• Journal of the Institute of Electronics Engineers of Korea CI
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• v.43 no.2 s.308
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• pp.52-62
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• 2006

In a fuzzy control system to process fuzzy data in high-speed for intelligent systems, one of the important problems is the improvement of the execution speed in the fuzzy inference and defuzzification stages. Especially, it is more important to have high-speed operations in the consequent part and defuzzification stage. Therefore, in this paper, to improve the speedup of the fuzzy controllers for intelligent systems, we propose an integer line mapping algorithm using only integer addition to convert [0,1] real values in the fuzzy membership functions in the consequent part to integer grid pixels $(400{\times}30)$. This paper also shows a novel defuzzification algorithm without multiplications. Also we apply the proposed system to the truck backer-upper control system. As a result, this system shows a real-time very high speed fuzzy control as compared as the conventional methods. This system will be applied to the real-time high-speed intelligent systems such as robot arm control.

• Archives of design research
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• v.18 no.3 s.61
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• pp.85-94
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• 2005

Most of product designers use 3D CAD system as a inevitable design tool nowadays and many new products are developed through a concurrent engineering process. However, it is very difficult for novice designers to get the sense of reality from modeling objects shown in the computer screens. Such a intangibility problem comes from the lack of haptic interactions and contextual information about the real space because designers tend to do 3D modeling works only in a virtual space of 3D CAD system. To address this problem, this research investigate the possibility of a interactive quantified structure simulation for product design using AR(augmented reality) which can register a 3D CAD modeling object on the real space. We built a quantified structure simulation system based on AR and conducted a series of experiments to measure how accurately human perceive and adjust the size of virtual objects under varied experimental conditions in the AR environment. The experiment participants adjusted a virtual cube to a reference real cube within 1.3% relative error(5.3% relative StDev). The results gave the strong evidence that the participants can perceive the size of a virtual object very accurately. Furthermore, we found that it is easier to perceive the size of a virtual object in the condition of presenting plenty of real reference objects than few reference objects, and using LCD panel than HMD. We tried to apply the simulation system to identify preference characteristics for the appearance design of a home-service robot as a case study which explores the potential application of the system. There were significant variances in participants' preferred characteristics about robot appearance and that was supposed to come from the lack of typicality of robot image. Then, several characteristic groups were segmented by duster analysis. On the other hand, it was interesting finding that participants have significantly different preference characteristics between robot with arm and armless robot and there was a very strong correlation between the height of robot and arm length as a human body.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.24 no.1
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• pp.18-29
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• 2019

ROV surveys were conducted using 500 meter mini class ROV with HD video camera, 2 LED lights, a simple manipulator and 8 thrusters near the Dokdo and Simheungtaek seamount. Total six dives have been conducted using the ROV "V8 SII" from Sweden and ROV's support ship, "KOSAL V" at 4 stations between 45 and 370 meters with diving time ranged from 30 to 120 minutes. Dense communities of sea anemone (Actinostolidae sp.) and ophiuroids (Ophiuridae sp.) on the surface of rocky bottom and snow crab on the soft bottom with muddy-sand were observed at northwestern part of Simheungtaek seamount. We obtained the following results 1) habitats information for snow crab, one of the major fisheries resources, and deep-sea fauna, 2) observation on the specific topography and sediment conditions, 3) observation of the seabed surface covered with the discarded fishing gears. This study represents the first report of in situ visual observation of deep-sea organisms and their habitats near the Dokdo slopes and flat top of the Simheungtaek seamount in the East Sea. These results indicated that immediate oceanographic survey using the mini class ROV is available in the East Sea.

• Journal of Biomedical Engineering Research
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• v.35 no.3
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• pp.50-54
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• 2014

It is being tried to control robot arm using brain signal in the field of brain-machine interface (BMI). This study is focused on applying guidance laws for efficient robot arm control using 3D coordinates obtained from Magnetoencephalography (MEG) signal which represents movement of upper limb. The 3D coordinates obtained from brain signal is inappropriate to be used directly because of the spatial difference between human upper limb and robot arm's end-effector. The spatial difference makes the robot arm to be controlled from a third-person point of view with assist of visual feedback. To resolve this inconvenience, guidance laws which are frequently used for tactical ballistic missile are applied. It could be applied for the users to control robot arm from a first-person point of view which is expected to be more comfortable. The algorithm which enables robot arm to trace MEG signal is provided in this study. The algorithm is simulated and applied to 6-DOF robot arm for verification. The result was satisfactory and demonstrated a possibility in decreasing the training period and increasing the rate of success for certain tasks such as gripping object.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.12
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• pp.857-866
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• 2020

'Movement' is an expanded concept of 'place' where people act, interact with one another and achieve a specific purpose at every moment. Wheelchairs, as a mobility aid, have a profound impact on improving the quality of physical and psychological well-being for the mobility disadvantaged groups who have mobility difficulties. Such mobility aids were developed mainly for outdoor activities, but in recent years, mobility aids for indoor spaces, the main living environment, are also being developed. Because indoor mobility aids generally move short distances repeatedly, this study examined the characteristics of lithium-ion batteries in short-distance driving of battery-powered wheelchairs and compared them with the characteristics of lithium-ion batteries in continuous driving. The result showed that the driving time for short-distance driving was 2.8% shorter than that of continuous driving. The current supplied to the motor was 15.4% higher for short-distance driving than that of continuous driving.

• Korean journal of applied entomology
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• v.61 no.1
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• pp.249-254
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• 2022

Silkworms, which have for long been used as an insect resource for industrialization, have recently attracted attention as potential bio-factories for the production of novel biomaterials. In this regard, material production is typically achieved based on transformation technology, mediated via microinjection, in which a target gene is inserted into eggs containing an embryo. However, an essential step in the microinjection procedure is egg fixation, which can be a time-consuming and laborious task. Therefore, in this study, using the 3DCADian program, we adopted a 3D printing approach to model egg liners and glue drawers, which can contribute to facilitating egg alignment and fixation, thereby enhancing transformation efficiency by reducing time consumption and fatigue. After rendering using Fusion 360, the two supplementary tools were produced by printing with nylon resin (PA12) and Sinterit Lisa Pro. Subsequent analysis of the time required to fix eggs on glass slides using the two manufactured tools, revealed that the processing time was reduced by approximately 18.6% when the two tools were used compared with when these tools were not used. These innovations not only reduced fatigue but also contributed to more effective use of the microscope and manipulator for microinjection. Consequently, we believe that with additional research and refinement, the egg liner and glue drawer developed in this study could be used to enhance silkworm transformation efficiency and study similar transformation systems in other industrial insects.

• Journal of Chest Surgery
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• v.42 no.1
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• pp.28-33
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• 2009

Background: Functional tricuspid regurgitation (TR) greater than or equal to a mild grade requires tricuspid valvuloplasty, and tricuspid valvuloplasty with ring annuloplasty has shown good outcomes. We report here on our early experience with the Edwards $MC^3$ annuloplasty system (Edwards LifeSciences, Irvine, CA). Material and Method: From November 2004 to July 2006, 72 patients with tricuspid annular dilatation and TR underwent tricuspid valvuloplasty with using the Edwards $MC^3$ annuloplasty ring. Sixty-eight patients were operated on via median sternotomy and four patients were operated on using robotic assisted minimal invasive thoracotomy. The patient population included 21 males and 51 females and their mean age was $53.9{\pm}12.3$. The mean grade of TR, as assessed by the preoperative echocardiography, was $2.2{\pm}1.0$. The mean NYHA functional class was $3.1{\pm}0.8$. The mean left ventricular ejection fraction was $57.0{\pm}9.9$%. Result: The TR and NYHA functional class, as assessed by postoperative echocardiography, was significantly reduced (mean=$0.4{\pm}0.6$ and $2.0{\pm}0.7$, respectively p<0.001). There was one case of hospital mortality. One patient required permanent pacemaker insertion for third degree atrioventricular block. Conclusion: Our study shows that the Edwards $MC^3$ remodeling ring is easy to implant and it effectively corrects functional TR with excellent clinical and echocardiographic outcomes. Further follow-up and a larger clinical series are required to establish the long-term stability of this repair technique.