http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Seongil Hwang(황성일),Hyunah Kang(강현아),Sang Hoon Kang(강상훈) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.4
The mechanical impedance of the human arm is a physical entity that corresponds to the clinical assessment of muscle tone, a muscle’s resistance to passive stretching. Quantification of the human arm mechanical impedance may provide us with a deeper understanding of the changes in upper limb post-stroke. A previous study using a low friction robot (i.e., MIT-MANUS) showed low reliability(< 0.8) of the estimation for frequency below ~5Hz. However, recent studies elucidated that the low reliability could be due to nonlinearities in the robot (e.g., joint friction), not in the human arm. In this study, to clarify the reason for the low reliability, the experiment was conducted using a direct-drive robot almost identical to the MIT-MANUS, and the spring arrays, the second-order linear system. The result showed high reliability under a robust impedance control compensating nonlinearity of robots, but low reliability under a simple PD control. This is indirect yet strong evidence that the low reliability was caused by the nonlinearity of the robots, not the human arm.
Seongil Hwang(황성일),Hyunah Kang(강현아),Sang Hoon Kang(강상훈) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.6
The mechanical impedance of the upper limb corresponds to the muscle tone, a muscle’s resistance to passive stretching. Quantifying the impedance provides a deeper understanding of the changes in the upper limb post-stroke. A previous study with MIT MANUS, known for its low joint frictions, showed low reliability(< 0.8) in low-frequencies ( (<5Hz). A conjecture for low reliability was the nonlinear properties of upper limb muscles. However, recent studies elucidated that the low reliability could be due to nonlinear frictions in robot joints instead of the muscle nonlinearities. An experiment was conducted using a direct drive robot almost identical to the MIT MANUS and a spring array with known mechanical impedance to clarify the reason. The result showed, in the low frequencies, reliability was high when using the robot a robust impedance control compensating the nonlinear frictions in robot joints. In contrast, low reliability was obtained in the low frequencies when using the same robot under a proportional-derivative (PD) control that does not compensate for the friction. These results indicate that the low reliability was caused by the nonlinear frictions in robot joints, not by the nonlinearities in the human arm.
Kang, Seongil,Song, Sangyeol,Lee, Joosang,Chang, Hyekyung,Lee, Sanghun Hindawi 2018 Evidence-based Complementary and Alternative Medic Vol.2018 No.-
<P><B>Objectives</B></P><P> Several experimental studies have reported antiobesity and lipid-improving effects of<I> Citrus unshiu</I>. However, clinical studies on its effects are lacking. This study was designed to evaluate the impact of<I> Citrus unshiu </I>peel pellet (CUPP) on obesity and lipid profile.</P><P><B> Methods</B></P><P> For 118 patients with body mass index (BMI) > 23 who took<I> Citrus unshiu</I> peel pellet (CUPP) for 4 weeks in a Public Health Center, laboratory and biometric readings before and after CUPP administration were analyzed.</P><P><B> Results</B></P><P> Mean age of these subjects was 53.8±10.6 years (range: 18-75 years). There were 88 (74.6%) females in the study sample (n = 118). A significant (<I>p </I>< 0.01) decrease in BMI from 27.47±2.24 to 27.27±2.22 was observed in all subjects after CUPP treatment and 65.3% (N = 77) of them lost 1.03±0.83 kg of weight after 4 weeks of treatment. Total cholesterol level was significantly (<I>p </I>< 0.01) decreased from 204.0±37.4 mg/dL to 193.5±36.5 mg/dL. Significant (<I>p </I>< 0.05) decreases in levels of low-density lipoprotein, cholesterol, and triglyceride were also observed.</P><P><B> Conclusions</B></P><P> These results suggest that CUPP in practice could help weight control and improve total cholesterol level. Findings of this study provide clinical foundation for future large-scale trials to establish clinical benefits of CUPP.</P>
Kang, Seongil,Park, Subin,Kim, Kyung-su,Song, Changsik,Lee, Yunmi American Chemical Society 2018 Journal of organic chemistry Vol.83 No.5
<P>We present a new and straightforward one-pot process for the synthesis of 3-carbonyl-4-quinolone derivatives through highly efficient Cu-catalyzed aza-Michael addition of 2-aminobenzoates to β-substituted α,β-unsaturated ketones/cyclization/mild oxidation reactions. A broad range of new versatile 3-carbonyl-quinolin-4(1<I>H</I>)-ones is prepared from readily available chemicals under mild reaction conditions with short reaction times, producing good to excellent yields (up to 99%).</P> [FIG OMISSION]</BR>
Seongil Hong,Gyuhyun Park,Wonsuk Lee,Sincheon Kang 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
We focus on the realization of the hierarchical inverse kinematics as a practical means of a hard real-time motion planning for a humanoid robot. To achieve complex on-line full body manipulation performance, a task priority is established among the tasks to precisely resolve task conflicts and all algorithms are described in recursive equations so as to minimize computation time. Formulating the kinematic problem in a least-square optimization enables us to derive solutions in a unified and consistent framework. The performance is validated through numerical simulations with bearing mind of rescue robot applications and finally, the inverse kinematic solution is found within 0:3msec on average for 19 degrees of freedom control.
Kinematic Control Algorithms and Robust Controller Design for Rescue Robot
Seongil Hong,Won Suk Lee,Youn Sik Kang,Yong Woon Park 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper introduces the Korean rescue robot and presents the kinematic and dynamic control method. The mission of the rescue robot is to move and lift patients or soldiers with impaired mobility for the rescue and assistance in the battlefields, hospitals, hazardous and disastrous environments. In order for robots to rescue and assist humans in various environments, reliable mobility and dextrous manipulability are required. For these objects the robot has variable configuration mobile platform with tracks, dual arm manipulators and two types of grippers. The electric actuators provide manipulator compliance and the strength to lift wounded soldiers up to 120kg by virtue of whole body joints. For controlling the robot’s high degree of freedom efficiently, complex whole body behaviors are synthesized and multi level hierarchy is used to integrate multiple task primitives without confliction. Moreover, the robot should have an ability to cope with large payload variation from 0kg to 120kg, robust PID controllers are utilized. They afford extended disturbance input to state stability, H∞ performance and controller tuning laws. We are to demonstrate the effectiveness of kinematic control algorithms and robust PID controllers through numerical simulations.
홍성일(Seongil Hong),박규현(Gyuhyun Park),이영우(Youngwoo Lee),이원석(Wonsuk Lee),최병훈(Byunghun Choi),강신천(Sincheon Kang) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.12
We introduce to a humanoid rescue robot that is designed to have a large load carrying capacity. The robot’s goal is to lift and transfer patients or soldiers with impaired mobility for rescue and assistance on the battlefield or degraded human engineered environments. The other goal is to dispose of and move dangerous objects or explosive ordnance. The rescue robot is designed to have dual arm manipulators and a hybrid tracked and legged mobile platform to execute this kind of task. Real time closed loop inverse kinematics and dynamics-based motion optimization enables the effective performance of rescue tasks. The mechanical design and control algorithms are explained and the effectiveness is demonstrated in physical experiments with the humanoid rescue robot HURCULES.