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특징점 분석을 이용한 착용형 보행보조 재활로봇의 보행패턴 생성 알고리즘
장인훈(I. H. Jang),정준영(J. Y. Jung),이덕연(D. Y. Lee),이동욱(D. W. Lee),이호길(H. K. Lee),박현섭(H. S. Park) 한국재활복지공학회 2010 한국재활복지공학회 학술대회논문집 Vol.2010 No.11
In this paper, we focus on the method to generate gait pattern for robotic orthosis having motors at its hip and knee respectively. In first we define the features in a gait pattern and extract features from the gait pattern, which is experimental encoder data of hip and knee taken from our dummy robotic encoder system. We also describe how to convert the selected features to input data for operating motor and what the physical meaning of features are. Finally, we make gait patterns using these features and apply them to our exoskeleton robot ROBIN-PI to verify our method.
유효선,윤재형,이덕연,정세희 전북대학교 공업기술연구소 1998 工學硏究 Vol.29 No.-
It has been well recognized that a long term service at elevated temperature of 350~550℃ induces temper embrittlement due to carbide precipitation and/or P, Sb and/or Sn segregation at grain boundaries and thereby deteriorates the grain boundary strength of heat resisting components in the energy-related plants. Therefore, it is very important to assess quantitatively the extent of temper embrittlement of heat resisting components to secure the reliable and efficient service condition and to prevent brittle failure in service. However, because fracture tests are limitted in size and number of specirmen obtained from the structural components, nondestructive tests are required. In this study, the optimum electrochemical estimation parameters related to test conditions were investigated and discussed by means of electrochemical polarization test methods(ECPTM) in special corrosive envrionment. The destructive small punch(SP) test was performed in order to establish a reliable and sensitive temper embrittlement evaluation tchnique.