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중공형 서보 조립체를 이용한 Light Weight Robot 개발
한현규,고희영,이영철,정철곤,신윤성,고석조,이영진 제어로봇시스템학회 2008 제어로봇시스템학회 국내학술대회 논문집 Vol.2008 No.10
Studies on dual arm robots have been continually carried out in robotics areas to provide robots in dangerous environments, similar to those which human beings would be normally in, without a special change to the working environment. In previous study, a dual arm robot has been designed. The robot, however, has some defects in its heavy weight and big shape. In order to reduce weight of a dual arm robot, the robot has been designed using a hallow shaft servo assembly.
Light Weight Robot을 위한 중공축 서보 조립체 개발
한현규,고희영,이영철,정철곤,신윤성,고석조,이영진 제어로봇시스템학회 2008 제어로봇시스템학회 국내학술대회 논문집 Vol.2008 No.10
Robotic manipulators are increasingly deployed in complex environments or to perform complex tasks. Studies on dual arm robots have been continually carried out in robotics areas to provide robots in dangerous environments, similar to those which human beings would be normally in, without a special change to the working environment. In this study, a hallow shaft servo assembly for light weight of a dual arm robot has been developed. The hallow shaft servo assembly is composed of a hallow shaft servo motor, a hallow shaft harmonic drive, a hallow shaft brake, a hallow shaft encoder, and a servo drive.
변형률계를 이용한 강재보의 건전도 평가 시스템 개발에 관한 연구
한현규,안형준 한국구조물진단유지관리공학회 2012 한국구조물진단유지관리공학회 논문집 Vol.16 No.1
이 연구에서는 변형률계를 사용하여 변위를 추정하는 이론식을 제안 및 검증하고 하중 작용점과 크기를 추정하여 강재보의 건전도 평가 시스템을 개발하고자 하였다. 실험결과 160kN(항복하중의 56%)가력시 최대처짐 점에서 변형률계를 사용하여 얻는 처짐과 변위계의 측정처짐과의 오차율이 2%이내로 나타났으며 하중작용점 및 크기의 추정도 오차율1% 이내로 나타났다. 이를 통해 변형률계로 강재보의 변위 및 하중을 계측 할 수 있으며 나아가 변위계와 하중계의 생략으로 경제적인 센서설계를 할 수 있다. Lab VIEW로 구현된 건전도 평가 프로그램은 측정된 데이터가 일정 범위(강도 한계상태, 사용성 한계상태, 항복변형률)를 넘어설 때 단계별 경고를 발생하였고 변형률계 만으로 사용성한계상태와 강도한계상태를 동시에 모니터링 할 수 있었다. This study aimed to develop a Structural Health Monitoring System for steel beams in the manner of suggesting and verifying a theoretical formula for displacement estimation using strain gauges, and estimating the loading points and magnitude. According to the results of this study, it was found that when a load of 160kN (56% of the yield load) was applied, the error rate of the deflection obtained with a strain gauge at the point of maximum deflection compared to the deflection measured with a displacement meter was within 2%, and that the estimates of the magnitude and points of load application also showed the error rate of not more than 1%. This suggests that the displacement and load of steel beams can be measured with strain gauges and further, it will enable more cost-effective sensor designing without displacement meter or load cell. The Structural Health Monitoring System program implemented in Lab VIEW gave graded warnings whenever the measured data exceeds the specified range (strength limit state, serviceability limit state, yield strain), and both the serviceability limit state and strength limit state could be simultaneously monitored with strain gauge alone.
딥러닝 기술을 활용한 안검하수 진단용 동적 MRD1 측정에 관한 연구
한현규,최원홍,조재수 제어·로봇·시스템학회 2023 제어·로봇·시스템학회 논문지 Vol.29 No.12
. This paper proposes an automated method for measuring the margin reflex distance (MRD1) value for diagnosing ptosis. The proposed technique of automatically measuring MRD1 involves capturing a video of the eye using an optical device, segmenting the video into regions using the RITnet [1] deep learning network, and subsequently estimating the pupil center and upper eyelid using an image processing algorithm and the least squares method. The current manual or digital image-based MRD1 measurement, which is used in most hospitals, is prone to inaccuracies and significant errors depending on the individual conducting the measurement. Recognizing the need for improved accuracy, we propose a medical device for vision measurement that employs AI and vision technology to automate dynamic measurement and analysis reflecting the movement of the eyelids. To address perspective errors arising from the tilt of the patient’s face, we propose a perspective error filtering method using a reference marker. The effectiveness of the proposed method was validated using simple prototypes and various experiments.