• Title, Summary, Keyword: HAL

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Power Assist Control for Walking Aid by HAL Based on Phase Sequence and EMG

  • Lee, Suwoong;Yoshiyuki Sankai
    • 제어로봇시스템학회:학술대회논문집
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    • pp.46.1-46
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    • 2001
  • This paper describes a control method of hybrid power assistive system for lower body, HAL, with the techniques of Phase Sequence and the application of EMG. Our objective is to attain the power assist control of motion in the lower body effectively with these two methods. The Phase Sequence which performs basic motion controls of HAL is the method that a motion, the Task, is accomplished by dividing each motion into the unit named Phase and ...

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A Structure of Hardware Abstraction Layer for Improving OS Portability (운영체제의 이식성 향상을 위한 하드웨어 추상화 계층 구조 설계)

  • Lee, Dong-ju;Kim, Jimin;Ryu, Minsoo
    • Proceedings of the Korea Information Processing Society Conference
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    • pp.3-6
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    • 2012
  • 최근 응용 특화된 다양한 구조의 프로세서가 확산됨에 따라 기존 운영체제를 다른 구조의 플랫폼으로 이식하는 비용이 증가하고 있다. 기존 운영체제에서는 소스 코드 수준에서 하드웨어 의존적인 부분을 HAL(hardware abstraction layer)로 구분하여 관리함으로써 이기종 플랫폼간의 이식성을 높이고자 하였다. 그러나 기존 HAL 구조는 대부분 하드웨어의 물리적인 구조만을 고려하여 설계되어 체계적인 이식 작업이 어렵다는 문제점을 가지고 있다. 이를 위해 본 논문에서는 하드웨어의 물리적인 구조와 운영체제의 기능적인 요소를 함께 고려한 HAL 구조를 제안한다. 제안하는 HAL 구조의 효용성은 S3C2410 에서 실행하는 운영체제를 Cell BE 플랫폼으로 이식하는 사례 연구를 통해 검증하였다.

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Exposure assessment of musculoskeletal disorder risk factors in non routinized work: An application of PATH-KOSHA observational tool to hospital workers (비정형작업 근골격계질환 위험요인의 노출평가: 일부 병원근로자에 대한 PATH-KOSHA 관찰도구 적용사례)

  • Park, Jung-Keun;Han, Young-Sun
    • Journal of Korean Society of Occupational and Environmental Hygiene
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    • v.19 no.4
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    • pp.412-422
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    • 2009
  • This study was conducted to assess exposure to musculoskeletal disorder(MSD) risk factors in hospital personnel who performed non-routinized work tasks. A tool ("PATH-KOSHA" version) was newly revised from PATH(Posture, Activity, Tools and Handling) method and uploaded into a personal digital assistant(PDA). The version was used, on a basis of direct-observation, to collect PATH data at the 2 hospital settings in different regions. Job analysis was performed to get various information (e.g., work and rest time, task type) as well. The data collected were visually checked for data cleaning and stored for future data analysis. A total of 1,992 PATH observations were made for 37 hospital workers. Exposure levels varied across 18 items of the MSD risk factors. The highest percent time spent on non-neutral postures was 53% for wrist deviation, followed by 47%(pinch grip), 35%(trunk posture), 23%(neck posture), and 20%(shoulder/arm posture). The highest percent time spent among hand activity level(HAL) variables was 55% for HAL-cat2 (HAL: 3.3 - <6.7). The percent time of items with respect to both loads with more than 5kg and contact stress was less than 4%. Vibration was not exposed in the study workers. Different aspects were discussed for findings. The study results showed that wrist deviation was highest in percent time spent on awkward posture while HAL-cat2 was highest in hand repetition. The study suggests that distal upper extremity posture and HAL should be primarily addressed and controlled in non-routinized work including the hospital settings.

SMI Compatible Simulation Scheduler Design for Reuse of Model Complying with SMP Standard

  • Koo, Cheol-Hea;Lee, Hoon-Hee;Cheon, Yee-Jin
    • Journal of Astronomy and Space Sciences
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    • v.27 no.4
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    • pp.407-412
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    • 2010
  • Software reusability is one of key factors which impacts cost and schedule on a software development project. It is very crucial also in satellite simulator development since there are many commercial simulator models related to satellite and dynamics. If these models can be used in another simulator platform, great deal of confidence and cost/schedule reduction would be achieved. Simulation model portability (SMP) is maintained by European Space Agency and many models compatible with SMP/simulation model interface (SMI) are available. Korea Aerospace Research Institute (KARI) is developing hardware abstraction layer (HAL) supported satellite simulator to verify on-board software of satellite. From above reasons, KARI wants to port these SMI compatible models to the HAL supported satellite simulator. To port these SMI compatible models to the HAL supported satellite simulator, simulation scheduler is preliminary designed according to the SMI standard.

Complete mesocolic excision in right hemicolectomy: comparison between hand-assisted laparoscopic and open approaches

  • Sheng, Qin-Song;Pan, Zhe;Chai, Jin;Cheng, Xiao-Bin;Liu, Fan-Long;Wang, Jin-Hai;Chen, Wen-Bin;Lin, Jian-Jiang
    • Annals of Surgical Treatment and Research
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    • v.92 no.2
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    • pp.90-96
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    • 2017
  • Purpose: To demonstrate the feasibility, safety, and technical strategies of hand-assisted laparoscopic complete mesocolic excision (HAL-CME) and to compare oncological outcomes between HAL-CME and the open approach (O-CME) for right colon cancers. Methods: Patients who were scheduled to undergo a right hemicolectomy were divided into HAL-CME and O-CME groups. Measured outcomes included demographic variables, perioperative parameters, and follow-up data. Demographic variables included age, sex distribution, body mass index (BMI), American Society of Anesthesiologists (ASA) physical status classification, previous abdominal surgery, tumor localization, and potential comorbidities. Perioperative parameters included incision length, operative time, blood loss, conversion rate, postoperative pain score, postoperative first passage of flatus, duration of hospital stay, total cost, number of lymph nodes retrieved, TNM classification, and postoperative complications. Follow-up data included follow-up time, use of chemotherapy, local recurrence rate, distant metastasis rate, and short-term survival rate. Results: In total, 150 patients (HAL-CME, 78; O-CME, 72) were included. The groups were similar in age, sex distribution, BMI, ASA classification, history of previous abdominal surgeries, tumor localization, and potential comorbidities. Patients in the HAL-CME group had shorter incision lengths, longer operative times, less operative blood loss, lower pain scores, earlier first passage of flatus, shorter hospital stay, higher total costs, similar numbers of lymph nodes retrieved, similar TNM classifications, and a comparable incidence of postoperative complications. The 2 groups were also similar in local recurrence rate, distant metastasis rate, and short-term survival rate. Conclusion: The results demonstrate that the HAL-CME procedure is a safe, valid, and feasible surgical method for right hemicolon cancers.

우리 나라 명수법에 대한 소고(III)

  • 김병덕
    • Journal for History of Mathematics
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    • v.12 no.2
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    • pp.55-62
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    • 1999
  • We research the origin of noun-following noun, Hal-Pun-Li which describes rate and clear up the difference between Hal-Pun-Li and numeric nouns which express decimal fractions. Next, we point out the mistakes of encyclopedia of mathematics, the Korean dictionary and the textbook of mathematics in the primary school, related to the difference. And then we detect the problems of the contents in the textbook which cause them. Finally we think of the improvements of the textbook.

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Hardware Abstraction Architecture for Low Cost Flash Memories in Wireless Sensor Nodes (무선 센서 노드상의 저가형 플래시 메모리를 위한 하드웨어 추상화 구조)

  • Kim, Chang-Hoon;Kwon, Young-Jik
    • Journal of the Korea Industrial Information Systems Research
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    • v.14 no.2
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    • pp.72-80
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    • 2009
  • In this parer, we propose a hardware abstraction architecture(HAA) for low cost flash memories that can be applicable to wireless sensor nodes. The proposed HAA consists of three layers. The three layers are 1) HHL(Hardware Interlace Layer), HAL(Hardware Adaption Layer), and HPL(Hardware Presentation Layer), where HIL provides a platform independent interlace to applications of upper layers, HAL performs hardware resource management, program status control, and generation of logical instructions as main core of the HAA, and HPL initializes hardware and communicates data between MCU and flash memory. We implemented our HAA on AT45DB flash memory, and the HAA used 4,384 bytes program memory and 195 bytes data memory respectively. Since the proposed HAA is composed of well defined three layers and shows a low utilization of memory, it can provides a high efficiency in terms of flexibility, scalability, and re-usability, and thus the HAA is well suited for wireless sensor nodes.

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Efficient Radio Resource Measurement System in IEEE 802.11 Networks (IEEE 802.11 네트워크에서 효율적인 라디오 자원 측정 시스템 연구)

  • Yang, Seung-Chur;Lee, Sung-Ho;Kim, Jong-Deok
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.16 no.11
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    • pp.2437-2445
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    • 2012
  • This paper presents the efficient measurement method of radio resource by analyzing various medium occupied elements. The medium occupied time consists of 802.11 frames, wireless interference, and protocol waiting time from a wireless node on a current channel. And it is used to performance metric. Existing research is only measured partial occupied elements, and is lack of validation of measurement unit and scalability on various IEEE 802.11 radio. This paper presents the measurement method of classified occupied elements. To achieve this, we modified 802.11n based OpenHAL device driver to collect the register information of wireless chipset, and to analyze receiving frames in an virtual monitor mode. We conclude accurate medium occupied time measurement system from various validation methods.

Development of LBS Terminal Standard Platform based on WIPI (위피 기반 LBS 단말 표준 플랫폼 개발)

  • Jang, Jeong-Ah;Choi, Hai-Ock;Kim, Kyong-Ho
    • The KIPS Transactions:PartA
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    • v.14A no.5
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    • pp.309-316
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    • 2007
  • This paper describes the LBS Terminal Standard Platform based on WIPI. The LBS Terminal Standard Platform based on WIPI is API for obtaining the location information in the mobile standard platform providing the environment which is mounted on the mobile communications terminal and can platform an application. The mobile Platform consists of HAL API, C API and Java API that it is able to process Location Information data among wireless network. It is defined and developed at the HAL sections and C sections based on Generic I/O, and It describes in details in this paper. This standard Platform is expected to be utilized as the base specification in developing the LBS Terminal development technology and standard method to LBS application developers.