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Torque Mode Control of a Bowden Cable-Driven Assistive System
Kyoungchul Kong,Joonbum Bae 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
A cable-driven actuating system is proposed in this paper. The proposed system is attractive for rehabilitation systems because the weight of the actuator is not imposed on the human body. Since the end-effector and the actuators are connected by Bowden cables, the humans are allowed to freely move in a certain range while being assisted. However, it is a challenge to account for the variable friction of the Bowden cable and the inertia and friction of the actuator in the design of control algorithms. In this paper, a hierarchical control strategy is adopted to control the proposed cabledriven actuating system. To determine the reference trajectory of the motor in real-time, a sensor fusion method based on a kinematic Kalman filter with MEMS accelerometers is proposed. By the proposed control methods, the cable-driven actuating system realizes a precise force-mode actuation. The system performance is evaluated by experiments.
The structure and photoluminescence properties of Al:ZnO/porous silicon
Kyoungchul Shin,이종무,박동화,오재희,K. Prabakar,안화승 한국물리학회 2004 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.45 No.2
Al:ZnO (AZO) lms were deposited on porous silicon (PS) by using the rf-magnetron sputtering technique with dierent rf powers. The photoluminescence spectra of the samples before and after deposition of AZO were obtained, to investigate the eect of PS on the luminescence properties of AZO/PS composites. The AZO lm emits blue light, due to the oxygen-related vacancies existing in the lms. On the other hand, as-deposited PS emits green light. The green peak of PS shifts to the blue region after AZO deposition. Also, oxidation of Si atoms will lead to a blue shift of the emission from PS, due to the additional potential modulation with the Si nanocrystallites by a long-range Coulombic interaction of oxygen ions.
Impedance Compensation of SUBAR for Back-Drivable Force-Mode Actuation
Kyoungchul Kong,Hyosang Moon,Beomsoo Hwang,Doyoung Jeon,Tomizuka, M. IEEE 2009 IEEE TRANSACTIONS ON ROBOTICS Vol.25 No.3
<P>The Sogang University biomedical assistive robot (SUBAR), which is an advanced version of the exoskeleton for patients and the old by Songang (EXPOS) is a wearable robot developed to assist physically impaired people. It provides a person with assistive forces controlled by human intentions. If a standard geared DC motor is applied, however, the control efforts will be used mainly to overcome the resistive forces caused by the friction, the damping, and the inertia in actuators. In this paper, such undesired properties are rejected by applying a flexible transmission. With the proposed method, it is intended that an actuator exhibits zero impedance without friction while generating the desired torques precisely. Since the actuation system of SUBAR has a large model variation due to human-robot interaction, a control algorithm for the flexible transmission is designed based on a robust control method. In this paper, the mechanical design of SUBAR, including the flexible transmission and its associated control algorithm, are presented. They are also verified by experiments.</P>
공경철(Kyoungchul Kong),전도영(Doyoung Jeon) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.5
Recently the active power assistive equipments have been widely developed to help the human body motion. But for the elderly people and the patients, some limits exist due to the weight and volume of the equipments. In this paper, a tendon-driven exoskeletal power assistive suit and a caster walker are considered to solve these problems. Since the caster walker carries the burdens such as actuators and controllers, the weight and volume of the exoskeletal assistive suit are minimized. The required joint torques are estimated from a human body model and subjected to the torque feedback algorithm. Experiments were performed with a normal person and the performance is compared by the magnitude of the EMG. With the proposed equipment, the required muscle power for sitting up and down has reduced up to 40%.
공경철(Kyoungchul Kong),전도영(Doyoung Jeon) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.5
This paper proposes a tendon-driven exoskeletal power assistive device to reduce the problem of the existing exoskeletal power assistive equipment. In addition, this paper suggests a caster walker, which can be moved by pushing, in order to carry heavy peripheral devices and maintain stable balance of the user at the same time. A muscle fiber expansion signal is used to control this proposed tendon-driven exoskeletal assistive device in order to compensate for the delay time of a motor and perform an easy assistance by sensing the user's action in advance. The muscle fiber expansion signal has the characteristics that the signal is ahead of the action and in proportion to joint torque.
공경철(Kyoungchul Kong),차진훈(Jinhoon Cha),전도영(Doyoung Jeon),조동일(Dong-il Dan Cho) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.5
Recently the technology of capsule endoscopy has been developed dramatically and many researchers are making efforts to combine surgical function into the capsule endoscope. In this paper, the micro biopsy device which is a part of the capsule endoscope is proposed. The proposed device consists of a trigger with paraffin block, rotational tissue-cutting razor with a torsion spring, and controller. They are designed to operate sequentially so that the tissue sampling, sealing, and fixing are achieved in one operation. It becomes possible for the capsule endoscope to get sample tissue inside the small intestine which can not be reached by a conventional biopsy device. Experiments were performed with the small intestine of a cow and rabbit. In conclusion, the tissue samples of 1.0㎜ long were extracted successfully by the proposed biopsy device of the capsule endoscope.
오경철(Kyoungchul Oh),양해생(Haeseang Yang),최일윤(IL-YOON CHOI),이성진(Sungjin Lee),배병우(Byeongwoo Bae) 한국철도학회 2014 한국철도학회 학술발표대회논문집 Vol.2014 No.5
본 논문에서는 철도 인프라 중에서 궤도분야 고속 종합검측을 위한 기능과 운영방식 분석을 통하여 통합운영시스템의 설계방안을 제시한다. 고속철도 개통 이후 궤도분야의 레일관리, 궤도관리, 선로관리 유지보수 비용이 증가하고 있기에 고속 검측시스템의 필요성이 증가하고 있으나, 해외수입에 의존하고 있는 것이 현실이다. 나아가 수입한 고속검측차의 장애 및 고장 등으로 인한 수리중단과 과도한 비용이 문제가 되고 있기에 국내에 적합한 종합검측시스템 개발이 시급히 요구되고 있다. 본 연구에서는 궤도검측시스템 운영현황을 조사 분석하고 비즈니스 액티비티 모델링과 데이터 용량을 산정하여 위치정보 보정과 검측된 데이터를 처리하는 방법론을 토대로 트랙품질을 평가하는 통합운영시스템 설계방안을 제시한다. This study suggests the design of integrated operation system through the analysis of the function and operation method for the high speed track inspection among the railway infrastructures. Since the railway management and maintenance costs are being increased in the field of track since the opening of the rapid-transit railway management, the needs for the high speed inspection system are being increased but in reality, it depends on the overseas import. Furthermore, since the suspension of the repair and the excessive costs are becoming issues by the failure of the imported high speed inspection vehicles, etc, the development of comprehensive inspection system fit to our domestic system is needed urgently. In this study, the integrated operation system design method, which can evaluate the track quality based on the position compensation and the methodology of processing the measured data, was suggested by investigating and analyzing the operation status of the track inspection system, modeling the business activity and calculating the data capacity.