Visual object detection 기반 의수 자율제어

신은수(Eunsoo Shin),최태환(Taehwan Choi),나재영(Jayeong Na),유다영(Dayoung You),이회림(Hoirim Lee),임철용(Chulyong Lim),남우철(Woochul Nam) 대한기계학회 2022 대한기계학회 춘추학술대회 Vol.2022 No.4

Visual object detection 기반 의수 제어

신은수(Eunsoo Shin),최태환(Taehwan Choi),나재영(Jayeong Na),유다영(Dayoung You),이회림(Hoirim Lee),임철용(Chulyong Lim),남우철(Woochul Nam) 대한기계학회 2022 대한기계학회 춘추학술대회 Vol.2022 No.11

Most prosthetic hands cannot automatically control their gripping motions according to target objects; users need to manually select gripping motion. To address this problem, this study integrated a vision system with the prosthetic hand to autonomously detect an object to grip and conduct a suitable grip motion. The users vision was replaced with a laser pointer and mini-cam. The user needs to indicate a target object with the laser pointer. Then, the object detection model (Scaled-YOLOv4) discerns the object class and determines the gripping motion corresponding to the class. To improve the object detection accuracy, various image processing methods are applied to the detection model. Moreover, a public robot hand design (Handi-hand) was significantly modified to realize precise and robust grip motions. Actuators, joints, and stiffness components in the robot fingers were replaced with different devices for high gripping performance, and the part design was changed accordingly. The unmovable wrist was also changed to an active wrist that is controlled by a servo motor. The gripping time was determined by the user’s electromyography signals. In experiments, this prosthetic hand successfully grasped four different objects.

‘흙의 물 빠짐’과학 활동에서 경험귀납적, 가설연역적 방법이 유아의 과학적 과정기술과 문제해결력에 미치는 효과

신은수(Eunsoo Shin),정현빈(Jeong Hyun Been),정영미(Jung Young Mi) 한국육아지원학회 2015 육아지원연구 Vol.10 No.1

본 연구의 목적은 ‘흙의 물 빠짐’ 과학 활동에서 경험귀납적, 가설연역적 방법이 유아의 과학적 과정기술과 문제해결력에 미치는 효과를 살펴보는 것이다. 연구대상은 가정의 사회경제적 지위가 저소득층에 속하는 인천시 G초등학교 병설유치원의 유아 40명(만 4세 20명, 만 5세 20명)과 가정의 사회경제적 지위가 중상류층에 속하는 서울시 B대학 부속유치원의 유아 40명(만 4세 20명, 만 5세 20명) 총 80명의 유아들로 선정하여 유아의 연령, 가정의 사회경제적 지위, 교수학습 방법에 따라 집단을 구성하였다. 경험귀납적 방법을 적용한 집단은 자유 실험 및 탐색(가설검증), 교사와의 대화(가설설정), 적용(가설적용)의 3단계로 활동을 진행하였으며, 가설연역적 방법을 적용한 집단은 교사와의 대화(가설설정), 자유 실험 및 탐색(가설검증), 적용(가설적용)의 3단계로 활동을 진행하였다. 유아의 과학적 과정기술과 문제해결력 평가는 적용(가설적용) 단계에서 유아가 과제를 수행하는 동안 관찰을 통하여 이루어졌고, 수집된 자료는 SPSS 18.0 프로그램을 사용하여 t-검증 및 삼원변량분석으로 분석하였다. 연구결과, 유아의 자유 실험 및 탐색을 강조한 경험귀납적 방법이 가설연역적 방법보다 유아의 과학적 과정기술과 문제해결력 증진에 효과적인 것으로 나타났으며, 유아의 연령과 사회경제적 지위가 고려되어야 함을 확인하였다. The purpose of this study was to examine the effects of Empirical-inductive and Hypothetical-deductive Methods on young children’s scientific process skills and problem solving skills. The subjects were total of 80 young children consisting of 40 children (20 children of 4-year-olds and 20 children of 5-year-olds) from a kindergarten attached to the G elementary school in Incheon, so called low class areas in Incheon and the other 40 children (20 children of 4-year-olds and 20 children of 5-year-olds) from a kindergarten attached to the B University in Seoul so called mid-high class areas in Seoul. The science activities of ‘soil drainage’ were used to assess children’s scientific process skills and problem solving skills. The activities were based on empirical-inductive methods. They are conducted in three phases; 1) free experimentation and exploration, 2) talking with teachers and 3) application. Young children’s scientific process skills and problem solving skills were assessed by observation when they were doing the scientific task in the third phase of activities. The observational data were analyzed with t-test and three-way repeated ANOVA analysis using the SPSS 18.0 program. The results showed that there was a significant difference in the development of scientific process skills and problem solving skills depending on young children’s age, their socioeconomic status and teaching and learning methods. The results showed that children’s age and their socioeconomic status need to be considered in order to improve the development of scientific process skills and problem solving skills in young children. The results suggested that the development of effective teaching and learning methods to serve special needs of different groups of children.

소리의 전딸에 대한 이동의 개념 발달 연구

신은수(Eunsoo Shin),김은정(Eunjung Kim) 한국아동학회 2013 아동학회지 Vol.34 No.4

This siudy examined concept development in children in ternlS of sound propagation. TIle subjects consisted of 240 five-, seven-, and ten-ye..`lr-old children from three kinderganens and two primary schools respectively. The instrument used for the purposes of this study was the examination insrrument on sound as developed by the SPACE Project in the UK The concepts related to sound were classified into five stages including: no recognition, egocentric concept, initial mental models, synthetic mental models, and scientific mental models. TIle results revealed the existence of significa.nt differences in teons of the types of concept that children were aware of, according to age and context. Most five-, seven-, and ten-year-old children revealed egocentric concepts related 10 every sound. drum, rubber band context, however, most five-, seven-, and ten-year-old children revealed their recognition of the synthetic models of sound propagation when using the string telephone context. These results have implications for the contents of science education for children when it comes to the development of concepts related to sound propagation.

Visual object detection 기반 의수 제어

신은수(Eunsoo Shin),최태환(Taehwan Choi),나재영(Jayeong Na),유다영(Dayoung You),이회림(Hoirim Lee),임철용(Chulyong Lim),남우철(Woochul Nam) 대한기계학회 2022 대한기계학회 춘추학술대회 Vol.2022 No.11

Most prosthetic hands cannot automatically control their gripping motions according to target objects; users need to manually select gripping motion. To address this problem, this study integrated a vision system with the prosthetic hand to autonomously detect an object to grip and conduct a suitable grip motion. The users vision was replaced with a laser pointer and mini-cam. The user needs to indicate a target object with the laser pointer. Then, the object detection model (Scaled-YOLOv4) discerns the object class and determines the gripping motion corresponding to the class. To improve the object detection accuracy, various image processing methods are applied to the detection model. Moreover, a public robot hand design (Handi-hand) was significantly modified to realize precise and robust grip motions. Actuators, joints, and stiffness components in the robot fingers were replaced with different devices for high gripping performance, and the part design was changed accordingly. The unmovable wrist was also changed to an active wrist that is controlled by a servo motor. The gripping time was determined by the user’s electromyography signals. In experiments, this prosthetic hand successfully grasped four different objects.

비디오 재방문을 통한 교수방법이 유아 구성활동의 표상성에 미치는 효과

신은수(Eunsoo Shin),권미경(Kwon Mi Kyung) 한국육아지원학회 2011 육아지원연구 Vol.6 No.2

본 연구는 비디오 재방문을 통한 교수 방법이 유아의 구성 활동의 표상성에 미치는 영향을 살펴본 것이다. 연구 대상은 서울시의 2개 유치원 만 5세반에 재원중인 유아 48명으로, 실험 집단 24명과 비교 집단 24명으로 구성하였다. 실험 집단 유아는 비디오 재방문을 통한 반성적 계획에 기초한 구성 활동에 참여하였으며, 비교 집단 유아는 언어를 통한 반성적 계획에 기초한 구성 활동에 참여하였다. 유아의 표상성을 평가하기 위해 표상적 주제 관련성, 표상적 정교성, 표상적 다양성, 표상적 연계성의 4가지 하 위 범주로 구성된 표상능력 평가 도구를 사용하여 구성 활동의 사전과 사후 검사를 실시하였다. 연구 결과, 비디오 재방문에 의한 실험 집단 유아들의 표상성이 비교 집단 보다 향상되었다. 본 연구를 통하 여 비디오 재방문이 유아의 표상성을 높이는 교수 방법으로서 유아교육 현장에 적용성이 높음을 제안 하고자 한다. This study is to examine the effects of video revisiting on the complexity of representation in constructive activity. The subjects are 48 five-year-olds, 24 five-year-olds in the experiment group and 24 five-year-olds in the comparative group who are attended at two kindergartens in Seoul. Children are participated in constructive activity based on the video revisiting planning of experiment group and the verbal planning of comparative group. To assess children’s complexity of representation, pre-and post-test are conducted by the representation ability checklist which consists of 4 sub-categories including the themerelatedness of representation, the elaboration of representation, the variety of representation, and the connectedness of representation. In the results, the video revisiting group has more positive effects than the verbal planning group on children’s complexity of representation including the theme-relatedness of representation, the elaboration of representation, the variety of representation, and the connectedness of representation of constructive play. The results suggest the educational implication of the video revisiting which is the effective instructional methods to improve children’s representation ability.

풀무원

김한(Kim Han),신은수(Shin Eunsoo),제임스 정(사진) 현대건축사 2015 (월간)Maru Vol.165 No.-

딥러닝 기반 IMU 자세추정

최태환(Taehwan Choi),신은수(Eunsoo Shin),남우철(Woochul Nam) 대한기계학회 2023 대한기계학회 춘추학술대회 Vol.2023 No.5

풀무원

김한(Kim Han),신은수(Shin Eunsoo),제임스 정(사진) 현대건축사 2015 마루 Vol.- No.165

Object detection를 이용한 스마트 의수

최태환(Taehwan Choi),신은수(Eunsoo Shin),유다영(Dayoung You),이회림(Hoirim Lee),나재영(Jayeong Na),이동희(Donghee Lee),임철용(Chulyong Lim),남우철(Woochal Nam) 국방로봇학회 2023 국방로봇학회 논문집 Vol.2 No.4

Most prosthetic hands cannot automatically control their gripping motions according to target objects; users need to manually select gripping motion. To address this problem, this study integrated a vision system with the prosthetic hand to autonomously detect an object to grip and conduct a suitable grip motion. The users vision was replaced with a laser pointer and mini-cam. The user needs to indicate a target object with the laser pointer. Then, the object detection model (YOLOv5) discerns the object class and determines the gripping motion corresponding to the class. To improve the object detection accuracy, various image processing methods are applied to the detection model. Moreover, a public robot hand design (Handi-hand) was significantly modified to realize precise and robust grip motions. Actuators, joints, and stiffness components in the robot fingers were replaced with different devices for high gripping performance, and the part design was changed accordingly. The unmovable wrist was also changed to an active wrist that is controlled by a servo motor. The gripping time was determined by the user’s electromyography signals. In experiments, this prosthetic hand successfully grasped four different objects.