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근력 측정을 통한 복합기능형 Lift 조향 손잡이의 최적설계에 관한 연구
조덕연(Deok Yeon Cho),전경진(Keyoung Jin Chun),고철웅(Cheol Woong Ko),김수택(Soo Taek Kim) 대한인간공학회 2010 대한인간공학회 학술대회논문집 Vol.2010 No.10
In this study, drivability tests of a multi-purpose lift combined with a variable handgrip test device were performed to get optimal design parameters of a lift handgrip. A Korean male in his 20s was selected for the tests and total 12 EMG sensors were used to measure muscle forces during the drivability tests. By changing the width (200㎜, 400㎜, 600㎜, and 800㎜) and the angle(0°, 45°, and 90°) of the lift handgrip, EMG data were measured and analyzed. From this study, it is considered that optimal design parameters of a lift handgrip were proposed to possibly improve lift drivability.
어안렌즈와 천장의 위치인식 마크를 활용한 청소로봇의 자기 위치 인식 기술
강태구(Taegu Kang),이재현(Jae Hyun Lee),정광오(Kwang Oh Jung),조덕연(Deok Yeon Cho),임충혁(Choong Hyuk Yim),김동환(Dong Hwan Kim) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.10
In this paper, a location identification for a cleaning robot using a camera shooting forward a room ceiling which kas three point landmarks is introduced. These three points are made from a laser source which is placed on an auto charger. A fisheye lens covering almost 150 degrees is utilized and the image is transformed to a camera image grabber. The wi이y shot image has an inevitable distortion even if wide range is coverd. This distortion is flatten using an image warping scheme. Several vision processing techniques such as an intersection extraction, erosion, and curve fitting are employed. Next, three point marks are identified and their correspondence is investigated. Through this image processing and image distortion adjustment, a robot location in a wide geometrical coverage is identified.