Optical characteristics of strontium aluminates phosphors for white LED

학위논문(박사)--서울대학교 대학원 :응용화학부,2004.Docto

뇌졸중 환자에게 견갑골 후방 경사 운동과 소흉근 신장운동을 병행 시 어깨 운동형상학에 미치는 효과

Dept. of Physical Therapy/석사The purpose of this study was to compare the effects of a 6–week period of pectoralis minor stretching (PMS) and PMS with scapular posterior tilt exercise (SPTE) on the scapular posterior tilt angle, humeral forward flexion range during active humeral forward flexion, and relative pectoralis minor length in stroke patients. Twenty patients (13 males and 7 females) who had undergone a stroke participated in this study. The subjects were randomly divided into two 10–patient groups: PMS and PMS plus SPTE. Three–dimensional electromagnetic motion tracking system was used to measure the paretic scapular posterior tilt angle and humeral forward flexion range during active humeral forward flexion in a sitting position, and the relative pectoralis minor length was measured using a pectoralis minor length test. The results showed that the scapular posterior tilt angle and humeral forward flexion range were significantly increased during active humeral forward flexion in both groups. The pectoralis minor length was found by a pectoralis minor length test to be significantly increasing in both groups. In a comparison of the PMS and PMS plus SPTE groups, the scapular posterior tilt angle and humeral forward flexion were increased more in the PMS plus SPTE group than the PMS group. However, the results of our study were not statistically significant. The relative pectoralis minor length increased more in the PMS group than the PMS plus SPTE group, but also not significant. The 6–week PMS makes the paretic arm lift higher through increasing scapular posterior tilt. In conclusion, PMS is an effective intervention for the paretic upper limb function in stroke patients, but PMS plus SPTE is not superior to PMS only.ope

Device and method for inertia measurement using the slope sensor and the angular speed sensor for a humanoid biped walking robot

본 발명은 휴머노이드 이족 보행 로봇을 위한 기울기 센서와 각속도 센서를 이용한 관성 측정 장치 및 방법에 관한 것이다. 본 발명은 중력 방향에 대해 수직인 롤과 피치 방향에 대한 로봇의 기울기를 측정하기 위한 기울기 센서; 중력 방향에 대해 수직인 롤과 피치 방향에 대한 로봇의 각속도를 측정하기 위한 각속도 센서; 상기 기울기 센서와 상기 각속도 센서로부터 실시간으로 측정된 롤과 피치 방향에 대한 로봇의 기울기와 각속도 데이터를 수신받아 필터링하기 위한 보상 필터부; 및 상기 보상 필터부와 연결되고, 상기 기울기 센서와 상기 각속도 센서로부터 실시간으로 측정된 롤과 피치 방향에 대한 로봇의 기울기와 각속도 신호를 A/D 변환하여 휴머노이드 이족 보행 로봇의 자세 제어기로 제공하도록 하는 디지털 신호 처리부를 포함한다. 따라서, 휴머노이드 로봇의 보행 중 자세 제어를 위해 롤 방향과 피치 방향의 각 회전축에 대하여 각각 2개의 기울기 센서와 2개의 레이트자이로의 아날로그 신호를 A/D 변환하여 CAN 통신을 통해 로봇의 기울기 및 각속도를 주 제어기로 전송하여 휴머노이드 로봇의 보행 중 자세를 제어하는 효과가 있다

A study on the design of humanoid biped walking robot : lower body design

학위논문(석사) - 한국과학기술원 : 기계공학전공, 2002.2, [ iv, 58 p. ]한국과학기술원 : 기계공학전공

인간형 이족 로봇의 플랫폼 개발 및 동적 보행 제어

학위논문(박사) - 한국과학기술원 : 기계공학전공, 2007. 8, [ 118 p. ]The Korea Advanced Institute of Science and Technology (KAIST) humanoid robot - 1 (KHR-1) was developed for the purpose of researching the walking action of bipeds. KHR-1, which has no hands or head, has 21 degrees of freedom (DOF): 12 DOF in the legs, 1 DOF in the torso, and 8 DOF in the arms. The second version of this humanoid robot, KHR-2, (which has 41 DOF) can walk on a living-room floor; it also moves and looks like a human. The third version, HUBO (KHR-3), has more human-like features, a greater variety of movements, and a more human-friendly character. This paper presents the mechanical design of HUBO, including the design concept, the lower body design, the upper body design, and the actuator selection of joints. Previously the details of KHR-1 and KHR-2 developed and published. The HUBO platform, which is based on KHR-2, has 41 DOF, stands 125 cm tall, and weighs 55 kg. From a mechanical point of view, HUBO has greater mechanical stiffness and a more detailed frame design than KHR-2. The stiffness of the frame was increased and the detailed design around the joints and link frame were either modified or fully redesigned. We initially introduced an exterior art design concept for KHR-2, and that concept was implemented in HUBO at the mechanical design stage. The electrical system designs and system integration including controllers and sensory devices of the humanoid HUBO are presented. All the joints of HUBO are under the distributed control, which reduces the computation burden on the main controller and also to facilitate device expansions. We have developed a microprocessor-based sub-controller for servo motor operations, onto which sensory feedback is interfaced. The main controller, which is mounted in the chest of the robot, communicates with sub-controllers in real-time through CAN (Controller Area Network). Windows XP is used as the OS (Operating System), which enables rapid program development. RTX (Real Time eXtension) HAL extension softw...한국과학기술원 : 기계공학전공