학회지
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• 제9권2호
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• pp.69-77
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• 2003

Objective: The purpose of this study is to describe the effect of the serratus anterior muscle exercise in a patient with winging of the scapular. Background and Purpose: The patient was a 33-year-old man with an 3 years history of the left deltoid region. He had not responded to previous treatments of rest, TENS and medicine. Materials and Methods: After Surgical operation of the shoulder, the patient was treated for 6 months in 144 visits. treatment consisted of push-up with plus in the standing position with his hands against the wall and unique push-up with quadruped position at mat. Also, Sling exercise therapy was utilized to control scapular stabilization and reduce stress on the scapulohumeral joint. Result: Following 104 physical therapy visits, the patient was able to full range of motion of the shoulder without shrug motion. Conclusion and Discussion: Scapular winging and serratus anterior muscle function are important consider in the rehabilitation of the shoulder dysfunction. Therefore, specific exercise program for people with the winging scapular should be considered.

• 드라이브 ㆍ 컨트롤
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• 제17권3호
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• pp.9-14
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• 2020

A special purpose machine with two manipulators and quadruped crawler system is being developed to work at disaster sites where it is intended to quickly respond in the initial stages after the event. In this study, a terrain recognition module is developed so that the above special purpose machine can quickly obtain ground information to help choose its path while recognizing objects in its way, this is intended to enhance the remote driver's limited situational awareness. Terrain recognition modules were developed for two tasks (real-time path guidance, precision terrain measurements). The real-time path guidance analyzes terrain and obstacles while moving, while the precision terrain measurement feature provides more accurate terrain information by precisely measuring the ground in front of the vehicle while stationary. In this study, an air-cooled sensor protection module was developed so that the terrain recognition module can continue its vital tasks in the event of exposure to foreign substances, including scattered dust, mist and rainfall, as well as high temperatures.

• 드라이브 ㆍ 컨트롤
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• 제17권3호
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• pp.1-8
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• 2020

Recently, a special purpose machine with two manipulators and quadruped crawler system has been developed for rapid life-saving and initial restoration work at disaster sites. This special purpose machine provides the driver with various environmental recognition functions for accurate and rapid task determination. In particular, the human detection technology assists the driver in poor working conditions such as low-light, dust, water vapor, fog, rain, etc. to prevent secondary human accidents when moving and working. In this study, a human detection module is developed to be mounted on a special purpose machine. A thermal sensor and CCD camera were used to detect victims and nearby workers in response to the difficult environmental conditions present at disaster sites. The performance of various AI-based life detection algorithm were verified and then applied to the task of detecting various objects with different postures and exposure conditions. In addition, image visibility improvement technology was applied to further improve the accuracy of human detection.

• 한국지능시스템학회논문지
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• 제21권1호
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• pp.132-137
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• 2011

4족 보행로봇은 보행 안정성이 높아서 향후 다양한 분야에 활용이 기대되며, 효율적인 보행을 위한 걸음새의 생성과 제어가 중요하다. 특히, 다양한 로봇 모델들에 대한 수요와 여러 가지 걸음 동작의 필요성으로 인하여 자동적인 걸음새 생성기법이 요구된다. 본 논문에서는 HyperNEAT(Hypercube-based NeuroEvolution of Augmenting Topologies)를 사용하여 지형변화에 적응 가능한 4족 보행로봇의 걸음새를 생성하고, 바이올로이드로 구성된 4족 보행로봇에 대하여 ODE 기반의 Webots 시뮬레이션을 통해서 보행 실험을 수행하고 결과를 분석한다.

• 전기학회논문지
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• 제64권8호
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• pp.1231-1239
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• 2015

We developed a robot that has four limbs, each of which has the same kinematic structure and has 6 degrees of freedom. The robot is 600mm high and weighs 4.3kg. The robot can perform walking and manipulating task by using the four limbs selectively. The robot has three walking patterns. The first one is biped walking, which uses two rear limbs as legs and two front limbs as arms. The second one is biped walking with supporting arms, which is basically biped walking but uses two arms as supporting legs for increasing stability of the robot. The last one is quadruped walking, which uses all the four limbs as legs. When a task for the robot is given, the robot approaches the task point by selecting an appropriate walking pattern among three walking patterns and performs the task. The robot has many degrees of freedom and is a redundant system for a three dimensional task. We propose a redundancy resolution method, in which the robot’s translational move to the task point is modeled as a prismatic joint and optimal solutions are obtained by optimizing some performance criteria. Several simulations are performed for the validity of the proposed method.

• 한국지능시스템학회논문지
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• 제21권6호
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• pp.673-678
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• 2011

본 논문에서는 물체의이동이나 정보 탐색을위하여 유용하게 사용될 수 있는 4족 로봇의 정지 밸런스를 분석하고자 한다. 이 목적을위하여, 일반적인 4족 로봇의유용한 모델을 제시하고, 정지 안정성을 고려한 경계 조건을 제안한다. 착지된 상태에서 4족 로봇의 정지 밸런스를 분석하기 위하여 다양한 자유 운동을 고려하며, 시뮬레이션을 통하여 밸런스 여유를 고찰한다. 이러한 분석은 4족 로봇 보행의 효과적인 밸런싱 제어를 위하여 유용하게 활용될 수 있을것이다.

• EDISON SW 활용 경진대회 논문집
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• 제5회(2016년)
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• pp.397-403
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• 2016

Various walking robot platforms have been developed to carry out missions such as explorations, pass of obstacle or inspections of dangerous environments. In this work, a four legs mechanism based on Jansen mechanism is developed, which can follow a certain track and overcome obstacles. To find the ideal locus, computer programs are used such as M. sketch and Working model. Using these program tools, moderate linkage sizes are selected in Science Box. Furthermore, in order to optimize design of legs, a level average analysis is used as well as Edison S/W. Through the design optimization, improved stride of locus is found.

• The Journal of Korean Physical Therapy
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• 제34권1호
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• pp.6-11
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• 2022

Purpose: This study investigated the muscle activity of the lower trapezius (LT) during three different shoulder flexion exercises. Methods: Twenty-three subjects between 20 and 25 years of age were enrolled. The subjects were asked to perform three different shoulder flexion exercises: 1) shoulder flexion in prone (SFP), 2) shoulder flexion in push-up with a swiss ball (SFPUS) and 3) shoulder flexion in a quadruped position with a swiss ball (SFQPS) in random order. The muscle activity of LT during each shoulder flexion exercise was measured by using surface electromyography. The muscle activity of LT was compared using one-way analysis of variance (ANOVA) and Bonferroni post hoc test among three different shoulder flexion exercises. The statistical significance level was set at α=0.01. Results: The muscle activity of LT was significantly different among three different shoulder flexion exercises (SFP, SFPUS, and SFQPS). The LT muscle activity with SFQPS exercise was greater than SFP and SFPUS exercises (p<0.01). There was no significant difference in LT muscle activity between SFP and SFPUS exercises (p>0.01). Conclusion: The LT muscle activity was greater during SFQPS than SFP and SFPUS. Therefore, SFQPS exercise can be recommended for selectively activation of LT muscle.

• 로봇학회논문지
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• 제18권1호
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• pp.37-47
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• 2023

This paper introduced how to construct Denavit-Hartenberg (DH) parameters from the Unified Robot Description Format (URDF). URDF is convenient for describing a robot even though the robot is very complex. On the other hand, DH convention is not an easy notation for many novices who want to describe a robot. Therefore, most vendors provide URDF and users prefer to use URDF to describe a robot. However, some controllers or algorithms are based on DH parameters to perform kinematics, dynamics, control, etc. To connect URDF and DH parameters, we present a three-step approach to construct DH parameters from URDF. The first step is to define the joint axis for constructing DH parameters. The second step is constructing DH parameters to define joint character. The final step is constructing DH parameters to define the coordinate frame of the child link. This approach is based on intuitive vector calculation and guarantees the uniqueness of DH parameters. To verify our approach, we applied our approach to a simple one-link robot, a manipulator with 6 DOF, and a quadruped robot with 3 DOF per leg. We verified that our approach worked well based on forward kinematic results.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2023년도 가을학술발표대회논문집
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• pp.267-268
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• 2023

Unmanned patrol robots are currently being developed for autonomous data survey in construction sites. As the amount of data acquired by robots increases, it is important to utilize proper metadata and system to manage data flow. In this study, we developed three materials, metadata design, robot system and web system, in the purpose of automating construction site data survey using unmanned patrol robots. The metadata was mainly designed to represent when and where raw data was acquired. To identify the location of data acquired, localization data from SLAM algorithm was converted to suit the construction drawings. The robot system and web system were developed to generate, store and parse the raw data and metadata automatically. The materials developed in this study was adopted to Boston Dynamics SPOT, a quadruped robot. Autonomous data survey of 360-picture and environment sensor was tested in two construction sites and the robot worked as intended. As a further study, development on the autonomous data survey to improve the convenience and productivity will be continued.