[신간의 별자리x] 우리/미술, 그리고 ‘슬픔의 박물관’

The World Health Organization has declared Covid-19 as a pandemic that has posed a contemporary threat to humanity. This pandemic has successfully forced global shutdown of several activities, incl...

https://www.tandfonline.com/doi/pdf/10.1080/10494820.2020.1813180

Covid-19 pandemic and online learning: the challenges and opportunities

Electromyography (EMG) signals are becoming increasingly important in many applications, including clinical/biomedical, prosthesis or rehabilitation devices, human machine interactions, and more. However, noisy EMG signals are the major hurdles to be overcome in order to achieve improved performance in the above applications. Detection, processing and classification analysis in electromyography (EMG) is very desirable because it allows a more standardized and precise evaluation of the neurophysiological, rehabitational and assistive technological findings. This paper reviews two prominent areas; first: the pre-processing method for eliminating possible artifacts via appropriate preparation at the time of recording EMG signals, and second: a brief explanation of the different methods for processing and classifying EMG signals. This study then compares the numerous methods of analyzing EMG signals, in terms of their performance. The crux of this paper is to review the most recent developments and research studies related to the issues mentioned above.

/pdf/surface-electromyography-signal-processing-and-138ym9ds1t.pdf

Surface Electromyography Signal Processing and Classification Techniques

Proceedings of the ASME Design Engineering Technical Conference

https://vbn.aau.dk/ws/files/337950041/robotics_09_00016.pdf

A review on design of upper limb exoskeletons

Uninhabited Aerial Vehicle(UAV) has been developed quickly for decades and a new kind of VTOL(Vertical Take-Off and Landing)UAV which is called Ducted-Fan Uninhabited Aerial Vehicle attracts more and more attention. This paper presents a new structure of the ducted-fan UAV. In this vehicle, the actuator system consists of four rotary cylinders which are symmetrically installed at bottom of inside duct. The force used for attitude stabilization is generated by the interaction between the surface of cylinder and the downwash, which is known as Magnus effect. In this paper, the aerodynamic characteristics of propeller-wing interaction for the ducted fan UAV were simulated numerically based on the Computational Fluid Dynamics (CFD) by means of sliding mesh technology.

CFD analysis of ducted-fan UAV based on Magnus effect

Modeling and controlling self-reconfiguration of modular robots is still a challenging problem in the field of distributed control. The two main constrains are the design of target shapes and the a...

https://journals.sagepub.com/doi/pdf/10.1177/1687814017695692

Modeling the fractal development of modular robots

Autonomous docking is still a major challenge for self-reconfigurable robots, it is an essential capability for the system to realize reconstruction, self-repairing and even for completing operational tasks in the complex environment. In this paper, we developed a new sensor module for the UBot self-reconfigurable robot system, and proposed a novel docking method for precise docking between module group with the sensor module and the target module. We describe this automated docking progress as three steps: The visual pre-positioning process; Precise positioning through hall sensors; Crawling and self-locking by the hook-type connecting systems. Finally, this method is proved to be effective by the S-4 module group automatic docking experiment.

Multisensor-based autonomous docking for UBot modular reconfigurable robot

To address the lack of 3D space information in the digital radiography of a patient femur, a pose estimation method based on 2D-3D rigid registration is proposed in this study. The method uses two digital radiography images to realize the preoperative 3D visualization of a fractured femur. Compared with the pure Digital Radiography or Computed Tomography imaging diagnostic methods, the proposed method has the advantages of low cost, high precision, and minimal harmful radiation. First, stable matching point pairs in the frontal and lateral images of the patient femur and the universal femur are obtained by using the Scale Invariant Feature Transform method. Then, the 3D pose estimation registration parameters of the femur are calculated by using the Iterative Closest Point (ICP) algorithm. Finally, based on the deviation between the six degrees freedom parameter calculated by the proposed method, preset posture parameters are calculated to evaluate registration accuracy. After registration, the rotation error is less than l.5°, and the translation error is less than 1.2 mm, which indicate that the proposed method has high precision and robustness. The proposed method provides 3D image information for effective preoperative orthopedic diagnosis and surgery planning.

/pdf/sift-algorithm-based-3d-pose-estimation-of-femur-229lmzebsn.pdf

SIFT algorithm-based 3D pose estimation of femur.

Robot joint friction is an important and complicated issue in improving robot control performance. In this paper, a virtual sensor based on the total generalized momentum concept is proposed to estimate the total friction torque, including both the motor-side and link-side friction, of robot joints without joint torque sensors. The proposed algorithm only requires a robot joint dynamics model and not a complex friction model dependent on factors such as time and velocity. By compensating for the estimated friction torque with a robot joint controller, the trajectory tracking performance of the controller, especially the velocity tracking performance, can be improved. To verify the effectiveness of the developed algorithm, 2-DOF planar manipulator simulations and single-joint system experiments are conducted. The simulation and experimental results show that the designed virtual sensor can effectively estimate the total joint friction disturbance and that the controller trajectory tracking performance is improved after observed friction compensation. However, the position tracking performance improvement of the controller is less than that for the velocity tracking performance improvement during the experiments. In addition, the velocity step response ability and velocity tracking performance of the controller are improved more at low velocities than that at high velocities in the experiments. The proposed algorithm has engineering and theoretical significance for estimating robot joint friction and improving the performance of robot joint controllers.

https://www.mdpi.com/2076-3417/9/16/3344/pdf

A Novel Virtual Sensor for Estimating Robot Joint Total Friction Based on Total Momentum

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