• 제어로봇시스템학회논문지
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• 제22권1호
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• pp.24-30
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• 2016

The accuracy of small and low-cost CCD cameras is insufficient to provide data for precisely tracking unmanned aerial vehicles (UAVs). This study shows how a quad rotor UAV can hover on a human targeted tracking object by using data from a CCD camera rather than imprecise GPS data. To realize this, quadcopter UAVs need to recognize their position and posture in known environments as well as unknown environments. Moreover, it is necessary for their localization to occur naturally. It is desirable for UAVs to estimate their position by solving uncertainty for quadcopter UAV hovering, as this is one of the most important problems. In this paper, we describe a method for determining the altitude of a quadcopter UAV using image information of a moving object like a walking human. This method combines the observed position from GPS sensors and the estimated position from images captured by a fixed camera to localize a UAV. Using the a priori known path of a quadcopter UAV in the world coordinates and a perspective camera model, we derive the geometric constraint equations that represent the relation between image frame coordinates for a moving object and the estimated quadcopter UAV's altitude. Since the equations are based on the geometric constraint equation, measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the quadcopter UAV. The Kalman filter scheme is applied for this method. Its performance is verified by a computer simulation and experiments.

• 지능정보연구
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• 제8권2호
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• pp.1-13
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• 2002

본 논문에서는 연속적으로 입력되는 칼라영상에서 물체의 이동에 의하여 형성된 동작영역을 확인하고, 영상의 시컨스(sequence)를 대상으로 움직이는 물체의 형태인 보행자 혹은 자동차들의 이동방향을 추적하는 시스템을 제안하였다. 카메라가 고정되어 있고 물체가 이동하는 상황에서 카메라시계에 진입하는 물체를 포착하여, 포착된 물체의 영역을 차 영상 분석을 통해 이진화하여 추출하고, 추출된 영역을 co-occurrence matrix의 RGB full 칼라의 특징 벡터를 추출하는 것을 제시하였다 추출되어지는 칼라 특징벡터를 분석하여 인접 프레임간의 이동물체 영역끼리의 대응관계를 조사함으로서, 이동물체를 추적한다. 군집화(clustering) 단계에서는 이전 단계에서 추출한 특징 벡터들 가운데 에너지, 엔트로피만을 가지고 인접 프레임간의 군집화를 조사하기 위하여 이동물체 영역들 간의 퍼지동적물체 정합 알고리즘을 적용시켰다. 인접 프레임간의 움직임 영역의 물체들에 대하여 멤버 쉽 함수를 근거로 중심 값을 계산하면, 동일 물체일 경우 중심 값 부근에서 군집이 형성되며, 이를 바탕으로 이동물체를 추출할 수 있는 방안을 제안하였다.

• 대한정형도수물리치료학회지
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• 제25권1호
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• pp.63-70
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• 2019

Background: The purpose of this study was to determine the effects of a pelvic compression belt on gait abilities and balance in subacute stroke patients. Methods: Twenty two patients with subacute were recruited and randomly assigned into two group: Two group offered conventional physical therapy and occupational therapy for five day. The group was composed of twelve patients. Participants in the experimental group were given the pelvic compression belt and conventional physical therapy, conventional occupational therapy, although conventional physical therapy and occupational therapy provided in the subjects in the control group. To assess the gait ability, the GAITRITE system was used and the Balance system SD was used to test balance. All measurements were performed before and after intervention. Results: The experimental group shows a significant improvement the cadence, velocity, step length and stride length in gait (p<.05) and show significant increase in the dynamic standing balance (p<.05). However, control group shows a significant improvement the cadence, velocity, step length and stride length in gait (p<.05), but shows no significant differences in dynamic standing balance. Furthermore, there were significant differences gait velocity, dynamic standing balance between two groups (p<.05). Conclusions: The results demonstrated that the elastic pelvic belt application is effective to improve gait velocity, dynamic balance in the subacute stroke patients. Thus, the elastic pelvic belt is seemed to be one of the potential methods to facilitate the active rehabilitation program for hemiplegia patients.

• 대한물리의학회지
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• 제14권1호
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• pp.139-150
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• 2019

PURPOSE: This study was conducted to determine the effects of treadmill gait training with obstacle-crossing on the static and dynamic balance ability of patients with post stroke hemiplegia. METHODS: Twenty-one patients with post stroke hemiplegia were divided into three groups as: treadmill gait training with obstacle-crossing (TOG, n=7), treadmill gait training without obstacle-crossing (TGG, n=7) and a control (CON, n=7). TOG and TGG performed exercise for 20 minutes, three times a week for 8 weeks. Static balance ability (stability typical, ST; weight distribution index, WDI; fourier harmony index, FHI; and fall index, FI) and dynamic balance ability (berg balance scale, BBS and timed up and go test, TUG) were measured before and after 8 -weeks in each exercise group. Statistical analyses were conducted using two-way ANOVA with repeated measures, a paired t-test, and multiple comparisons according to Tukey's HSD. RESULTS: FHI and BBS were significantly increased at TOG (p<.01) and TGG (p<.05) after 8-weeks compared to before treadmill gait training with obstacle-crossing. FHI and BBS were significantly increased at TOG compared with CON and TGG (p<.05). CONCLUSION: Treadmill gait training with obstacle-crossing was more effective than that without obstacle-crossing to improve posture control and independent daily life performance of hemiplegia patients.

• 대한통합의학회지
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• 제7권2호
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• pp.77-84
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• 2019

Purpose : Elastic taping is a therapeutic method, used for treatment of various musculoskeletal and neuromuscular deficits. However, there is limited evidence, of the effects of ankle elastic taping in neurologic patients. The purpose of this study, was to investigate the effect of elastic taping on gait, in the affected ankle area of chronic stroke patients. Methods : Subjects were randomized to receive 30 chronic stroke patients, who were 6 months old from the date of onset according to screening criteria. Group I showed ankle joint taping, and Group II had ankle muscle taping. Dynamic balance and temporal and spatial gait, were measured before taping application, and after 30 minutes of taping application. Results : Dynamic balance was measured using the Time up & Go test (TUG). There was statistically significant difference, between Group I and Group II (p<.05). There was no statistically significant difference, between Group I and Group II. Temporal and spatial gait were measured using GaitRite. In Group I, there was significant difference, before and after taping (p<.05). In Group II, there was no significant difference, before and after taping (p>.05). There was significant difference in Group I, between Group I and Group II (p<.05). Conclusion : Results suggest that intervention using elastic taping, may have a positive effect, on rehabilitation diversity and function in stroke patients. Based on this, it can be used for rehabilitation of stroke patients. Various studies on the application method, and effect of the application site as well as application time, should be continued with stroke patients.

• 한국전문물리치료학회지
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• 제29권1호
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• pp.19-27
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• 2022

Background: Foot drop is a common symptom in stroke patients. Tape applications are widely used to manage foot drop symptoms. Previous studies have evaluated the effects of static and dynamic balance and gait on foot drop using kinesiology tape; however, only few studies have used dynamic tape application in stroke patients with foot drop. Objects: The purpose of this study was to investigate the immediate effects of dynamic taping, which facilitates the dorsiflexor muscle, on static and dynamic balance and gait speed in stroke patients with foot drop. Methods: The study included 34 voluntary patients (17 men, 17 women) with stroke. The patients were randomly assigned to the experimental group (n = 17), wherein dynamic taping was used to facilitate the dorsiflexor muscle, or the control group (n = 17), wherein kinesiology taping was used. Before the taping application, velocity average, path-length average, Berg balance scale, and timed up and go test (TUG) were recorded to measure static and dynamic balance, whereas the 10-meter walk test (10MWT) was used to measure gait speed. After the taping application, these parameters were re-evaluated in both groups. Repeated measure analysis of variance was used. Statistical significance levels were set to α = 0.05. Results: Except for the 10MWT scores in the control group, significant differences were noted in all the parameters measured for static and dynamic balance and gait speed between the pre and post-test (p < 0.05). However, the parameters showed significant interaction effects between group and time in the TUG and 10MWT (p < 0.01). Conclusion: These results indicate that compared with kinesiology taping, dynamic taping used in chronic stroke patients with foot drop had a more significant effect on dynamic balance and gait speed.

• 대한정형도수물리치료학회지
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• 제28권1호
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• pp.61-69
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• 2022

Background: This study aimed to investigate the effect of maitland mobilization and mobilization with movement (MWM) applied to the ankle joint on ankle dorsiflexion range of motion (ROM), static and dynamic balance, plantar pressure, and gait ability. Methods: A total of 24 individuals were assigned to either the maitland mobilization group (n=12) or the MWM group (n=12). Dorsiflexion ROM, static and dynamic balance, plantar pressure, 10-meter walk test were measured before and 4 weeks after the intervention. Results: Both groups showed a significant difference in the evaluation after 4 weeks as the dorsiflexion ROM of the ankle increased (p<.05), and the sway length and sway area indicating static balance decreased (p<.05). Furthermore, the movement area showing dynamic balance showed a significant increase (p<.05), the plantar pressure difference between both feet significantly decreased (p<.05). In the 10-meter walk test, there was a significant difference as the time decreased (p<.05). However, no significant difference between the two groups was observed (p>.05). Conclusion: According to the results of this study where, maitland mobilization and MWM were applied to the ankle joint of hemiplegic patients for 4 weeks, we found no difference between the two groups. However, each technique was found to be effective for dorsiflexion ROM, static and dynamic balance, plantar pressure, and gait.

• 한국인터넷방송통신학회논문지
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• 제24권1호
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• pp.197-205
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• 2024

자율주행 자동차 개발 및 상용화에 있어서 주행안전도 확보가 가장 중요한 시점에서 이를 위해 전방 및 주행차량 주변에 존재하는 다양한 정적/동적 차량의 인식과 검출 성능을 고도화 및 최적화하기 위한 AI, 빅데이터 기반 알고리즘개발 등이 연구되고 있다. 하지만 레이더와 카메라의 고유한 장점을 활용하여 동일한 차량으로 인식하기 위한 연구 사례들이 많이 있지만, 딥러닝 영상 처리 기술을 이용하지 않거나, 레이더의 성능상의 문제로 짧은 거리만 동일한 표적으로 감지하고 있다. 따라서 레이더 장비와 카메라 장비에서 수집할 수 있는 데이터셋을 구성하고, 데이터셋의 오차를 계산하여 동일한 표적으로 인식하는 융합 기반 차량 인식 방법이 필요하다. 본 논문에서는 레이더와 CCTV(영상) 설치 위치에 따라 동일한 객체로 판단하기에 데이터 오차가 발생하기 때문에 설치한 위치에 따라 위치 정보를 연동할 수 있는 기술 개발을 목표로 한다.

• PNF and Movement
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• 제22권2호
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• pp.191-199
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• 2024

Purpose: This study aimed to investigate the effects of ankle stretching with intrinsic muscles on ankle range of motion, static and dynamic balance, and gait speed in chronic stroke patients. Methods: The participants were 20 chronic stroke patients, divided into two groups, 10 in the ankle stretching with intrinsic muscles group and 10 in the slant board exercise group. Both groups performed their respective interventions once daily, with three sets per session, five times a week for four weeks. Ankle range of motion, dynamic and static balance, and gait speed were measured before and after the intervention. An independent t-test was used to compare the results between the two groups before and after the intervention. Results: Both groups showed significant improvements in ankle range of motion, dynamic and static balance, and gait speed after the intervention (p < .05). The ankle stretching with intrinsic muscles group showed more significant improvements in ankle range of motion, dynamic and static balance, and gait speed after the intervention compared to the slant board group (p < .05). These results suggest that ankle stretching with intrinsic muscles may be more effective than the slant board for certain outcomes. Conclusion: Ankle stretching with intrinsic muscles is effective in improving ankle range of motion, dynamic and static balance, and walking speed.

• Korean Chemical Engineering Research
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• 제60권1호
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• pp.86-92
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• 2022

최근 COVID-19 팬데믹 등 다양한 이유로 인해 바이오 헬스케어 시장이 전세계적으로 활성화되고 있다. 그 중, 생체정보 측정 및 분석 기술은 앞으로의 기술적 혁신성과 사회경제적 파급효과를 불러일으킬 것으로 예측된다. 기존의 시스템은 생체 신호를 받아 신호 처리를 하는 과정에서 신호 송×수신부, 운영체제, 센서, 그리고 인터페이스를 구동하기 위한 대용량 배터리를 필수적으로 요구한다. 하지만, 배터리 용량의 한계가 인해 시×공간적인 기기 사용의 제한을 야기하며, 이는 사용자의 헬스케어 모니터링에 필요한 데이터의 단절에 대한 원인으로 작용할 수 있으므로 헬스케어 디바이스의 큰 걸림돌 중의 하나이다. 본 연구에서는 생체정보 측정 장치에 접촉대전 효과(Triboelectric effects)와 전자기유도 효과(Electro-magnetic effects)를 융합하여, 외부 전원을 요구하지 않는 독립 구동이 가능한 시스템을 구성하여 시×공간적으로 사용 제한이 없는 소형 생체정보 측정 모듈을 설계 및 검증했다. 특히, 다양한 헬스케어 모니터링 중 족압 계측을 통해 사용자의 보행 습관 등을 파악할 수 있는 무선 족압 계측 모니터링 시스템을 검증했다. 보행 시 발생하는 접촉×분리 움직임에서 접촉대전 효과를 이용한 효과적인 압력 센서와 압력에 따른 전기적 출력신호를 통해 족압 센서를 만들고, 축전기를 이용한 신호처리 회로를 통해 이의 동적 거동을 계측할 수 있다. 또한, 출력된 전기신호의 무선 송×수신용 전원으로 사용하기 위해 전자기 유도 효과를 이용하여 보행 시 생기는 생체역학적 에너지를 전기에너지로 수확했다. 따라서, 이번 연구는 사용자가 제한적인 배터리 용량 때문에 생기는 충전에 대한 불편함을 줄일 수 있고, 뿐만 아니라 데이터 단절에 대한 문제점을 극복할 수 있는 방법으로서 큰 잠재력을 보여줌을 시사한다.