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Development of the Cartesian Arm Exoskeleton System (CAES) using a 3-axis Force/Torque Sensor
최동일,오준호 제어·로봇·시스템학회 2013 International Journal of Control, Automation, and Vol.11 No.5
This paper presents the development of the exoskeleton system for amplifying human strength, which we call the Cartesian arm exoskeleton system (CAES). The CAES is a highly geared manipulator equipped with electric motors and encoders. In addition, we developed a 3-axis force/torque (FT) sensor to measure the operator’s force. The Cartesian computed torque method is applied to the CAES for compliance control. The explicit force control for amplifying the operator’s force was explored. This method provides back-drivable compliant control with force amplification. Rather than theoretical improvements, we focused on the experimental realization and evaluation of the Cartesian computed torque method with explicit force control for improving joint compliance and amplifying the operator’s force. The experimental results demonstrated the effectiveness of the proposed control method.
악하선 제거 및 경부 절개 없는 악하선 심부 타석증에 대한 수술적 고찰
최동일,오정기,양윤수,홍기환 대한이비인후과학회 2007 대한이비인후과학회지 두경부외과학 Vol.50 No.12
Background and Objectives:Transcervical submandibular gland excision has been commonly used for the treatment of stone cesary submandibular or cervical resection. Subjects and Method:27 patients who had stones in the hilum and internal area of SMG were treated at our department during the past one year. Results:Al stones were removed through intraoral approach without transcervical submandibular gland excision for all patients. For 18 patients with poor surgical field, the sublingual gland was alleviated as time went by. No recurrence had ben found so far. Post-surgical complications such as paralysis of the lingual nerve and the hypoglosal nerve were not found. Conclusion:This surgical method is a posible choice for the treatment of stones in the hilum and internal area of submandibular gland. (Korean J Otorhinolaryngol-Head Neck Surg 2007 ;50 :1135-40)
최동일,공일승,이은정,소상수,양윤수,홍기환,Choi, Dong-Il,Kong, Il-Seung,Lee, Eun-Jung,So, Sang-Soo,Yang, Yoon-Soo,Hong, Ki-Hwan 대한후두음성언어의학회 2007 대한후두음성언어의학회지 Vol.18 No.1
Background and Objectives: It has been suggested that tonsillectomy possibly causes changes of voice because the morphology of the vocal tract is altered. This may cause serious problems for professional voice users. Materials and Method: Subjects were 26 patients. The oral and nasal sound spectrum of oral vowel /a/, /e/ and /i/ were measured before and after tonsillectomy. The formant frequencies and intensities for oral and nasal spectra were compared. The nasality and fundamental frequencies for oral vowel were measured. Results: The first formant frequencies for oral spectra of all vowels were not changed after surgery, but the second formant frequencies were increased significantly after surgery in the vowel /e/ and /i/. The first and second formant intensities for oral spectra were increased significantly after surgery in the all vowels. The first and second formant frequencies for nasal spectra of all vowels were not changed after surgery, but their intensities for nasal spectra were increased after surgery. The nasalities for oral vowel were not changed after surgery. Conclusion : Tonsillectomy appeared to change the spectral features of oral and nasal components of oral vowel, especially spectral intensities.
최동일,김정용,오준석,김용호,노웅래 한국항공우주학회 2015 한국항공우주학회 학술발표회 논문집 Vol.2015 No.11
본 논문에서는 한국형발사체(KSLV-II)에 탑재될 예정인 시퀀스제어장치(Sequence Control Unit, SCU) 의 전기적 특성시험에 대해 기술하였다. 시퀀스제어장치(SCU)는 발사체의 발사 전 운용 및 비행 중 임무수행에 필요한 이벤트들을 구현하기 위하여 연관된 구동장치를 순차적으로 구동하기 위한 장치이다. 시퀀스제어장치에는 드라이루프 구동을 위한 DLM, 솔레노이드 밸브 구동을 위한 SDM, 파이로 장치 구동을 위한 PDM이 탑재되며, 각 모듈의 전기적 특성을 확인하기 위한 시험을 수행하였다. 전기적 특성시험은 전원 천이구간 및 안정화구간의 누설전류 확인, 온도조건에 따른 구동전류 및 구동전압 확인, 상온 조건에서의 소자 발열 확인 시험으로 이루어진다. 전기적 특성시험 결과, 시퀀스제어장치가 본 시험에 제시한 전기적 규격을 모두 만족하여 정상적으로 기능을 수행하기에 문제가 없음을 확인하였다. In this paper, we describe test results of electric characteristics of KSLV-II SCU(sequence control unit). The SCU is an unit to drive solenoid values, pyro devices and discrete devices of a launch vehicle during prelaunch and flight stage for executing a series of launch sequence. In SCU, there are DLM (Dryloop Module), SDM (Solenoid Driving Module), PDM (Pyro Driving Module) and electric characteristics of each module are examined in this paper. The electric characteristic tests are consist of leakage current test during power transition period, power stabilized period and driving current and voltage test depend on temperature conditions and operating temperature measuring test of electrical elements at room temperature. In test results, the SCU is satisfied to proposed electrical standards and enough to conduct proper functions.
유방촬영상 국소적 분포를 보이는 이물질 육아종 : 임상 및 유방촬영 소견
최동일 대한영상의학회 1998 대한영상의학회지 Vol.38 No.6
Purpose : To evaluate the clinical and radiographic findings of localized foreign body (FB) granulomas onmammograms. Materials and Methods : This study involved 13 patients with localized FB granulomas on mammograms;their history of mammoplasty or other plastic procedures was obtained by telephone interviews. Two radiologistsanalyzed the location and morphology of FB granulomas and the presence of associated linear densities orparenchymal distortion on mammograms. Four patients underwent ultrasonography. Results : No patient had a historyof mammoplasty. All 13, however, had a history of plastic procedure, three to 22 (average, 12) years previously,as follows : foreign materials including silicone liquid and oil such as paraffin been injected into the anteriorneck area of nine patients, the infra-auricular area of two, and the nose of two. Multiple small, high-density,flocculent nodules representing FB granulomas were distributed bilaterally in nine patients; they were noted inthe upper inner portion of 11 of 26 breasts. In eight patients, mammograms showed linear opacities suggestingfibrosis. There was no calcification or parenchymal distortion. Though in three cases, the masses were palpable.Ultrasonography revealed several anechoic nodules with posterior enhancement in subcutaneous fatty layers, and inone, 0.2cc of oil droplet had been aspirated under ultrasonographic guidance. Conclusion : Localized FB granulomasof the breast could be caused by the migration of FB from cervicofacial areas. Mammography showed characteristicdistribution of upper inner portions, and the findings were similar to those of mild interstitial mammoplasty.