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전세윤,박범용,Jeon, Se-Yun,Park, Bum Yong 대한임베디드공학회 2020 대한임베디드공학회논문지 Vol.15 No.2
This paper introduces a method to control an industrial robot arm to imitate the movement of the human arm and hand using electromyography (EMG) signals. The proposed method is implemented on the UR3 robot that is a popular industrial robot and a MYO armband that measure the EMG signals generated by human muscles. The communications for the UR3 robot and the MYO armband are integrated in the robot operating system (ROS) that is a middle-ware to develop robot systems easily. The movement of the human arm and hand is detected by the MYO armband, which is utilized to recognize and to estimate the speed of the movement of the operator's arm and the motion of the operator's hand. The proposed system can be easily used when human's detailed movement is required in the environment where human can't work. An experiments have been conducted to verify the performance of the proposed method using the teleoperation of the UR3 robot.
조동환,박범용,공진민,김정기,Cho, Dong-Hwan,Park, Bum-Yong,Kong, Jin-Min,Kim, Jeong-Gee 한국정신신체의학회 1998 정신신체의학 Vol.6 No.1
Objectives: This research was performed to know severity of depression and anxiety, the psychopathology of hemodialysis patients and kidney transplantation patients using Minneesota Multiphasic Personality Inventory(MMPI) and Zung's Self-rating Depression Scale (SDS), Zung's Self-rating Anxiety Scale(SAS), MMPI Subscales. Methods: We surveyed 31 hemodialysis patients and 119 kidney transplantation patients. 119 kidney transplantation group(KT) was investigated at ; 1) Before kidney transplantation (KT-1), 2) Three days after kidney transplantation(KT-2), 3) Three weeks after kidney transplantation(KT-3),4) Follow up at OPD(F/U). Results: 1) According to dermographic data, mean age was KT 33.1, HD 42.2, Control 33.1 years old and KT, HD were belonged to lower economic states and lower educational level than Control. 2) In the depression scale for SDS, KT-1 was more depressed than F/U and Control but depression scale was significantly decreased at KT-2 in comparison with HD. In the anxiety scale for SAS, KT-1 was more anxious than Control but anxiety scale was not different within IT subgroups and in comparison with HD. 3) In comparison of MMPI scales, Hs, D, Pt, Ma at KT-1, Pd, Pa, Pt, Ma at KT-2, F, D, Pd, Pt, Pa, Sc, Ma at KT-3, Pt at F/U were more high scores than Control.
손 골격 이미지를 이용한 CRNN 기반의 동적 손동작 인식
권용성(Yong-Sung Kwon),김충근(Chung-Guen Kim),박범용(Bum-Yong Park) 한국정보기술학회 2022 Proceedings of KIIT Conference Vol.2022 No.6
최근 HRI(Human-Robot Interaction) 분야에서는 손동작 인식을 이용하는 연구가 이루어지고 있다. 본 논문에서는 손 골격 이미지를 이용한 CRNN(Convolutional Recurrent Neural Network) 기반의 동적 손동작 인식시스템을 제안한다. 제안하는 시스템은 특징화된 손 골격 이미지를 사용하여 범용적인 인식 모델을 생성한다. 실험 결과, 학습 데이터 수집에 참여하지 않은 사람의 손동작 인식 실험에서 높은 인식 정확도를 보인다. Recently, research using hand gesture recognition has been conducted in HRI(Human-Robot Interaction). This paper proposed CRNN(Convolutional Recurrent Neural Network)-based dynamic hand gesture recognition using a skeleton hand image. The proposed system used a characterized skeleton hand image to produce the universal recognition model. The experiment shows high recognition accuracy in the hand gesture recognition experiment with people who did not participate in collecting training data.
산업용 로봇 원격제어를 위한 조이스틱을 이용한 ROS기반 임베디드 시스템
권용성(Yong-Sung Kwon),김은수(Eun-Su Kim),신재욱(Jae-Wook Shin),박범용(Bum-Yong Park) 한국정보기술학회 2021 한국정보기술학회논문지 Vol.19 No.12
With the development of the 4th industrial revolution, the need for a smart factory is emerging. The demand for industrial robots essential for smart factory is expected to increase. In this paper, we propose an industrial robot control method using a joystick in an embedded environment. When the robot’s terminal coordinates are set using a joystick, it is determined whether the coordinates are operable using an algorithm. If the coordinates are impossible, convert them to alternative coordinates and use the inverse kinematics solution to find the joint angle of the robot corresponding to the coordinates. The calculated join angle is transmitted to the control box of the industrial robot through Robot Operating System (ROS) communication to control the robot’s joints. As a result of simulation and operation of the proposed system, it was confirmed that real-time remote control of industrial robot using joystick was possible.
임영욱 ( Young Wook Lim ),박범용 ( Bum Yong Park ),김용식 ( Yong Sik Kim ) 대한고관절학회 2011 Hip and Pelvis Vol.23 No.4
Leg length discrepancies are a common cause of patient dissatisfaction after total hip arthroplasty (THA). The equalization of limb lengths and restoration of the anatomic geometry of the hip to restore normal gait and function are the primary goals during THA. Patients recognize a leg length discrepancy when one leg is shorter than the other by 6 mm or longer than the other by 10 mm after THA. Outside of this range, several problems would occur. Therefore, we should try to maintain leg length during THA via preoperative and intra-operative planning.
김정만,라기항,남호진,박범용,최승균,Kim, Jung-Man,Ra, Ki-Hang,Nam, Ho-Jin,Park, Bum-Yong,Choi, Seung-Kyun 대한정형외과초음파학회 2010 대한정형외과 초음파학회지 Vol.3 No.1
목적: 베이커 낭종에 대한 진단 방법으로 초음파 검사와 자기공명영상 검사를 비교하여 초음파 검사의 유용성을 알아보고자 하였다. 대상 및 방법: 2006년 8월부터 2009년 4월까지 본원 정형외과 외래에 내원하여 슬와부의 종물 증상을 호소하는 41명, 42예의 슬관절을 대상으로 하였다. 대상자 전례에서 초음파 검사 및 자기공명영상 검사를 시행하여 종물의 형태와 위치, 격막 유무, 다발성 유무, 관절과의 교통성 등을 비교 분석하였다. 결과: 초음파 검사에서 40예의 베이커 낭종과 2예의 지방종이 관찰되었고, 40예의 낭종은 모두 내측에 위치하고 있었고, 단발성이면서 격막이 존재하는 경우는 11예, 다발성 낭종인 경우는 3예 였으며, 단발성 낭종으로 교통성은 26예에서 추정되었다. 자기공명영상 검사에서는 40예의 베이커 낭종과 2예의 지방종이 관찰되었으며, 낭종 모두 내측에 위치하고 있었으며, 격막이 존재하는 경우는 13예, 다발성 낭종인 경우는 3예 였고, 교통성은 15예에서 추정되었다. 결론: 초음파 검사는 베이커 낭종의 관절내로의 교통성을 명확히 알수는 없었으나, 감별진단, 낭종의 위치와 형태 등을 적은 비용으로 알아보기 위한 유용한 검사로 생각된다. Purpose: The goal of this study is to assess the usefulness of ultrasonography in diagnosis of Baker's cyst. Materials and Methods: 42 cases of popliteal mass in 41 patients were reviewed between August 2006 and April 2009. All patients were evaluated with both MR imaging and ultrasonography. We investigated the comparison of a morphology, location, septation, and communication of mass between MR imaging and ultrasonography. Results: On ultrasonography, 40 Baker's cysts and 2 lipomas were detected, and all cysts were located at the medial side. 11 simple septated masses and 3 multiple cysts were detected, and 26 simple communicated cysts were suspected. On MR imaging, 40 Baker's cysts and 2 lipomas were detected, and all cysts were located at the medial side. 13 simple septated masses and 3 multiple cysts were detected, and 15 simple communicated cysts were suspected. Conclusion: Ultrasonography didn't give the definite information of Baker's cyst about communication with joint, but ultrasonography was a cost-effective useful tool for evaluation of a morphology, location and differential diagnosis of the Baker's cyst.