http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
김갑순(Gab-Soon Kim) Korean Society for Precision Engineering 2004 한국정밀공학회지 Vol.21 No.3
This paper describes the development of a small 6-axis force/moment sensor for robot's finger, which measures forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In order to safely grasp an unknown object using the robot's gripper, and accurately perceive the position of it in the gripper, it should measure the force in the gripping direction, the force in the gravity direction and the moments each direction, and perform the force control using the measured forces and moments. Also, it should detect the moments Mx (x-direction moment), My and Mz to accurately perceive the position of the object in the grippers. Thus, the robot's gripper should be composed of 6-axis force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In this paper, the small 6-axis force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test for the developed sensor was performed, and the result shows that interference errors of the developed sensor are less than 4.23%. Thus, the developed small 6-axis force/moment sensor may be used a robot's gripper.
이동로봇을 위한 카메라 1대를 이용한 소형 장애물 인식방법에 관한 연구
김갑순(Gab-Soon Kim) Korean Society for Precision Engineering 2005 한국정밀공학회지 Vol.22 No.9
This paper describes the recognition method of small-obstacles using a camera for a mobile robot in indoor environment. The technique of image processing using a camera has been widely used for an automaton of industrial system, an inspection of inferior goods, a lookout of an invader, and a vision sensor of intelligent robot. Mobile robot could meet small-obstacles such as a small plastic bottle of about 0.5 l in quantity, a small box of 7×7×7 ㎤ in volume, and so on in its designated path, and could be disturbed by them in the locomotion of a mobile robot. So, it is necessary to research on the recognition of small-obstacles using a camera and program. In this paper, 2-D image processing algorism and method for recognition of small-obstacles using a camera for a mobile robot in indoor environment was developed. The characteristic test of the developed program to confirm the recognition of small-obstacles was performed. It is shown that the developed program could judge the size and the position of small-obstacles accurately.
김갑순(Gab-Soon Kim) Korean Society for Precision Engineering 2006 한국정밀공학회지 Vol.23 No.5
This paper describes the design and implementation of a robot's gripper control system. In order to safely grasp an unknown object using the robot's gripper, the gripper should detect the force of gripping direction and the force of gravity direction, and should perform the force control using the detected forces and the robot's gripper control system. In this paper, the robot's gripper control system is designed and manufactured using DSP(Digital Signal Processor), and the gripper is composed of two 6-axis force/moment sensors which measures the Fx force(force of x-direction), Fy force, Fz force, and the Mx moment(moment of x-direction), My moment, Mz moment at the same time. The response characteristic test of the system is performed to determine the proportional gain Kp and the integral gain Ki of PI controller. As a result, it is shown that the developed robot's gripper control system grasps an unknown object safely.
코로나19에 의한 대학생들의 스트레스에 대한 질적 연구
김갑순(Gab-Soon Kim),박윤조(Yoon-Joe Park) 한국콘텐츠학회 2021 한국콘텐츠학회논문지 Vol.21 No.9
본 연구는 코로나19에 대한 대학생들의 주관적 인식 및 경험을 중심으로 스트레스에 대한 집중면담을 통해 의미를 도출하고자 질적 연구방법을 활용하였다. 연구 참여자는 경기도 Y대학에 재학 중인 대학생 12명이었으며, 질문지는 ‘코로나19로 인해 본인의 일상생활은 어떠한 변화가 있었습니까?’, ‘코로나19로 인해 본인의 주변 환경에 어떠한 변화가 있었습니까?’, ‘코로나19로 인해 어떠한 편안함/불편함을 경험하셨습니까?’ 와 같은 개방형으로 구성되었다. 코로나19로 인해 대학생이 경험하는 스트레스에 대한 분석결과, 스트레스 요인으로는 학업의 질 저하 우려, 사회적 관계 단절 불안, 일자리(아르바이트)감소에 따른 부담, 건강 및 안전 불안 총 4개 유형으로 나타났다. 본 연구결과를 종합해보면, 대학의 온라인수업 최적화를 위한 노력, 비대면을 통한 사회적 관계 방식 모색, 대학생 대상 일자리 창출 정책 마련, 코로나19에 따른 식생활로 인한 건강관리 방안 등이 논의되어야 할 것으로 보여 진다. This study used a qualitative research method to derive meaning through intensive interviews on stress, focusing on the subjective perceptions and experiences of college students about COVID-19. The study participants were 12 college students enrolled at University Y in Gyeonggi-do, and the questionnaires were How has your daily life changed due to COVID-19? and What changes have you made in your environment due to COVID-19?, What kind of comfort/inconvenience did you experience due to COVID-19?As a result of analyzing the stress experienced by university students due to COVID-19, the stress factors were found to be four types: concerns about academic quality, anxiety about disconnection from social relationships, burden due to decrease in jobs (part-time jobs), and health and safety anxiety. The results of this study, it seems that the universitys efforts to optimize online classes, seeking social relationships through non-face-to-face, preparing policies for job creation for college students, and health management measures due to COVID-19 should be discussed.
김갑순 ( Gab Soon Kim ) 한국센서학회 2015 센서학회지 Vol.24 No.2
This paper describes the design of a two-axis force sensor with two step plate beams for measuring forces in an upper-limb rehabilitation robot. The two-axis force sensor is composed of a Fz force sensor and a Ty torque sensor. The Fz force sensor measures the force applied to a patient’s arm pushed by a rehabilitation robot and the force of patient``s arm. The Ty torque sensor measures the torque generated by a patient’s arm motion in an emergency. The structure of sensor is composed of a force transmitting block, two step plate beams and two fixture blocks. The two-axis force sensor was designed using FEM (Finite Element Method), and manufactured using strain-gages. The characteristics test of the two-axis force sensor was carried out. as a test results, the interference error of the two-axis force sensor was less than 1.24%, the repeatability error of each sensor was less than 0.03%, and the non-linearity was less than 0.02%.
직교형 손가락 재활로봇기구를 위한 힘센서 개발 및 특성실험
김갑순 ( Gab Soon Kim ) 한국센서학회 2012 센서학회지 Vol.21 No.2
Stroke patients must do the rehabilitation exercise to recover their fingers` function using a rehabilitation robot. But the rehabilitation robots mostly have not the force sensors to control the applied force to each finger. Thus, in this paper, the development of a force sensor for thumb rehabilitation robot and four two-axis force sensors for four-finger rehabilitation robot were developed. The force sensor and four two-axis force sensors could be used to measure the applied force to each finger, and the forces could be used to control the applied forces to each sensor in rehabilitation exercise using in the rehabilitation robot. The developed sensors have non-linearlity error of less than 0.05 %, repeatability error of less than 0.03 %, and the interference error of two-axis force sensor is less than 0.2 %.