지능형 로봇의 표준화 로드맵

이순걸,Lee, Sun-Geol 한국정보통신기술협회 2006 TTA저널 Vol.106 No.-

지능형 로봇의 표준화는 초기에는 소프트웨어 및 정보통신 기술과 관련된 지능형 로봇의 중점기술을 그 표준화 항목으로 선정하여 제 분야를 구체적으로 설정하여 항목별 로드맵을 작성하였다. 그러나 다수의 구성요소들로 결합되어 이루어지는 지능형 로봇의 특성에 따라 소프트웨어나 정보통신 분야에 국한되지 않고 하드웨어에 대한 표준 및 성능 뿐만 아니라 소비자의 사용과 관련될 수 있는 제반 표준화 요소에 대한 부분까지 포괄적으로 포함시키는 방향으로 구성되었고 이를 소개하고자 한다. 지능형 로봇을 조기에 실현하고 효율적으로 보급 촉진을 꾀하기 위해서는 표준화를 해야 할 기술 항목 및 그 표준화 시기를 명확하게 하고, 연구개발을 원활하고 효율적으로 추진할 필요가 있다.

지능형 서비스 로봇

이순걸 한국정보통신기술협회 2005 TTA저널 Vol.100 No.-

지능형 서비스 로봇 - 표준화 현안 및 전략

이순걸,Lee, Sun-Geol 한국정보통신기술협회 2005 TTA저널 Vol.101 No.-

지능형로봇 국내표준화 동향

이순걸 한국로봇학회 2005 로봇과 인간 Vol.2 No.4

Asymmetric Resonance in Apparently Direct Photodissociation

이순걸,Lee, Sun Geol Korean Chemical Society 2000 Bulletin of the Korean Chemical Society Vol.21 No.3

아래팔에서 정중신경과 척골신경간 운동섬유의 문합: 전기생리학적 연구

이순걸,방희제 대한재활의학회 2008 Annals of Rehabilitation Medicine Vol.32 No.3

Objective: To evaluate the frequency of forearm anastomosis in healthy Korean subjects. Method: Healthy Korean adult subjects (70 males, 30 females) were included. Median and ulnar nerves were stimulated at wrist and elbow and recorded with the surface electrodes over abductor pollicis brevis (APB), first dorsal interossei (FDI) and abductor digiti quinti (ADQ). Results: Martin-Gruber anastomosis (MGA) was found in 18 males and 8 females (26/100, 26%). MGA was found in 37 arms (18.5%). But, Marinacci anastomosis was not observed. For each type of MGA, type II was found in 36 arms (97.3%) whereas type I was found in 11 arms (29.7%), and type III was found in 1 arm (2.7%). Anastomosis was comprised 67.6% of type II, 2.7% of type III, and 29.7% of coexistence of type II and type I. Average innervation ratio of crossing fibers was the highest in FDI (16.2%).Conclusion: Compound muscle action potential (CMAP) comparison method using modified incremental technique is a simple and sufficient method for evaluating forearm anastomosis without stimulus spread to adjacent nerve. In evaluating MGA, the FDI is a very important muscle because of high frequency and innervation ratio. Objective: To evaluate the frequency of forearm anastomosis in healthy Korean subjects. Method: Healthy Korean adult subjects (70 males, 30 females) were included. Median and ulnar nerves were stimulated at wrist and elbow and recorded with the surface electrodes over abductor pollicis brevis (APB), first dorsal interossei (FDI) and abductor digiti quinti (ADQ). Results: Martin-Gruber anastomosis (MGA) was found in 18 males and 8 females (26/100, 26%). MGA was found in 37 arms (18.5%). But, Marinacci anastomosis was not observed. For each type of MGA, type II was found in 36 arms (97.3%) whereas type I was found in 11 arms (29.7%), and type III was found in 1 arm (2.7%). Anastomosis was comprised 67.6% of type II, 2.7% of type III, and 29.7% of coexistence of type II and type I. Average innervation ratio of crossing fibers was the highest in FDI (16.2%).Conclusion: Compound muscle action potential (CMAP) comparison method using modified incremental technique is a simple and sufficient method for evaluating forearm anastomosis without stimulus spread to adjacent nerve. In evaluating MGA, the FDI is a very important muscle because of high frequency and innervation ratio.

A Full-Tensor Superconducting Gravity Gradiometer System Composed of Levitation-Type Accelerometers

이순걸 한국물리학회 2019 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.75 No.3

In this paper, a superconducting gravity gradiometer system that is designed to measure full-tensor gravity gradients based on levitation-type component accelerometers without using mechanical springs is presented. All components of the gradiometer system are made of a superconducting material, niobium. Working principles are the flux quantization and the perfect diamagnetism of the superconductor. Each component of the gravity gradient tensor is obtained from the differential gravity measured by using two accelerometers, each of which is composed of a cubic test mass, a flat sensing coil, and a flat counter coil to balance the repulsive force of the sensing coil and ambient gravity. The measured signals are amplified by using superconducting quantum interference devices. The full-tensor gradiometer system consists of three perpendicularly aligned sets of gradiometers, each of which measures one diagonal and two off-diagonal components. The details of the structure of the system, the dynamics of the gradiometer, the transfer function, the common mode rejection, and the optimum conditions are discussed.

반복학습제어기롤 이용한 자석식 자동 파이프 절단 로봇의 제어

이순걸,임성수 경희대학교 산학협력기술연구원 2005 산학협력기술연구논문집 Vol.11 No.3

Tracking control of an automatic pipe cutting robot (APCROM) is studied. Using magnetic force APCROM, which is designed and developed in Kyung Hee University, binds itself to the pipe and executes unmanned cutting process. The gravity effect on the movement of APCROM varies as it rotates around the cylindrical pipe laid in the gravitational field. To maintain a constant velocity and consistent cutting performanceagainst the varying gravitational effect, the authors adopt a multi-rate repetitive learning controller (MRLC), which learns the required effort to cancel the repetitive tracking errors caused by nonlinear effect. In addition to the varying gravity effect other types of nonlinear disturbances including backlash in the driving system and the slip between the wheels of APCROM and the pipe also cause degradation in the cutting process. In order to identify those nonlinear disturbances the position estimation based on the encoder attached at the motor is not good enough. To identify the absolute angular position of APCROM the authors propose the angular position estimation based on the signals from a MEMS-type two-axis accelerometer mounted on APCROM. The tracking performances of APCROM with a MRLC using the encoder-based position estimation is experimentally measured and results are shown. Also the difference between the encoder-based angulardisplacement measurement and the accelerometer-based angular displacement measurement is included.

Sources of uniform and 2nd-order gradient fields for testing SQUID performance

이순걸,Lee, Soon-Gul The Korean Superconductivity Society 2007 Progress in superconductivity Vol.8 No.2

Uniaxial square Helmholtz coils for testing SQUID sensors were designed and their field distributions were calculated. Optimum parameters for maximizing the uniform region in the Helmholtz mode were obtained for different uniformity tolerances. The coil system consists of 2 pairs of identical square loops, a Helmholtz pair for generating uniform fields and the other for the 2nd-order gradient fields in combination with the Helmholtz pair. Full expressions of the axial component of the field were calculated by using Biot-Savart's law. To understand the behavior of the field near the coil center, analytical expressions were obtained up to the 4th-order in the midplane and along the coil axis. The Helmholtz condition for generating uniform fields was calculated to be $d/{\alpha}=0.544505643$, where 2d is the inter-coil distance and $2{\alpha}$ is the side length of the coil square. Maximized uniform range can be obtained for a given nonuniformity tolerance by choosing $d/{\alpha}$ slightly lower than the Helmholtz condition. The pure second-order gradient field can be generated by subtracting the Helmholtz field from the field of the 2nd pair with equal magnitudes of the center fields of the two pairs. The coil system is useful for testing balance and sensitivity of SQUID gradiometers.

타이어 공기압 제어시스템의 개발과 그에 따른 타이어 특성에 대한 연구

이순걸,윤상천 경희대학교 산학협력기술연구원 1998 산학협력기술연구논문집 Vol.4 No.-

New concept of on-line pressure control system of tires was proposed. And the characteristics of tire for varying air pressure using the proposed system was investigated. Compressed air from a compressor that used brake torque was stored in a reservour tank and supplied with a on-off solenoid valve. A rotating air supplying device was specially designed for rotating wheels. Air was injected into or ventilated from tires through it. The electronic control unit activated the solenoid valve using PWM output with feedback input, like tire pressure, road condition and other driving input. To show the effect of pressure on the characteristics of tire, simulation device for one wheel was made using the developed system. The result of this study showed that the stiffness of tire was increased with pressure of tire and cornering force was approximated as the response of the first order system. The system response for step change of pressure showed that it was enough faster than that of cornering force.