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송승준,조영근,김진한,Song, Seung-Joon,Cho, Young-Guen,Kim, Jin-Han 인천대학교 도시과학연구원 2018 도시과학 Vol.7 No.1
This research was carried out to investigate the corrosion prevention effect in the water distribution system by galvanized zinc-brass pipe which is using potential between brass and zinc. As a result of this study, pH and conductivity of influent were constant in spite of its installation, and it was difficult to estimate the effect of the installation with temporary increased and reduced concentration of Zn and Fe ions, respectively. However, since the corrosion rate of the steel coupon with galvanized zinc-brass pipe was relatively low, it has an effect of inhibiting corrosion.
복강경 수술로봇을 위한 실시간 운영체제 기반 제어 시스템의 개발
송승준,박준우,신정욱,김윤호,이덕희,조영호,최재순,선경,Song, Seung-Joon,Park, Jun-Woo,Shin, Jung-Wook,Kim, Yun-Ho,Lee, Duk-Hee,Jo, Yung-Ho,Choi, Jae-Seoon,Sun, Kyung 대한의용생체공학회 2008 의공학회지 Vol.29 No.1
This paper reports on a realtime OS based master-slave configuration robot control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. Surgery robot system requires control system that can process large volume information such as medical image data and video signal from endoscope in real-time manner, as well as precisely control the robot with high reliability. To meet the complex requirements, the use of high-level real-time OS (Operating System) in surgery robot controller is a must, which is as common as in many of modem robot controllers that adopt real-time OS as a base system software on which specific functional modules are implemened for more reliable and stable system. The control system consists of joint controllers, host controllers, and user interface units. The robot features a compact slave robot with 5 DOF (Degree-Of-Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously. Each master, slave and Gill (Graphical User Interface) host runs a dedicated RTOS (Real-time OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) on which functional modules such as motion control, communication, video signal integration and etc, are implemented, and all the hosts are in a gigabit Ethernet network for inter-host communication. Each master and slave controller set has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication with the joint controllers. Total 4 pairs of the master/slave manipulators as current are controlled by one host controller. The system showed satisfactory performance in both position control precision and master-slave motion synchronization in both bench test and animal experiment, and is now under further development for better safety and control fidelity for clinically applicable prototype.
Intelligent Fuzzy PID 제어 알고리즘을 이용한 실시간 OS 기반 복강경 수술 로봇의 위치 제어 성능 강화에 관한 연구
宋承駿(Seung-Joon Song),朴埈佑(Jun-Woo Park),辛政昱(Jung-Wook Shin),李德熙(Duck-Hee Lee),金胤昊(Yun-Ho Kim),崔載舜(Jaesoon Choi) 대한전기학회 2008 전기학회논문지 Vol.57 No.3
The fuzzy self-tuning PID controller is a PID controller with a fuzzy logic mechanism for tuning its gains on-line. In this structure, the proportional, integral and derivative gains are tuned on-line with respect to the change of the output of system under control. This paper deals with two types of fuzzy self-tuning PID controllers, rule-based fuzzy PID controller and learning fuzzy PID controller. As a medical application of fuzzy PID controller, the proposed controllers were implemented and evaluated in a laparoscopic surgery robot system. The proposed fuzzy PID structures maintain similar performance as conventional PID controller, and enhance the position tracking performance over wide range of varying input. For precise approximation, the fuzzy PID controller was realized using the linear reasoning method, a type of product-sum-gravity method. The proposed controllers were compared with conventional PID controller without fuzzy gain tuning and was proved to have better performance in the experiment.
실시간 운영체제 기반의 복강경 수술 로봇의 모터제어 시스템에 관한 연구
송승준(Seung-Joon Song),김용(Yong Kim),최재순(Jae-Soon Choi),배진용(Jin-Yong Bae) 대한전기학회 2006 대한전기학회 학술대회 논문집 Vol.2006 No.10
This paper reports on a Realtime OS based motor control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. The system has a conventional master-slave robot configuration and the control system consists of joint controllers, host controllers, and power units. The robot features (1) a compact slave robot with 5 DOF (Degree Of Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously, and (2) direct 1:1 correspondence in the joint of master and slave robot that simplifies control algorithm and enhances reliability. Each master, slave and GUT (Graphical User Interface) host has a dedicated RTOS (RealTirne OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) Each master and slave controller set pair has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication. Total 4 pairs of the master/slave manipulators as current are monitored by one host controller for operation monitoring and higher level motion control. The system showed acceptable performance in both position control precision and master-slave motion synchronization. and is now under further development for better safety and control fidelity for clinically applicable prototype.
송승준 ( Seung Joon Song ) 미래군사학회 2013 한국군사학논총 Vol.2 No.1
Considering the changes of Security environment such as the change of re cent war trend, modern warfare and ROK-Military Reform etc, these days a re debating for the developing of ROK-Milirarys strategy. The core of Requ irements according to following like these ; Firstly, Korea must establishes on the military strategy with playing a leading role, considering the changes of recent war tendency and ROK-Military Reform(reducing the scale of milit ary, reforming a technique forces), and the wartime OPCON Transition. Secondly, The new strategy must be made considering that a deceive war has purposes and objectives, How long the executing period is. where a dec eive war takes place, What is the way(means and ways=Art of war), What are the available assets for the deceive war. And according to the Art of war on the base of these military strategy must be developed and ROK Military m ust be trained. But Investigating the our statues, there are a lot of problems on linking with Military strategic concepts - Doctrines - Construction of Mil itary power - Education & Training. The ways of New ROK-Military Strategy insisting on this study have to i nclude the components( those are Purposes and Objectives, Means and Ways (Art of war), operating Military assets) of planning Military Strategy reflecting the Korean peninsula special environment and the changes of recent war tre nd. and I described as ; Firstly, Establishing new strategic purpose and obje ctive are similar the former one. the different focus is that this study is addi ng Defence of the border with other nations on the former concepts, such as the Occupation on north Korean area & Reunification and removing the nort h korean government. Campaign on the concepts of this study will be separa ted with several one, not one campaign. and Each campaign must define each purpose & objectives. Secondly, On the level of Art of war, When we consider the tendency of recent war, modern warfare, Available military assets, Reform of ROK-Milit ary, Environment of time and space, etc, this study insists that the campaign of Korean peninsula have to change several campaigns, improving that now Korean peninsula be defined as one campaign and separated with Main opera tions in the one. there are some reasons that After turning over the wartime OPCON, Korean military must carry out some decisive operations as a statu s of main operator with the wartime OPCON on the war, so have to fight wit h substantial available military assets. and the Art of war must be made con sidering those. For that reason, this study suggested that It is desirable that the campaign for Defense when north korea attack to the south korea have to be divided over 2 campaigns, and the campaign for seizing north-korea ar ea and reunification when we counter attack to the north-korea. have to be divided over 3 campaigns. On the focus of Military assets, The way of head for building new Military strategy have to meet next two demands ; First, Military assets have to be constructed on the bases of the Art of War of each campaigns. Because Art of war is quite different with Time and Space, and at this time Military asset s to be operated are different. Thus, The military assets operated at Now co ntacting area with enemy(the area of DMZ and FEBA), Deep area of north k orea, and The border with other nations have to be fixed and constructed ac cording to each Art of war concepts. Second, Our neighboring countries are Strong nations that can be heading for world hegemony. Our nation which is small nation can not build all of the military power requested for winning aga inst Our neighboring countries. Thus, we have to fix the appropriate constru ctive goal of the military power. and Those are linked with nation policy, nat ion strategy, military strategy. For overcoming the shortage of military asset s, those have to be reflected on the building plans of military power conside ring those possibility, and those can be arranged at the level of national stra tegy. At this time, we have to develop the plan that the shortage of military power make up with ally-nation``s military powers.
3차원 지지체 제작을 위한 다중 분사체 노즐 바이오프린팅 시스템 개발
박상훈,김성준,송승준,최재순,Park, Sanghoon,Kim, Seongjun,Song, Seung-Joon,Choi, Jaesoon 대한의용생체공학회 2015 의공학회지 Vol.36 No.6
The aim of this study was to develop a multi-nozzle based bioprinting system for fabrication of three-dimensional (3D) biological structure. In this study, a thermoplastic biomaterial that has relatively high mechanical stability, polycaprolactone (PCL) was used to make the 3D structure. A multi-nozzle bioprinting system was designed to dispense thermoplastic biomaterial and hydrogel simultaneously. The system that consists of 3-axes of x-y-z motion control stage and a compartment for injection syringe control mounted on the stage has been developed. Also, it has 1-axis actuator for position change of nozzle. The controllability of the printed line width with PCL was tested as a representative performance index.
고주파 절제술을 위한 심장전극도자 원격 제어 로봇 플랫폼의 개발
박준우(Jun-Woo Park),송승준(Seung-Joon Song),이정찬(Jung-Chan Lee),최혁(Hyuk Choi),이정주(Jung-Joo Lee),최재순(Jaesoon Choi) 대한전기학회 2011 전기학회논문지 Vol.60 No.7
Radiofrequency ablation through cardiac catheterization is one of minimally invasive intervention procedures used in drug resistant arrhythmia treatment. To facilitate more accurate and precise catheter navigation, systems for robotic cardiac catheter navigation have been developed and commercialized. The authors have been developing a novel robotic catheter navigation system. The system is a network-based master-slave configuration 3-DOF (Degree-Of-Freedom) robotic manipulator for operation with conventional cardiac ablation catheter. The catheter manipulation motion is composed of the translation (forward/backward) and the roll movements of the catheter and knob rotation for the catheter tip articulation. The master manipulator comprises an operator handle compartment for the knob and the roll movement input, and a base platform for the translation movement input. The slave manipulator implements a robotic catheter platform in which conventional cardiac catheter is mounted and the 3-DOF motions of the catheter are controlled. The system software that runs on a realtime OS based PC, implements the master-slave motion synchronization control in the robot system. The master-slave motion synchronization performance tested with step, sinusoidal and arbitrarily varying motion commands showed satisfactory results with acceptable level of steady state error. The developed system will be further improved through evaluation of safety and performance in in vitro and in vivo tests.