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로봇 지원 원격 초음파 영상진단을 위한 마스터-슬레이브 시스템의 개발
서준호,조장호,권오원,Seo, Joonho,Cho, Jang Ho,Kwon, Ohwon 한국로봇학회 2017 로봇학회 논문지 Vol.12 No.4
In this paper, we introduce a robot-assisted medical diagnostic system that enables remote ultrasound (US) imaging to be applied to the conventional telemedicine, which has been possible only with interviewing or a visual exam. In particular, a master-slave robot system is developed that ultrasonic diagnosis specialist can control the position and orientation of US probe in the remote place. The slave robot is designed to be compact, lightweight, and hand-held so that it can easily transfer to the remote healthcare center. Moreover, 6-degree-of-freedom (DOF) probe motion is possible by the robot design based on Stewart platform. The master device is also based on a similar structure of the slave robot. To connect master and slave system in the wide area network (WAN) environment, a hardware CODEC was developed. In this paper, we introduce the detail of each component and the results of the recent experiments conducted in the remote sites by the developed robotic ultrasound imaging system.
저마찰 박막코팅 적용 타펫 부품의 마찰 특성에 관한 연구
서준호(JoonHo Seo),임대순(DaeSoon Lim),나병철(ByungChul Na) 한국트라이볼로지학회 2009 한국트라이볼로지학회지 (Tribol. Lubr.) Vol.25 No.4
The wear of the contact in the tappet accounts for the greatest portion of entire friction loss of an engine, leading to the occurrence of abnormal wear. The coated specimens for cam-tappet wear test were producted by using PVD-Sputtering coating method. It examined the friction characteristics occurring between the cam and the tappet by using the dedicated wear tester and found that the friction torque value was reduced through comparison testing with the existing part when the low friction coating was applied. So application of the low friction coating to actual vehicles will reduce the fuel economy and occurrence of noise-vibration.
유압 요소부품 레이져 열처리 적용에 관한 Tribology 특성 연구
서준호(JoonHo Seo),나병철(ByungChul Na),김진용(JinYoung Kim),박승욱(SeungUk Park),김현철(HyunChul Kim) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.11
The recent technical trend of high pressure hydraulic main control valve requires reliable durability under long term high pressure condition and high speed operation with precision control mechanical efficiency at the life time. In this study, specially made tribologycal specimen was prepared using materials of real spool and block, and special heat treatment was applied using laser equipment. Tribological characteristics of laser tempered specimen of main control valve was investigated compared with the normal heat treated specimens. the results present the trend of friction coefficient, friction force and wear rate enhancement of laser tempered specimen.
뇌 내출혈종 수술을 위한 가중 ICP 알고리즘 기반 마커리스 환자-영상 정합 방법
서준호(Joonho Seo),이득희(Deukhee Lee),김영준(Youngjun Kim),박세형(Sehyung Park) (사)한국CDE학회 2012 한국 CAD/CAM 학회 학술발표회 논문집 Vol.2012 No.2
In the conventional Intracerebral Hematoma (ICH) removal surgery, it has been required to install the stereotactic frame on the patient’s cranial surface to access to the intracerebral hematoma. Since it is invasive and also takes long time, we attempt to develop a robotic ICH removal procedure with a markerless registration applying optical 3-D scanner. Preoperative patient’s data should be investigated from the CT images; it includes patient’s 3-D facial surface, hematoma, and surgical plans. Intraoperatively scanned facial surface will be registered to navigate the hematoma in the current pose of patient. Here, the conventional ICP (Iterative Closest Point) algorithm can be used for the registration. However, we need to assume that the patient’s face should not be changed from the preoperative model since the ICP considers only rigid-body transformation. In this paper, therefore, we investigated some facial features, which can be used as anatomical landmarks to identify the position of hematoma in the cranial structure. Moreover, the facial features in the preoperative 3-D model are weighted for more accurate registration with intraoperatively scanned points, ignoring locally deformed facial shapes. Accordingly, more accurate and robust target identification can be achieved even with patient’s local facial shape changes from the preoperative data.
전동휠체어 주행안전을 위한 3차원 깊이카메라 기반 장애물검출
서준호(Joonho Seo),김창원(Chang Won Kim) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.7
Obstacle detection is a key feature in the safe driving control of electric wheelchairs. The suggested obstacle detection algorithm was designed to provide obstacle avoidance direction and detect the existence of cliffs. By means of this information, the wheelchair can determine where to steer and whether to stop or go. A 3D depth camera (Microsoft KINECT) is used to scan the 3D point data of the scene, extract information on obstacles, and produce a steering direction for obstacle avoidance. To be specific, ground detection is applied to extract the obstacle candidates from the scanned data and the candidates are projected onto a 2D map. The 2D map provides discretized information of the extracted obstacles to decide on the avoidance direction (left or right) of the wheelchair. As an additional function, cliff detection is developed. By defining the “cliffband,” the ratio of the predefined band area and the detected area within the band area, the cliff detection algorithm can decide if a cliff is in front of the wheelchair. Vehicle tests were carried out by applying the algorithm to the electric wheelchair. Additionally, detailed functions of obstacle detection, such as providing avoidance direction and detecting the existence of cliffs, were demonstrated.
저마찰/내마모 Coating에 대한 밸브트레인계 적용에 관한 연구
서준호(JoonHo Seo),나병철(ByungChul Na),김진용(JinYong Kim),박승욱(SeungUk Park),이영민(YoungMin Lee),최승배(SeungBae Choi),임대순(DaeSoon Lim) 한국자동차공학회 2007 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
The coated specimens for cam-tappet wear test were producted by using PVD and polymer coating technique. Low friction/Low wear coating were applied WC/C, CrN, WC/C+CrN, MoS₂+PAI, MoS₂+PEEK coating. The profile of coated specimens were observed by non-contact type Optical Surface Measuring System and The friction-wear behaviors of coated specimens were investigated by using cam-tappet type wear tester. The results showed that frictional torque of the WC/C, WC/C+CrN, MoS₂+PAI, MoS₂+PEEK coated specimens were lower than one of non-coating specimen.
동력손실 저감을 위한 Tappet 부품의 트라이볼로지 특성에 관한연구
서준호(JoonHo Seo),임대순(DaeSoon Lim),김진용(JinYong Kim),박승욱(SeungUk Park),조승범(SeungBeom Cho),나병철(ByungChul Na) 한국트라이볼로지학회 2009 한국트라이볼로지학회 학술대회 Vol.2009 No.6
The wear of the contact in the tappet accounts for the greatest portion of entire friction loss of an engine, leading to the occurrence of abnormal wear. The coated specimens for cam-tappet wear test were producted by using PVD-Sputtering coating method. It examined the friction characteristics occurring between the cam and the tappet by using the dedicated wear tester and found that the friction torque value was reduced through comparison testing with the existing part when the low friction coating was applied. So application of the low friction coating to actual vehicles will reduce the fuel economy and occurrence of noise-vibration.
CCV(Crank Case Ventilation) 성능평가에 관한 연구
서준호(Joonho Seo),나병철(Byungchul Na),김진용(Jinyong Kim),박승욱(Seunguk Park),김현철(Hyunchul Kim),이봉현(BongHyun Lee),최승배(Seungbae Choi),임대순(DaeSoon Lim) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
This research aims to develop parts for Advanced Fuel/Oil Filtering Re-circulation applicable to this kind of regulation proof engines. These parts can playa role of converting traditional air emission type crankcase into recovery type crankcase so that the engine can deal with environmental regulations, which do not allow minimal amount of toxic gas discharge. For the experiment, test method and specially made testing equipment are prepared. The results showed that Oil separation efficiency of the Cone type CCV system was higher than one of Cylinder type in bench test and that Oil separation efficiency of the Multi Cone type CCV system was higher than one of Single Cone type in vehicle test.