비평탄면에서의 4 족 로봇의 갤로핑 알고리즘

신창록(Chang-Rok Shin),김장섭(Jang Seob Kim),박종현(Jong Hyeon Park) 대한기계학회 2010 大韓機械學會論文集A Vol.34 No.6

본 논문에서는 4 족 보행로봇의 비평탄면 갤로핑 알고리즘을 제안하였다. 몸체의 균형은 지면접촉순간의 지면반발력에 의해 결정되므로 안정된 보행을 위해 발과 지면과의 접촉력을 제어하였다. 각 발의 지면접촉힘을 제어하기 위해 우선 요구되는 지면접촉힘을 결정하고 지면접촉구간에서 실제 접촉힘과 비교하고 그 차이에 따라 발의 궤적을 수정하게 된다. 요구되는 지면접촉력은 원하고자 하는 각운동량 및 선형운동량의 변화에 따라 결정되며, 각 발에 요구되는 접촉힘으로 퍼지로직에 의해 분배된다. 리커다인을 이용한 동역학 모델 시뮬레이션을 통해 본 논문에서 제안된 방법이 비평탄면에서의 안정적인 보행에 적합함을 검증하였다. This paper proposes a control algorithm for quadruped robots moving on irregularly sloped uneven surfaces. Since the body balance of a quadruped robot is controlled by the forces acting on its feet during touchdown, the ground reaction force (GRF) is controlled for stable running. The desired GRF for each foot is generated on the basis of the desired galloping pattern; this GRF is then compared with the actual contact force. The difference between the two forces is used to modify the foot trajectory. The desired force is realized by considering a combination of the rate change of the angular and linear momenta at flight. Then, the amplitude of the GRF to be applied at each foot in order to achieve the desired linear and angular momenta is determined by fuzzy logic. Dynamic simulations of galloping motion were performed using RecurDyn; these simulations show that the proposed control method can be used to achieve stable galloping for a quadruped robot on irregularly sloped uneven surfaces.

적응 뉴로 제어기법을 이용한 로봇 핸드관절의 실시간 제어

신창록(Chang-Rok Shin),이우송(Woo-Song Lee),김용태(Yong-Tae Kim),안종국(Jong-Gok Ann),한성현(Sung-Hyun Han) 한국생산제조학회 2005 한국공작기계학회 추계학술대회논문집 Vol.2005 No.-

In this paper, it is presented a new scheme of adaptive-neuro control system to implement real-time control of robot hand joints. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. Through simulation, the proposed adaptive-neuno control scheme is proved to be a efficient control technique for real-time control of robot system using DSPs.

적응 신경회로망 제어기법을 이용한 로봇 실시간 제어

신창록(Chang-Rok Shin),이우송(Woo-Song Lee),김용태(Yong-Tae Kim),안종국(Jong-Gok Ann),한성현(Sung-Hyun Han) 한국기계가공학회 2005 한국기계가공학회 춘추계학술대회 논문집 Vol.2005 No.-

만성 간질환 및 간경변증에 동반된 간세포암 환자에서 혈청 보체치 측정의 의의

신창록(Chang Rok Shin),전용철(Yong Cheol Jeon),함준수(Joon Soo Hahm),이종철(Jong Chul Rhee),이민호(Min Ho Lee),이동후(Dong Hoo Lee),기춘석(Choon Suhk Kee),박경남(Kyung Nam Park) 대한내과학회 1991 대한내과학회지 Vol.40 No.2

N/A Serum complement levels were evaluated retrospectively in 68 patients with chronic liver diseases: 21 patients with chronic active hepatitis, 25 patients with liver cirrhosis, and 22 patients with hepatocellular carcinoma in liver cirrhosis. There was no significant difference in serum complement levels between the chronic active hepatitis patients and the control group. Serum complement levels were significantly reduced in the liver cirrhosis group compared with the chronic active hepatitis and normal control groups, while hepatocellular carcinoma in the liver cirrhosis group showed significantly high serum complement levels compared with the liver cirrhosis only group. Serum C3 levels correlated well with the serum albumin levels and prolonged prothrombin times in chronic active hepatitis and liver cirrhosis patients but not in the hepatocellular carcinoma patient group. The cutoff values of the complements for detection of hepatocellular carcinoma in patients with liver cirrhosis were set according to a retrospective study. Based on these data, a prospective study was performed to detect hepatocellular carcinoma in 58 patients with liver cirrhosis. The positive predictive values, negative predictive values, and accuracies of the complements were as follows: 83.3%, 79.4%, and 81.0% for C3, 87%, 80.0%, and 82.8% for C4 respectively. Thus, these data suggest that measuring serum complement levels may be helpful in the follow-up evaluation of patients with chronic liver diseases, and the combination of complements tests and α-fetoprotein test could be useful in the early detection of hepatocellular carcinoma in liver cirrhosis patients.

4족 보행로봇의 보행방법에 대한 에너지효율

신창록(Chang-Rok Shin),김장섭(Jang Seob Kim),박종현(Jong Hyeon Park),유홍희(Hong Hee Yoo) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.11

In this paper, the dependency of energy efficiency on the walking/running pattern and the walking/running period is analyzed though simulations of walk, trot and gallop. A quadruped animal has its own original features in the walking pattern and the walking period for adaptation to the environment. The robot model used in the simulations has three active joints and one passive spring-loaded joint at each leg, which is based on the actual quadruped robot, HUNTER (Hanyang UNiversity TEtrapod Robot), developed in the lab. Also included is the dependency of energy efficiency on the walking period in trot.

비평탄면에서의 4족 로봇의 갤로핑 알고리즘

신창록(Chang-Rok Shin),박종현(Jong Hyeon Park),유홍희(Hong Hee Yoo) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.11

In This paper proposes the control algorithm for quadruped robots on irregularly sloped uneven surface. Body balance is important in stable running locomotion. Since the body balance is determined by the forces applied at the feet during touchdown phase, the ground reaction force is controlled for stable running. To control the forces at each foot, the desired force is generated. The generated desired force is compared with actual contact force, then, the difference between them modifies the foot trajectory. The desired force is generated by combination of the rate change of the angular and linear momentum at flight. Then the rate change of momentum determines each force distribution. The distribution of the force is carried out by fuzzy logic. The computer simulation is carried out with the commercial software RecurDyn<SUP>®</SUP> . Dynamic model simulation program show that the stable running on the irregularly sloped uneven surface are accomplished by the proposed method.

4족 보행로봇 HUNTER의 개발 및 동적 보행

신창록(Chang-Rok Shin),채기주(Key Gew Chae),박종현(Jong Hyeon Park) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5

This work introduces the quadruped robot designed at Hanyang University and preliminary dynamic simulation of dynamic walk, which is called HUNTER (Hanyang UNiversity TEtrapod Robot). HUNTER has three active joints and one passive spring-loaded joint at each leg. Its design is based on the analysis of the characteristics of typical 4-legged animals in walking and running. The passive joints at the legs were designed to reduce the ground impact in landing and to be able to reuse the stored energy in the springs. The apparatus of the hardware was analyzed in FEM to reduce the weight while maintaining the strength of the structure of the robot. All the design parameters of the structure as well as actuators are selected based on dynamic simulations. In this work, the results of simulating a dynamic walk are also described.

진도개에서 임신일령에 따른 임신구조물의 초음파상 II. 태아 및 태아외구조물의 측정에 의한 임신일령의 추정

손창호,신창록,강병규,최한선,Son, Chang-ho,Shin, Chang-rok,Kang, Byong-kyu,Choi, Han-sun 대한수의학회 1996 大韓獸醫學會誌 Vol.36 No.1

Serial ultrasonographic examinations were performed on 9 pregnant Korea Jin-do dog from days 15 to 60 to determine the size of gestational structures throughout pregnancy. Gestational age was timed from the day of ovulation (Day 0), which was estimated to occur when plasma progesterone concentration was first increased above 4.0 ng/ml. Extra-fetal structures were measureable from days 17 to 49. Outer uterine diameter increased from $7.0{\pm}0.7$ ($mean{\pm}SD$)mm at day 17 to $54.0{\pm}2.2mm$ at day 49 and inner chorionic cavity diameter increased from $3.0{\pm}0.7mm$ at day 17 to $37.5{\pm}0.6mm$ at day 49. Uterine wall thickness increased from $2.8{\pm}0.4mm$ at day 17 to $8.3{\pm}0.5mm$ at day 49, placental thickness increased from $1.0{\pm}0.1mm$ at day 22 to $5.7{\pm}0.2mm$ at day 49 and length of chorionic cavity or zonary placenta increased from $5.5{\pm}1.3mm$ at day 20 to $52.3{\pm}2.2mm$ at day 49. Inner chorionic cavity diameter, outer uterine diameter and placental length each increased at a linear rate through day 37, after which time, each had a marked plateau in growth. Of the extra-fetal structures, inner chorionic cavity diameter was the most accurate for estimation of gestational age until day 37. Fetal structures were measureable from days l7 to 60. Crown-rump length, increased from $3.0{\pm}0.7mm$ at day 22 to $118.7{\pm}3.1mm$ at day 49, fetal body diameter increased from $4.0{\pm}0.7mm$ at day 25 to $55.8{\pm}1.7mm$ at day 60 and fetal head diameter increased from $4.3{\pm}0.6mm$ at day 26 to $29.8{\pm}0.8mm$ at day 60. Of the fetal structures, fetal head diameter was the most accurate for estimation of gestational age from day 37 until day 60.

진도개에서 임신일령에 따른 임신구조물의 초음파상 I. 태아 및 태아외구조물의 최초 관찰시기

강병규,손창호,신창록,최한선,오기석,박인철,Kang, Byong-kyu,Son, Chang-ho,Shin, Chang-rok,Choi, Han-sun,Oh, Ki-seok,Park, In-cheul 대한수의학회 1996 大韓獸醫學會誌 Vol.36 No.1

Serial ultrasonographic examinations were performed on 9 pregnant Korea Jin-do bitches that were the Korean native breed, from days 15 to 60 pregnancy to determine the time of first detection and ultrasonographic appearance of the fetal and extra-fetal structures of pregnancy. Gestational age was timed from the day of ovulation (Day 0), which was estimated to occur when plasma progesterone concentration was first increased above 4.0 ng/ml. Gestational ages at earliest detection of the following fetal and extra-fetal structures were; gestational sac at days 17 to 22; placental layers in the uterine wall at days 20 to 24; zonary placenta at days 25 to 28; yolk sac membrane at days 22 to 24; amnionic membrane at days 27 to 29; embryo initial detection at days 21 to 23; fetal heartbeat at days 21 m 25; bipolar shape embryo at days 25 to 26; fetal movement at days 28 to 31; limb buds at days 31 to 35; anechoic area in head at days 31 to 36; stomach at days 34 to 37; urinary bladder at days 34 to 37; skeleton at days 36 to 38; dorsal sagittal tubular structure in vertebrae at days 36 to 38; lung hyperechoic vs liver at days 37 to 39; liver hypoechoic vs abdomen at days 37 to 40 and kidney at days 43 to 48, respectively.

진도개에서 혈장 progesterone 농도측정에 의한 배란시기 및 교배적기의 추정

손창호,강병규,최한선,이나경,신창록,한호재,윤용달,Son, Chang-ho,Kang, Byong-kyu,Choi, Han-sun,Lee, Na-kyung,Shin, Chang-rok,Han, Ho-jae,Yoon, Yong-dal 대한수의학회 1997 大韓獸醫學會誌 Vol.37 No.4

The aim of this study was to assess the estimates of the time of ovulation and mating derived by plasma progesterone concentration. The 40 mature Korea Jin-do bitches were monitored to determine the plasma progesterone concentrations from proestrus to parturition. Gestation length in the 30 pregnant bitches was $63.9{\pm}2.3$ ($mean{\pm}SD$) days in multiparous bitches and $61.8{\pm}3.6$ days in primiparous bitches when Day 0 was timed from the first day of male acceptance, and $61.4{\pm}1.8$ days and $61.3{\pm}2.7$ days when Day 0 was timed from the day of first mating, respectively. Also, gestation length was $63.1{\pm}1.4$ days, $62.4{\pm}1.1$ days and $61.5{\pm}0.9$ days in multiparous bitches, and $62.6{\pm}1.4$ days, $62.4{\pm}2.0$ days and $61.6{\pm}2.3$ days in primiparous bitches when Day 0 was timed from the day that plasma progesterone concentration was first increased above 2.0, 3.0 and 4.0ng/ml, respectively, and $53.8{\pm}3.1$ days and $54.8{\pm}2.6$ days when Day 0 was timed from the last day of male acceptance, respectively. In 30 pregnant bitches, plasma progesterone concentration was $0.2{\pm}0.2ng/ml$ in multiparous bitches and $0.7{\pm}0.8ng/ml$ in primiparous bitches at the first day of vulval bleeding, $1.9{\pm}1.0$ and $3.3{\pm}2.7ng/ml$ at the first day of male acceptance, $7.0{\pm}4.0$ and $9.3{\pm}6.2ng/ml$ at the day of first mating, and $25.1{\pm}6.3$ and $22.8{\pm}10.3ng/ml$ at the last day of male acceptance, respectively. When Day 0 was timed from the day of parturition, plasma progesterone concentration at Day -62, Day -63 and Day -64 was $4.7{\pm}2.7ng/ml$, $3.5{\pm}2.2ng/ml$ and $1.7{\pm}0.9ng/ml$ in multiparous bitches, and $5.3{\pm}4.4ng/ml$, $3.2{\pm}3.7ng/ml$ and $2.0{\pm}1.9ng/ml$ in primiparous bitches, respectively. When Day 0 was timed from the day that plasma progesterone concentration was first increased above 3.0ng/ml after the first day of vulval bleeding, plasma progesterone concentration at Day 61 and Day 62 was $2.7{\pm}2.2ng/ml$ and $1.4{\pm}1.9ng/ml$ in multiparous bitches, and $3.4{\pm}5.2ng/ml$ and $3.7{\pm}5.6ng/ml$ in primiparous bitches, and $0.8{\pm}0.7ng/ml$ and $0.9{\pm}0.4ng/ml$ at Day 63, respectively. It was that bitches were mated when plasma progesterone concentraion was 1.9 to 14.2ng/ml and 3.5 to 20.0ng/ml in multiparous and primiparous bitches, which was between first day before ovulation and fourth day after ovulation. And pregnancy rate was 92% (23/25). From these data, ovulation was estimated to occur the day when plasma progesterone concentration was first increased above 3.0ng/ml after the first day of vulval bleeding. It was estimated that mating time was the day when plasma progesterone concentration was between 1.9 and 20.0ng/ml, and best time for mating was between 3.0 and 8.0ng/ml of plasma progesterone concentration.