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이종규(Jong Gyu Lee),이상룡(Sang Ryong Lee),이춘영(Choon Young Lee),양승한(Seung Han Yang) Korean Society for Precision Engineering 2014 한국정밀공학회지 Vol.31 No.10
In this paper, two-DOF parallel manipulator has the sliders which execute a linear reciprocating motion depending on parallel guides and the end-effector which can be adjusted arbitrarily. To investigate the dynamic characteristics of the manipulator, the dynamic performance index is used. The index is able to be obtained by the relation between the Jacobian matrix and the inertia matrix. The kinematic and the dynamic analysis find these matrices. Also, the dynamic model of the manipulator is derived from the Lagrange formula. This model represents complicated nonlinear equations of motion. With the simulation results of the dynamic characteristic of the manipulator, we find that the dynamic performance index is based on the selection of the ranges for the continuous movement of the manipulator and the dynamic model derived can be used to the control algorithm development of the manipulator.
정인철 ( In Chul Jung ),이상룡 ( Sang Ryong Lee ),박양춘 ( Yang Chun Park ),홍권의 ( Kwon Eui Hong ),이용구 ( Young Koo Lee ),강위창 ( Wee Chang Kang ),최선미 ( Sun Mi Choi ),김종우 ( Jong Woo Kim ),최강욱 ( Kang Wook Choi ),오달 대한한방신경정신과학회 2008 동의신경정신과학회지 Vol.19 No.1
Objective : The purpose of this research is to examine the effect of Simjeongkyeok Sa-am acupuncture treatment for major symptoms of Hwa-byung. Method : In this randomized, single blind, placebo-controlled study, we compared Simjeongkyeok acupuncture with Sham acupuncture in the treatment for major symptoms of Hwa-byung. Likert scale for major symptom of Hwa-byung was measured as the 1st evaluative instrument, and STAXI-K, STAI-K, BDI-K and HRV were also measured as the 2nd evaluative instrument at the before treatment and after treatment. Results : In comparison of Likert scale for major symptoms, total score of after treatment decreased significantly at each point on both groups, but there was no significant difference between both groups. In comparison of STAXI-K, STAI-K, BDI-K, there was no significant difference in variation of score between both groups. But Simjeongkyeok group showed higher ratio variation of STAXI expression than that of Sham group, Also on subjects whose main complaint symptom were burning sensation and whose pattern identification were Qizhi, Simjeongkyeok group showed higher variation of Likert scale score and BDI-K than that of Sham group. The significance was border line around. Conclusion : We considered that Shimjeongkeok treatment will be likely to be recommended for treating Hwa-byung, especially on subjects in each group whose main complaint symptom were burning sensation or whose pattern identification were Qizhi. Also it may also be effective on the management of anger expression.
이종규(Jong Gyu Lee),이상룡(Sang Ryong Lee),이춘영(Choon Young Lee),양승한(Seung Han Yang) Korean Society for Precision Engineering 2012 한국정밀공학회지 Vol.29 No.1
In this paper, a parallel manipulator is comprised of two sliders and four links. Sliders execute a linear reciprocating motion depending on parallel guides and make the connected links rotate. A couple of links connected by sliders do coupling motion. The end-effector called a link tip has orientation angle. Through the kinematics analysis of this manipulator, we found displacement, velocity and acceleration using direct and inverse kinematics. We used equations that derived from this analysis and determined five constraint conditions. These conditions had much to do with rotation states of links, the relative relation of link length and coupling motion state. To verify those, we suggest a new algorithm regarding constraint conditions of a manipulator. With the result which performed the algorithm, we found out that operation range of coupled links was limited by relative relation of link length and that manipulator was not able to carry out a series of link motion , in case of being the link vertical between two parallel guides.
정인철 ( In Chul Jung ),이상룡 ( Sang Ryong Lee ),박양춘 ( Yang Chun Park ),홍권의 ( Kwon Eui Hong ),구영선 ( Young Sun Koo ),조정효 ( Jeong Hyo Jo ),안정조 ( Joung Jo An ),강위창 ( Wee Chang Kang ),김종우 ( Jong Woo Kim ),최선미 대한한방신경정신과학회 2007 동의신경정신과학회지 Vol.18 No.1
Objective : The purpose of this research is to examine the effect of Sa-am acupuncture treatment(Sim-seungkyuk) for major symptoms of Hwa-byung.Method : In this randomized, single blind, placebo-controlled study, we compared active acupuncture with sham acupuncture in the treatment for major symptoms of Hwa-byung. likert scale(5 score) for major symptom of Hwa-byung was measured as the 1st evaluative instrument, and STAXI-K, STAI-K, BDI-K and HRV were also measured as the 2nd evaluative instrument at the before treatment and after treatment.Results : 26 volunteers participated in this study by dividing two groups, each 13 persons in trial group and control group at random. In comparison of likert scale for major symptoms, after treatment the total score of likert scale for major symptoms decreased significantly in both group than before treatment. And after treatment, the total score of trial group decreased less than those of control group in comparison between two groups. especially after 2 weeks from all treatment, there was significant difference between two groups. Conclusion : We considered that Shim-seungkyuk of Sa-am acupuncture treatment will be not recommended to treatment of Hwa-byung because this study could not prove effect of Shim-seungkyuk treatment for Hwa-byung in spite of preliminary study. This study will be used to provide a fundamental data for development of clinical research as preliminary study of Hwa-byung.
2 자유도 병렬형 매니퓰레이터의 지역 성능지수에 관한 연구
이종규(Jong Gyu Lee),양승한(Seung Han Yang),이상룡(Sang Ryong Lee),이춘영(Choon Young Lee) 대한기계학회 2013 大韓機械學會論文集A Vol.37 No.1
본 연구에서 병렬형 매니퓰레이터는 두 개의 평행판 위를 움직이는 슬라이더와 말단장치가 임의로 조정될 수 있는 링크를 가지고 있고, 두 개의 슬라이더에 각각 연결된 링크는 커플링운동을 한다. 매니퓰레이터의 정기구학 및 역기구학 해석을 통하여 슬라이더의 위치 및 말단장치의 위치 사이의 관계식을 나타내는 변위방정식을 유도하고, 유도된 방정식으로부터 정기구학 및 역기구학의 자코비안 행렬들을 구한다. 이러한 행렬들을 이용하여 매니퓰레이터의 지역 성능지수를 제안한다. 성능지수의 시뮬레이션 결과로부터, 매니퓰레이터는 한 사분면에서만 원활한 운동을 할 수 있고, 링크 길이 비와 말단장치의 자세가 최대 성능지수가 분포하는 영역의 변화에 중대한 영향을 미친다. This study investigates a parallel manipulator that can move over two parallel sliders and in which the end-effector of the manipulator can be adjusted arbitrarily. Through the direct and inverse kinematics of the manipulator, position equations are derived. These equations represent the relationship between the positions of the sliders and the position of the end-effector. The Jacobian matrices of the direct and inverse kinematics are obtained by these equations. By using the condition number defined from these matrices, the local performance index of the manipulator is proposed. By using the simulation results of the performance index, we find that the manipulator can smoothen movements in only one quadrant and that the distribution of the maximal performance index is affected by the ratio of the length of links and the orientation of the end-effector.
Trajectory Control of a Parallel Slider System by Combining PD Control and Neural Network Control
이종규(Jong Gyu Lee),이상룡(Sang Ryong Lee),양승한(Seung Han Yang) Korean Society for Precision Engineering 2018 한국정밀공학회지 Vol.35 No.1
The parallel slider system can be configured as a parallel robot by combining with other link devices. Therefore, the degree of positioning of the parallel slider would have considerable influence on the smooth operation of the parallel robot. In order to examine the degree of positioning of each slider, the following trajectory is equally presented, and the possibility of tracking the slider trajectory examined by application of the PD and PND control. From the experimental results, the dynamic characteristics of the slider show different responses to differing equivalent frictional forces acting on the slider. The PND control can make the rise time shorter than the PD control, and the PND control and PD control can smoothly follow the same trajectory given to each slider. It is therefore anticipated that the PND control and the PD control could be successfully implemented to follow the trajectory of a parallel robot based on a parallel slider system. It would then be necessary to fabricate slider experimental equipment capable of generating torque of sufficient magnitude to successfully reduce the trajectory error of the slider.
가속도센서와 각속도센서를 이용한 특정 비정상보행에 관한 연구
허근섭(Geun Sub Heo),양승한(Seung Han Yang),이상룡(Sang Ryong Lee),이종규(Jong Gyu Lee),이춘영(Choon-Young Lee) Korean Society for Precision Engineering 2012 한국정밀공학회지 Vol.29 No.11
Recently, technologies to help the elderly or disabled people who have difficulty in walking are being developed. In order to develop these technologies, it is necessary to construct a system that gathers the gait data of people and analysis of these data is also important. In this research, we constructed the development of sensor system which consists of pressure sensor, three-axis accelerometer and two-axis gyro sensor. We used k-means clustering algorithm to classify the data for characterization, and then calculated the symmetry index with histogram which was produced from each cluster. We collected gait data from sensors attached on two subjects. The experiment was conducted for two kinds of gait status. One is walking with normal gait; the other is walking with abnormal gait (abnormal gait means that the subject walks by dragging the right leg intentionally). With the result from the analysis of acceleration component, we were able to confirm that the analysis technique of this data could be used to determine gait symmetry. In addition, by adding gyro components in the analysis, we could find that the symmetry index was appropriate to express symmetry better.