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.

M. Lipsky일선관료제이론에 근거한 전문교과교사의 NCS학습모듈 대응기제 분석

송승준(Song Seung-jun) 학습자중심교과교육학회 2021 학습자중심교과교육연구 Vol.21 No.10

목적 본 연구는 단위학교 일선교사들이 NCS(National Competency Standards; 국가직무능력표준)학습모듈로 교육과정을 운영하면서 겪게 되는 반응과 이에 따른 대응기제를 Lipsky의 일선관료제이론으로 분석한 것이다.방법 NCS학습모듈 대응 설문 조사(단위학교 전문교과 교사의 NCS 학습모듈 편성운영 및 현황실태와 대응 조사), NCS학습모듈 대응 심층 면담과 코딩하기(Lipsky의 일선관료이론으로 NCS학습모듈 편성운영과 대응 취합 및 분석), NCS학습모듈 대응기제 분석(NCS학습모듈 정책집행방향 제안) 등의 순서로 진행 되었다.결과 첫째, 정책결정과 정책집행은 그 성질 면에서 본질적인 차이가 없다는 것을 알 수 있었다. 정책결정기관과 정책집행기관인 단위학교나 일선교사 상호간에는 지금보다 개방적이고 순환성을 가질 수 있는 NCS학습모듈을 운영해야 한다. 둘째, Lipsky의 일선관료제이론이 본 연구에서 재정의되는 부분은 다음과 같다. Lipsky는 역할재정의(changing role expectations)에서 일선교사(관료)들은 정작 요구되는 일은 회피하고 자신들이 원하는 역할만 수행하는 결과를 가져올 수 있다고 우려했다. 그러나 본 연구조사에서 일선교사들은 NCS학습모듈 교육과정 편성운영에 있어 회피나 역할기피로 반응하고 대응하는 것이 아니었다. Lipsky의 역할재정의와는 다르게 NCS학습모듈 적응 메커니즘을 형성하고 있었다. 셋째, 일선교사들은 교육과정의 재량권으로 정책집행의 순응을 지향하고 있었다. 그 순응의 방법은 재량권에 의한 단순화와 정형화라고 분석 된다. Lipsky가 일선관료제이론에서 일선교사(관료)의 직무수행에 있어 상당한 재량권이 중요하다는 사실이 본 연구를 통해서도 확인할 수 있었다. 일선교사들은 재량권을 통하여 NCS학습모듈의 부족한 부분에 신속하게 대응하고 있었다.결론 본 연구는 NCS학습모듈을 운영하고 있는 단위학교 일선교사를 연구대상으로 Lipsky의 일선집행관료제이론을 통한 반응과 대응기제를 분석했다. 연구과정에서 Lipsky의 일선관료제이론과 일선교사들의 정책집행에서 분석된 반응이 재정의된 경우도 있었다. 왜 이러한 대응기제가 나타나는지는 후속연구를 통하여 분석해 볼 필요가 있다고 본다. 본 연구가 일선교사(관료)의 NCS학습모듈 정책집행과정을 연구하는데 조금이나마 도움이 될 수 있기를 바란다. Objectives This study analyzed the reactions experienced by school teachers in unit school while operating the curriculum with the learning module of National Competency Standards (NCS), and the incidental response mechanism with Lipsky s Street-level Bureaucracy. Methods This study was conducted in the order of 1) the NCS learning module response survey (organization and operation, current status, and response survey of unit school vocational subject teacher s NCS learning module), 2) in-depth interview and coding for NCS learning module (organization, operation, and response collection and analysis of NCS learning module with Lipsky s Street-level Bureaucracy), and 3) analysis of NCS learning module response mechanism (NCS learning module policy implementation direction proposal). Results First, it was found that there was no fundamental difference between policy making and policy implementation in terms of their nature. The NCS learning module should be operated that can be more open and circulatory than now between the policy-making body and the policy-implementation (each unit school) or between school teachers.Second, Lipsky s Street-level Bureaucracy is redefined in this study as follows. Lipsky was concerned that in changing role expectations, school teachers (bureaucrats) were avoiding what was really required and that it could result in only performing the roles they wanted. However, in this study, school teachers did not react and respond with avoidance or role avoidance in organizing and operating the NCS learning module curriculum. Unlike Lipsky s role redefinition, the NCS learning module adaptation mechanism was formed. Third, school teachers were aiming for conformity with policy implementation with the discretion of the curriculum. The method of conformity is analyzed as simplification and formalization by discretion. As in Lipsky s Street-level Bureaucracy, this study also confirmed that considerable discretion is needed in the performance of school teachers (bureaucrats). School teachers were responding quickly to the shortcomings of the NCS learning module through their discretion. Conclusions This study analyzed the responses and the response mechanisms through Lipsky s Street-level Bureaucracy, targeting the school teachers of the unit schools operating the NCS learning module. In the course of research, there were cases in which Lipsky s Street-level Bureaucracy and the reactions analyzed in school teachers policy implementation were redefined. It is thought that it is necessary to analyze why such a response mechanism appears through follow-up studies. It is hoped that this study will be of any help to study the policy implementation process of the NCS learning module by school teachers (bureaucrats).

북핵문제해결을위한 중국의 역할변화에 관한 연구 -한반도에 대한 중국의 정책변화 유도를 중심으로-

송승준 ( Seung Jun Song ) 미래군사학회 2012 한국군사학논총 Vol.1 No.1

This study is focused on the way of changing Chinese foreign and diplomatic policies toward Korean peninsula. Particularly, it specifies on the China``s role regarded to the No -rth Korea``s nuclear issue. China has took three ways of nuclear policies to North Korea: e.g., ‘support,’ ‘mediation,’ and ‘sanctions.’ But China has tended to have policies of supp -ort and mediation rather than sanctions against North Korea``s military behaviors Thus, international efforts of sanctioning North Korea have been failed. It is because sustaining the North Korean regime generates benefits for the China``s national interests. By reinforcing China-North Korea economic relations, China can increase its influence to North Korea and in Northeast Asian politics as well Therefore, South Korea has to establish better strategies for inducing China``s foreign and diplomatic policy changes toward the Korean peninsula, especially positive to South Korea. The possibility of changing policies is dependent upon China``s national interests. This paper suggests ways of changing China``s role from the perspective of geo-strategic strategies to geo-economic ones.

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.

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.

지능형 홈 스마트 워터 그리드 서비스 기술

홍요훈,송승준,고경록,Hong, Yo-Hun,Song, Seung-Jun,Go, Gyeong-Rok 한국수자원학회 2010 물과 미래(한국수자원학회지) Vol.43 No.12

선회류를 이용한 응집침전모듈의 개발 및 실증 연구

문진영(Moon, Jinyoung),조영근(Cho, Young-Gun),송승준(Song, Seung-Jun),김진한(Kim, Jin-Han) 한국산학기술학회 2014 한국산학기술학회논문지 Vol.15 No.5

본 연구의 목적은 소규모 응집침전모듈의 개발 및 lab-scale테스트를 통한 실증이다.최근 하수처리율이 높아짐에 따라 비점오염원 관리에 대한 관심이 높아지고 있어 소규모 처리장치 개발의 필요성이 증대되고 있다.본 연구의 응집침전모 듈은 응집공정 이후 외부 영역에서 선회류를 통한 플럭(floc)의 추가 성장 및 미세 플럭 수의 감소,내부 침전 영역에서 수직· 수평류 복합침전방식을 통한 침전효율 증대로 효과적인 고액분리가 가능토록 하였다.응집침전모듈은 수직·수평류 복합침전 방식을 통해 재래식침전조에 비해 같은 체적에서 침전면적 및 표면부하율을 4.4배 증가시킬 수 있었다.본 연구에서 외부 및 내부 침전 영역에서의 선회류 형성·유지와 내부 침전영역에서의 균등한 유량분배를 본 공정의 중요한 설계인자로 선정하 였고,이의 도출을 위해 유체유동해석 모델인 FLUENT를 이용하였다.선회류 유동경향 모사를 통해 유입속도,외부조의 규 격,하부콘호퍼 깊이 등을 결정하였고 속도분포 및 유량분배 해석을 통해 유출공 직경과 개수,유출홀 직경 등 내부 침전영역 의 세부 규격을 도출하였다.60ℓ/hr규모의 파일럿 테스트 결과 20분의 체류시간 동안(표면부하율은 37.3㎥/㎡일)탁도 300~800NTU의 폐수를 고분자응집제 주입 없이 10NTU이하로 처리할 수 있었으며,유체유동해석 모델을 활용한 설계인 자 도출의 가능성을 확인하였다. The purpose of this study is small scale coagulation module is developed and demonstrated through a lab-scale test. Recent as a sewage treatment rate increases, have heightened the interest in the necessity on the nonpoint source and developing a small processing unit has been increased. Coagulation sedimentation module in this study is additional growth of floc through swirling in the outside zone, reduction of microstructure floc number and the internal settling zone through vertical/level flow complex sedimentation method after the coagulation process precipitation method as an effective high separation efficiency can be divided was also assessed. Coagulation sedimentation module can increase the load factor was 4.4 times compared to conventional clarifier base on the same volume and surface area through vertical/level flow. In this study, this process was selected formation and maintenance of swirling and uniform flow distribution in the internal settling zone as an important design factor, to derive its FLUENT was used to characteristics of the flow model. Through the simulation of swirling, influent velocity, dimensions of external basin, hopper depth of bottom cone was determined and through analysis of velocity distribution, flow distribution detailed specifications are derived like as diameter and number of effluent hole. Lab-scale(120 ℓ/hr) test results, influent of 300~800 NTU to less than 10 NTU without polymer feeding was able to operate in the 20minutes retention time(surface loading rate 37.3㎥/㎡-day), and through analysis FLUENT the possibility of using design parameters were derived.

소규모 도서지역에서 관광객 및 숙박시설이 생활폐기물 발생량에 미치는 영향

임지영(Ji-Young Lim),박상현(Sang-Hyun Park),송승준(Seung-Jun Song),조영근(Young-Gun Cho),김진한(Jin-Han Kim) 유기성자원학회 2019 유기물자원화 Vol.27 No.1

소규모 도서지역인 인천광역시 옹진군 북도면의 신⋅시⋅모도와 장봉도를 대상으로 생활폐기물 발생량과 관광객 수 및 숙박시설의 영업장 면적과의 상관관계를 분석하여 향후 생활폐기물 발생량 예측을 위한 기초자료로서의 활용을 위해 본 연구를 수행하였다. 2012년 9월부터 2018년 8월까지의 옹진군 북도면의 자료를 분석한 결과, 연구 대상지역의 생활폐기물 발생량은 지속적으로 증가하여 2012년 대비 2018년도 생활폐기물 발생량은 약 3.98배 증가하였으며, 관광성수기인 여름철은 겨울철에 비하여 2.43~9.39배의 높은 생활폐기물 발생량을 나타내었다. 도서 지역의 생활폐기물 발생량은 유입된 관광객 수에 영향을 받으므로 관광객들에 의해 버려진 생활폐기물의 발생량을 산정한 결과 2018년 8월 기준 관광객 1인이 1일 발생하는 생활폐기물 발생량은 0.839 kg/인⋅일로 분석되어 2013년 8월과 비교할 때 약 3.71배 증가한 것으로 확인되었다. 또한, 숙박시설의 영업장 면적은 2008년부터 2017년까지 지속적으로 증가하여 10년 동안 약 8.32배 증가하였다. 숙박시설의 영업장 면적과 관광객 수와의 상관계수는 0.8418로 산출되었고, 숙박시설의 영업장 면적과 생활폐기물 발생량의 상관계수는 2015년 8월 전⋅후로 각각 0.9370 및 0.6025로 산출되었는데 2015년 이후 관광객의 급격한 증가로 인해 숙박시설은 부족한 반면, 생활폐기물 발생량은 증가하여 상관계수가 다소 낮게 나타나게 된 것으로 사료된다. This study analyzed the correlation between generation of municipal solid waste (MSW), number of tourists, and area of accommodation facilities of small island such as Shin, Si, Mo and Jangbong island in Ongjin county, Incheon for use as basic data for estimation of MSW generation. An analysis of statistics data from september in 2012 to august in 2018 showed MSW generation was steadily increasing, and MSW generation in 2018 was increased by about 3.98 times compared to 2012. In summer, which is the tourist season, MSW generation was 2.43~9.39 times higher than in winter. MSW generation was influenced by the number of tourists. As of August 2018, generation rate of per capita of MSW was 0.839 kg/cap․day, which was about 3.71 times higher than August 2013. Area of accommodation increased continuously from 2008 to 2017, increasing by about 8.32 times. The coefficient of determination between the area of accommodation and the number of tourists was 0.8418. Also coefficient of determination between area of accommodation and MSW generation were 0.9370 and 0.6025 before and after August in 2015, respectively. Accommodation was lacked due to increase of tourists. Although accommodation was scarce because of increase in the number of tourists since 2015, the coefficient of determination decreased due to the increase in waste generation.

H₂S 제거를 위한 Zeolite와 DETOX의 흡착 특성 비교 연구

박대석(Park, Dae-Seok),임지영(Lim, Jiyoung),조영근(Cho, Young-Gun),송승준(Song, Seung-Jun),김진한(Kim, Jin-Han) 한국산학기술학회 2014 한국산학기술학회논문지 Vol.15 No.7

본 연구는 흡착제 Zeolite 3A와 DETOX에 대하여 H₂S의 유입농도와 흡착온도를 공정변수로 하여 포화시간, 흡착량, 흡착속도 등의 H₂S 흡착 제거특성을 평가하기 위하여 수행되었다. H₂S의 유입질량유속이 증가함에 따라 Zeolite 3A의 흡착 용량은 증가되었으나 포화시간은 감소되었다. 한편 DETOX의 흡착용량과 포화시간은 H₂S의 유입질량유속의 증가에 따라 감소되었다. 흡착온도가 상승함에 따라 Zeolite 3A의 흡착용량과 포화시간은 감소한 반면에, DETOX에 대한 이들 값은 증가 하였다. DETOX의 H₂S흡착용량은 Zeolite 3A의 2.5~16.4배 정도 높게 나타났다. 이는 흡착에서 활성화에너지장벽을 넘어설 충돌빈도는 흡착온도가 증가함에 따라 증가한 것에 기인한 것으로 해석된다. Zeolite 3A와 DETOX에 대하여 H₂S의 흡착속 도는 H₂S의 유입질량유속과 흡착온도가 증가함에 따라 증가하였다. H₂S의 흡착속도는 Zeolite 3A가 DETOX의 4배로 나타났 다. DETOX는 Zeolite 3A에 비하여 온도 308~318K에서 포화시간은 더욱 길어지고 흡착용량은 더욱 커진다. 바이오가스 중의 H₂S제거에 있어서 DETOX는 Zeolite 3A에 비하여 유리한 것으로 나타났다. This study examined the H₂S removal characteristics, such as breakthrough time, adsorption capacity, and adsorption rate of adsorbents between Zeolite 3A and DETOX in terms of the H₂S inflow concentration and adsorption temperature. The adsorption capacity of Zeolite 3A increased with increasing mass flow rate of hydrogen sulfide(H₂S) inflow, but the breakthrough time decreased. On the other hand, both the adsorption capacity and breakthrough time of DETOX decreased with increasing mass flow rate of H₂S inflow. The adsorption capacity and breakthrough time of Zeolite 3A decreased with increasing adsorption temperature but those of DETOX increased. The adsorption capacity of DETOX was higher than that of Zeolite 3A by a factor of 2.5 - 16.4 because the collision frequency that overcomes the activation energy barrier increased with increasing adsorption temperature. For Zeolite 3A and DETOX, the adsorption rate of H₂S increased with increasing mass flow rate of H₂S inflow and adsorption temperature. The adsorption rate of H₂S for Zeolite 3A was 4 times as much as that for DETOX. For the removal of H₂S in biogas, DETOX had an advantage over Zeolite 3A because DETOX had a much longer breakthrough time and greater adsorption capacity in the temperature range of 308~318K than Zeolite 3A.

마이크로버블 공급에 의한 폭기조내 교반과 용존산소 분포 특성

임지영(Ji-young Lim),김현식(Hyun-Sik Kim),박대석(Dae-Seok Park),조영근(Young-Gun Cho),송승준(Seung-Jun Song),박수영(Soo-Young Park),김진한(Jin-Han Kim) 한국산학기술학회 2016 한국산학기술학회논문지 Vol.17 No.5

본 연구는 가압식 마이크로버블 발생장치를 이용하여 공기를 마이크로화 시켜 공급하면서 pilot-scale 규모의 폭기조 내 DO 농도 및 ORP 변화를 살펴보았다. 마이크로버블에 의한 폭기조 내 교반 및 산소전달 능력을 확인한 결과, 폭기조 횡 (橫)방향으로 마이크로버블 공급위치에 따라 폭기조 내액의 순환으로 인하여 단일반응조 내에서 측정위치별 DO 농도가 다 르게 나타남을 확인할 수 있었다. 또한, 마이크로버블 공급위치에 따른 교반현상을 파악하고 마이크로버블 공급위치의 적정 성을 확인하고자 유체유동해석을 한 결과, 마이크로버블 공급위치가 폭기조 횡(橫)방향으로 1/2지점일 경우, 좌측면에서 공 급될 때보다 폭기조 내부의 교반이 잘 이루어져 사영역이 적게 발생되는 것을 확인되었다. 실험 및 유체유동해석 결과를 바탕으로 마이크로버블 공급위치에 따라 단일반응조에서 DO 농도를 변화시켜 격벽이 없는 영역분리가 가능하므로 혐기, 무산소, 호기를 한 공간에서 운영할 수 있는 가능성을 확인할 수 있었다. 마이크로버블을 공급했을 경우, 산기관을 사용할 때와는 다르게 MLSS가 부상농축되는 고액분리 현상이 발생하였는데 마이크로버블이 생물학적 처리를 위하여 부상의 목적 이 아닌, MLSS의 혼합과 적절한 DO 농도 유지를 목적으로 사용되기 위해서는 폐수 종류에 따른 적절한 크기의 버블선택이 중요함을 확인할 수 있었다. This study examined the DO concentration distribution and ORP distribution using microbubbles on pilot-scale aeration tanks. As a result of MLSS mixing and oxygen transfer phenomenon using microbubbles, different DO concentrations were observed depending on the circulation of the liquid with the microbubble supply location on the lateral of an aeration tank. The simulation results of CFD (computational fluid dynamics) program showed that MLSS mixed with a microbubble supply in the middle the reactor is much better than on the left side of the reactor. A single reactor containing an anaerobic, anoxic, and aerobic zone, was evaluated without partition according to the location of the microbubble supply based on the experiments and CFD analysis. MLSS was separated into solid-liquid by the microbubble supply in the aeration tank. Consequently, selecting the appropriate microbubble size is important for MLSS mixing and was maintained at the proper DO concentration for biological treatment.