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Mobile Haptic Display 개발을 위한 Mobile Robot의 구조 및 제어
최오규(Oh-Kyu Choi),홍민식(Min-Sik Hong),이진수(Jin S. Lee) 대한전자공학회 2007 대한전자공학회 학술대회 Vol.2007 No.7
Mobile Haptic Display refers to a haptic interface with mobile robot as its base. This paper presents a structure of a mobile robot for Mobile Haptic Display and its control method. The proposed robot uses three omni-directional wheels. and moves in any direction without constraints. The robot control method is based on a PID-based velocity control method. Since omni-directional wheels have unactuated subwheels and contains inherent nonlinearity. we propose a fuzzy logic control, and other supplementary control technique to overcome the problem.
이인(In Lee),황인욱(Inwook Hwang),한경룡(Kyung-Lyoung Han),최오규(Oh Kyu Choi),이진수(Jin S. Lee),최승문(Seungmoon Choi) 한국HCI학회 2009 한국HCI학회 학술대회 Vol.2009 No.2
본 논문은 이동형 햅틱 장치(mobile haptic interface; MHI)의 실제적인 문제점과 그 개선사항들에 대해 다루고 있다. 1) 전체 좌표계에서의 haptic interface point (HIP) 위치 추정정확도에 대한 개선, 2) MHI 가 사용자와 장애물들을 피해 움직이도록 하는 포텐셜-필드방식에 기반한 이동 계획 알고리즘, 3) MHI 의 움직임으로부터 발생하는 원하지 않는 힘이 사용자에게 전해지는 것을 막기 위한 closed-loop 컨트롤 등을 소개한다. In this paper, we present practical issues in a Mobile Haptic Interface (MHI) and their improvements. The improvements can be categorized in three parts: 1) high-accuracy estimation of the world position of the haptic interface point, 2) motion planning algorithm to move the mobile base while avoiding collisions with the user and other objects, and 3) closed-loop force control to compensate the undesired effect of mobile base dynamics on the final rendering force perceived by the user.
안상태,최오규,이종규,임풍 大韓成形外科學會 1986 Archives of Plastic Surgery Vol.13 No.2
Distant flaps have been widely used in reconstructive surgery and the timing of division of the flap pedicle has been determined by rather conventional concept and surgeon's experience than any objective criteria. It has been classical concept that the pedicle should not be divided until two to three weeks after the flap transfer. But in clinical experience of many surgeons, an interval of three weeks is not necessary in gaining an adequate blood supply from its recipient bed. Purposes of the present experiment are to determine the earliest time when a flap pedicle can be safely divided, and to find the way how it can be correctly assessed. Cephalad-pedicled flaps (3 x 6 cm) were prepared in backs of 70 albino rats weighing 200 to 250 gm which was the maximal length of the flap and that was expected to result in 100% survival. Blood flow was measured in proximal, middle and distal areas of the flap using Laser Doppler velocimetry before the flap elevation and every day after the operation for 6 days. The pedicles of the flaps were divided after the blood flow measurements, and mean flap survival areas were measured as percentage of the total flap area on the fifth day after pedicle division. Microangiographic studies were also performed in each day to study revascularization within the flap and the change of blood vessels around the flap margins. The results were as follows: 1. The blood flow measurements revealed marked reduction at the 1st postoperative day and they returned almost normal at the 3rd postoperative day in the proximal area and at the 5th postoperative day in the middle and distal areas. 2. The flap survival after division of the pedicles is thought to be correlated to the blood flow of the flap especially at the distal area. 3. The microangiographic examination suggests that reorganization and reorientation of the blood vessel in the flap are more important than revascularization around the flap margin in regard to the flap survival after pedicle division. 4. Adequate time of pedicle division of distant flap is thought to be when blood flow of the flap especially at the distal area return almost to the level before the flap elevation.
백승근,최오규,박정준,이종현 大韓成形外科學會 1991 Archives of Plastic Surgery Vol.18 No.3
Cryptotia is a rare congenital anomaly among caucasians, but it is more common among orientals. In cryptotia, the upper part of the retroauricular sulcus is absent and the skin of the ear merges directly with that of the temporal region. By applying traction to the buried portion of the helix, the contour of the upper portion of the helix and the sulcus becomes visible. We have performed modified Akira Yanai's method of cryptotia reconstruction to avoid the disadvantages of the Akira Yanai's method i. e. skin necrosis at the tips of the Z-flaps. Our technique is both Z-plasty and the advancement flap. The angle of local flap is transposed into the postauricular region. The degree of transposition is about 30 degrees. Onizuka's conchal cartilage graft or Fukuda's method is employed to repair the deformed cartilage. We have treated 5 patients using this technique and the results were very satisfactory to the patients.