동적 물체에 대한 로봇 매니퓰레터의 Visual Servoing

오승욱,양원영,심귀보 중앙대학교 생산공학연구소 1995 생산공학연구소 논문집 Vol.4 No.1

This paper presents a new method for visual servoing to control the pose(position and orientation) of the robotic manipulators for grasping the 3-D moving object whose initial pose and motion parameter are unknown by using the stereo camera. The stereo camera is mounted on the end-effector of robotic manipulator. In order to track the current pose of robotic manipulator to the desired pose, we use the Jacobian relating the change in image feature point to the change in the object's pose with respect to the camera. In this paper the simple PD controller is adopted for tracking the desired pose. The effectiveness of the proposed method is confirmed by some computer simulations.

서울 시내 일부 대학생의 성지식과 성태도에 관한 연구

김보배,노은경,박서영,박영,오승희,전영란,차현진,윤희상,김수지,이자형 이화여자대학교 간호과학대학 2004 이화간호학회지 Vol.- No.38

This study surveyed and analyzed comparatively college students-knowledge' attitude, was to cultivate the right knowledge and attitude on sex, and serve the foundational data for the suitable sex education. The purpose of the study was to identify and examine: 1) students; sexual knowledge and sexual attitude; 2) the differences between variables of gender, age, and self-perceived sexual knowledge in relation to sexual knowledge and sexual attitude; and 3) the relationship between sexual knowledge and sexual attitude. For this study the questionaires were given to 300 students from five different universities located seoul areas. the questionaires were collected Jenuary 8th to 15th in 2004. Two hundred and nigty one samples were analyzed for the study. The adapted SKAT(saxual knowledge & attitude test; Lief & Reed, 1986) was used to determine sexual knowledge and the students' sexual attitude. Collected data were analyzed statistically by means of percentage, t-test, ANOVA test, and pearson correlation analysis with SPSS 12.0 package program. The main results of this analysis are as follows: Participants consisted of male(48.1%) and female(51.9%) which were mainly between the ages of 21.25(71.8%) with an age range of 19 to 30. Knowledge of sexual disease was scored highest of 92.4%, and konwledge of the knowledge of the male and female's anatomy was the lowest at 60.9%. The respondents' level of sexual attitude was tolerant as on average 3.66(on the basis of 5) Relating to the items, the respondents' score of the sexual curiosity was 4.16, sexual behavior 3.85, self-consolation 3.81, aborthon 3.23, virgine 3.19, extramarital experiences 3.17. There were no significant differences in sexual knowledge between male and females, between younger and older students, residence, sexual experience, and how students mainly obtained their sexual knowledge. But a significant difference was also found religion in their sexual attitude(p<.005). In addition, results showed the relationship between sexual knowledge and sexual attitude(P=0.332).

학교교실의 환경개선을 위한 조명설계 연구

좌승택,오성보 濟州大學校 産業技術硏究所 1999 산업기술연구소논문집 Vol.10 No.2

School illumination with full volume of light and adequate brightness is designed to help students better focus on their education and produce an optimum atmospnere where students can apply their utmost to learning. This paper present to study actual illumination environment of schools in order to figure out illumination prolems. Furthermore. it attempts to suggest an optimum design for schoolroom illumination through computer simulation to attain qualitative improvement effect in school illumination under the illuminaion plan which is based on illumination maintenance and uniformity ratio that K.S. illumination standard sets.

학교교실의 환경개선을 위한 조명설계 연구

좌승택,오성보 제주대학교 산업기술연구소 1999 尖端技術硏究所論文集 Vol.10 No.2

School illumination with full volume of light and adequate brightness is designed to help students better focus on their education and produce an optimum atmospnere where students can apply their utmost to learning. This paper present to study actual illumination environment of schools in order to figure out illumination prolems. Furthermore, it attempts to suggest an optimum design for schoolroom illumination through computer simulation to attain qualitative improvement effect in school illumination under the illumination plan which is based on illumination maintenance and uniformity ratio that K.S. illumination standard sets.

대학생의 취업스트레스와 자아존중감, 자아효능감, 외모관리행동의 관계

김보라,김유진,김지희,노혜진,오승희,홍지혜,황윤희,박선아 水原大學校 2016 論文集 Vol.30 No.-

Purpose: Many university students are under a lot of job-seeking stress because the employment rate is low. This study sought to determine the relationship between job-seeking stress, self esteem, self efficacy and appearance management behavior amongst university students focusing on nursing. Methods: This descriptive correlational study evaluated the relationships between job-seeking stress, self esteem, self efficacy and appearance management behavior of 340 university students was conducted between September 1 and October 5, 2015. Results: The correlational analysis between job-seeking stress, self esteem, self efficacy and appearance management behavior revealed a negative correlation between job-seeking stress, self esteem and self efficacy and a positive correlation between job-seeking stress and appearance management behavior. In addition, age also correlated with self esteem, self efficacy and appearance management behavior. Conclusion: Stress correlated with self esteem and self efficacy and appearance management behavior. Therefore job-seeking stress may be reduced through not only self esteem and self efficacy enhancement programs but also management according to age.

스테레오 카메라를 사용한 로봇 매니퓰레이터의 위치 및 자세 제어

심귀보,오승욱 중앙대학교 생산공학연구소 1994 생산공학연구소 논문집 Vol.3 No.1

본 논문에서는 움직이는 3D 물체를 안정하게 파지하기 위한 로봇 매니퓰레이터의 자세(위치 및 방향)를 Visual Servoing을 이용하여 제어하는 새로운 방법을 제안한다. 물체의 카메라에 대한 3D 좌표를 구하는 방법으로 스테레오 카메라를 사용하고, 물체의 카메라에 대한 미소 변화와 이미지 상의 변화와의 관계식인 Jacobian을 이용하여 물체의 초기 위치와 이동 방향과 속도에 관계없이 로봇 매니퓰레이터의 자세 제어가 가능하다. 이미지 Jacobian을 이용하면 이미지 상의 변화만으로 제어가 가능하기 때문에 움직이는 물체에 대한 실시간 제어가 가능하다. 제안된 방법을 가지고 PUMA 560 로봇 매니퓰레이터에 적용하여 모의 실험 검증을 할 것이다. This Paper Present a new method for visual servoing to control the pose (position and orientation) of the robot manipulators for grasping the 3D moving object, a motion parameter and initial position of the object are unknown, by using stereo camera. The stereo camera is mounted on the end-effector of robot manipulator. In order to track the actual pose of robot manipulator to desired pose, we use the Jacobian relating the change in the object's pose with respect to camera. In this paper, the simple PD technique is adopted as controller for tracking the desired pose. The effectiveness of our proposed method is confirmed by some computer simulations.

학교교실의 조명설계 최적화 연구

좌승택,김덕구,오성보 濟州大學校 産業技術硏究所 2000 산업기술연구소논문집 Vol.11 No.2

School illumination with full volume of light and adequate brightness is designed to help students better focus on their education and produce an optimum atmosphere where students can apply their utmost to learning. This paper presents study on actual illumination environment of schools in order to figure out illumination problems. Furthermore. it attempts to suggest an optimum design for schoolroom illumination through computer simulation. We try to attain qualitative improvement effect in school illumination under the illuminaion plan which is based on illumination maintenance and uniformity ratio that K.S. illumination standard sets.

학교교실의 조명설계 최적화 연구

좌승택,김덕구,오성보 제주대학교 산업기술연구소 2000 尖端技術硏究所論文集 Vol.11 No.2

School illumination with full volume of light and adequate brightness is designed to help students better focus on their education and produce an optimum atmosphere where students can apply their utmost to learning. This paper presents study on actual illumination environment of schools in order to figure out illumination problems. Furthermore, it attempts to suggest an optimum design for schoolroom illumination through computer simulation. We try to attain qualitative improvement effect in school illumination under the illuminaion plan which is based on illumination maintenance and uniformity ratio that K.S. illumination standard sets.

A XX/XY mosaicism detected by analysis of multiple tissues

( Bo Hoon Oh ),( Kyung Ju Song ),( Seung Bo Kim ),( Jung Eun Mok ) 대한산부인과학회 1989 대한산부인과학회 학술대회 Vol.63 No.-

질방광루의 Latzko 수술의 1례

김승보(Seung Bo Kim),이재호(Jae Ho Lee),오영승(Young Seung Oh),허주엽(Chu Yeop Huh) 대한산부인과학회 1999 Obstetrics & Gynecology Science Vol.42 No.9

Vesicovaginal fistula is a uncommon status in the developed countries. In the past it was mostly by obstetric causes. But now a days, posthysterectomy fistulas are seen. Fistula is a discomfort to the patient because of urine leakage, odor, and its inconvenience. We have experienced one case of fistula after abdominal hysterectomy and have repaired it by Latzko partial colpocleisis. So we report a case with some references.