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뇌교육 HSP Gym이 초등학생의 정서상태와 자기조절 및 자아 탄력성에 미치는 영향
최문택 국제뇌교육협회 2009 국제뇌교육협회 학술대회 Vol.2010 No.1
본 연구의 목적은 뇌교육 프로그램중 HSP Gym 이 초등학생의 전서상태 및 자기조절, 자아탄력성에 미치는 영향을 알아보는 것이다. 대상은 부산 G초등학교 3학년 26명(남:16,여:10)이었다. 이들에게 3주동안 뇌체조와 봉황자세를 포함하는 HSP Gym 을 수행하게 하였고, HSP Gym 전후에 정서상태, 자기조절, 자아탄력성 척도를 실시하였다. 연구 결과 뇌교육 HSP Gym 은 긍정정서와 자아 탄력성 중 활력성에 유의미한 영향을 미쳤다.
Calibration Algorithm of a Spring Static Balancer
조창현,최문택 한국정밀공학회 2018 International Journal of Precision Engineering and Vol.19 No.10
This paper proposes a calibration algorithm of a spring static balancer to overcome uncertainties of link parameters or spring constants. The location of the spring attachment is adjusted in this paper considering unbalancing torques. Various algorithms are suggested to determine the location of the spring attachment: 1) an estimation algorithm for static situation is derived from the design equation of the space mapping method; 2) TDE (time delay estimation) is adopted to derive estimation algorithms; 3) an estimation algorithm with no joint torque sensing is derived on the basis of TDE. TDE is adopted to estimate unbalancing static torques. The proposed algorithms are evaluated with the two-dof (degree of freedom) manipulator with the bevel gravity compensator in that two springs are located at the same link. Performances of the proposed algorithms are compared with experimental results. Application to the case of the varying load is discussed and it is showed that the suggested algorithms are applicable to the both cases of uncertainties and varying loads.
Synthesis method of a mapping matrix for gravity compensators
김상형,최문택,조창현 대한기계학회 2019 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.33 No.12
This paper presents a synthesis method of a mapping matrix for gravity compensators. For the space mapping method the mapping matrix indicates the number of unit gravity compensators and their locations simultaneously. To enable the synthesis of the mapping matrix we newly suggest the motion matrix, which is originated from the concept of mobility and connectivity and represents possible joint motions of a target mechanism. We showed that a motion matrix can be synthesized by merging several motion matrices. The motion matrix is modified considering features of static balancing (e.g., absolute motion, mobility and potential energy) and, therefore, the mapping matrix is derived from the motion matrix with no computations. Thus, the synthesis of a gravity compensator is enabled with the motion matrix. The syntheses are conducted for a six-DOF and three-link manipulator.
김태형,최안렬,최문택,문정환,김형건 대한기계학회 2018 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.32 No.11
Ultrasonically activated scalpels (UAS) have excellent hemostatic effects with minimal tissue damage while dissecting tissue. However, inhomogeneous contact pressure (CP) distribution at the sealing site can decrease the quality of sealing strength and cutting. In this study, we evaluated the contact mechanics of UAS using 3D finite element analysis (FEA) simulations, and examined the effects of structural design parameters on the contact mechanics (average CP, standard deviation of CP, maximum CP, and contact area) using experiment-based sensitivity analysis. The largest positive and negative response of the average CP and standard deviation of CP were 0.68-0.85 MPa and 0.81-0.44 MPa, respectively (r = 0.32 and r = -0.73, P < 0.05) when the handle length, jaw cave, and tissue pad height were increased. In conclusion, design parameters (tissue pad height, jaw cave height, jaw cave length, and handle length) of UAS demonstrating high correlation with average CP, standard deviation of CP, maximum CP, and contact area should be considered to attain evenly distributed CP for improved structural optimization of UAS.
3D거리센서와 초음파센서를 이용한 이동로봇의 장애물 회피
장성진,한혜민,윤상석,최문택,송재복,김문상 제어로봇시스템학회 2011 제어로봇시스템학회 국내학술대회 논문집 Vol.2011 No.5
In indoor environment, an autonomous mobile robot which map info is not given should reach a target by only two references which data of distance between robot and the target and obstacles on the way. But in real \vorId, the robot has a problem to move because of fewer sensors and unreliable data from sensors. Previous method for obstacle avoidance has a problem to recognize low height obstacles. This paper proposed a solution that three-dimensional space data is convelted into one-dimensional histogram by fusing ultrasonic and 3D range sensors, The method mentioned above makes the robot in unknown environment to find a way more efficiently.
황적규,조창현,이영호,최문택,송재복,김문상 제어로봇시스템학회 2011 제어로봇시스템학회 국내학술대회 논문집 Vol.2011 No.5
This paper proposes a 1 DOF gravity compensator which can counterbalance variable loads completely. A gravity compensator is usually used to perform static balancing of the manipulator’s own masses in most cases. Considering manipulation tasks (e.g., picking up an object), however, the magnitude and distribution of the total masses vary by the mass of an object, which deteriorates the performance of a static balancer. To obtain the complete static balancing for all situations, a control scheme is derived for a 1 DOF gravity compensator in this paper. The control scheme is only activated, when the distribution of masses varies. A power analysis is performed for practical implementation. Various simulations verify that a 1 DOF gravity compensator with the proposed control scheme is applicable to the variable payloads.