• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.263-269
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• 2008

Visual odometry is a popular approach to estimating robot motion using a monocular or stereo camera. This paper proposes a novel visual odometry scheme using a stereo camera for robust estimation of a 6 DOF motion in the dynamic environment. The false results of feature matching and the uncertainty of depth information provided by the camera can generate the outliers which deteriorate the estimation. The outliers are removed by analyzing the magnitude histogram of the motion vector of the corresponding features and the RANSAC algorithm. The features extracted from a dynamic object such as a human also makes the motion estimation inaccurate. To eliminate the effect of a dynamic object, several candidates of dynamic objects are generated by clustering the 3D position of features and each candidate is checked based on the standard deviation of features on whether it is a real dynamic object or not. The accuracy and practicality of the proposed scheme are verified by several experiments and comparisons with both IMU and wheel-based odometry. It is shown that the proposed scheme works well when wheel slip occurs or dynamic objects exist.

• Progress in Medical Physics
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• v.24 no.4
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• pp.243-252
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• 2013

The aim of this study was to clarify the impacts of acquisition parameters on artifacts in four-dimensional computed tomography (4D CT) images, such as the partial volume effect (PVE), partial projection effect (PPE), and mis-matching of initial motion phases between adjacent beds (MMimph) in cine mode scanning. A thoracic phantom and two cylindrical phantoms (2 cm diameter and heights of 0.5 cm for No.1 and 10 cm for No.2) were scanned using 4D CT. For the thoracic phantom, acquisition was started automatically in the first scan with 5 sec and 8 sec of gantry rotation, thereby allowing a different phase at the initial projection of each bed. In the second scan, the initial projection at each bed was manually synchronized with the inhalation phase to minimize the MMimph. The third scan was intentionally un-synchronized with the inhalation phase. In the cylindrical phantom scan, one bed (2 cm) and three beds (6 cm) were used for 2 and 6 sec motion periods. Measured target volume to true volume ratios (MsTrueV) were computed. The relationships among MMimph, MsTrueV, and velocity were investigated. In the thoracic phantom, shorter gantry rotation provided more precise volume and was highly correlated with velocity when MMimph was minimal. MMimph reduced the correlation. For moving cylinder No. 1, MsTrueV was correlated with velocity, but the larger MMimph for 2 sec of motion removed the correlation. The volume of No. 2 was similar to the static volume due to the small PVE, PPE, and MMimph. Smaller target velocity and faster gantry rotation resulted in a more accurate volume description. The MMimph was the main parameter weakening the correlation between MsTrueV and velocity. Without reducing the MMimph, controlling target velocity and gantry rotation will not guarantee accurate image presentation given current 4D CT technology.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.9 no.6
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• pp.519-525
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• 2016

This paper addresses the framework of object-oriented image coding, describing a new algorithm, based on monodimensional Legendre polynomials, for texture approximation. Through the use of 1D orthogonal basis functions, the computational complexity which usually makes prohibitive most of 2D region-oriented approaches is significantly reduced, while only a slight increment of distortion is introduced. In the aim of preserving the bidimensional intersample correlation of the texture information as much as possible, suitable pseudo-bidimensional basis functions have been used, yielding significant improvements with respect to the straightforward 1D approach. The algorithm has been experimented for coding still images as well as motion compensated sequences, showing interesting possibilities of application for very low bitrate video coding.

• Journal of the Korean Society of Safety
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• v.30 no.6
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• pp.110-116
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• 2015

A 3D camera-based on-site work-related musculoskeletal disorder risk assessment(WMDs) tool has been developed. The device consists of Kinect a 3D camera manufactured by Microsoft, a servo-motor, and a mobile robot. To complement inherent narrow field of view(FOV) of Kinect, Kinect is rotated according to PID servo-control algorithm by a servo-motor attached underneath, to track movement of a subject, producing skeleton-based motion data. With servo-control, full 360 degrees tracking of a test subject is possible by single Kinect. It was found from experimental tests that the proposed device can be successfully employed for on-site WMDs risk assessing tool.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.6
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• pp.686-692
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• 2012

Solid free-form fabrication (SFF) technology was developed to fabricate three-dimensional (3D) scaffolds for tissue engineering (TE) applications. In this study, we developed a polymer deposition system (PDS) and created 3D microstructures using a bioresorbable polycaprolactone (PCL) polymer. Fabrication of 3D scaffolds by PDS requires a combination of several devices, including a heating system, dispenser, and motion controller. The system can process a polymer with extremely high precision by using a 200 ${\mu}m$ nozzle. Based on scanning electron microscope (SEM) images, both the line width and the piled line height were fine and uniform. Several 3D micro-structures, including the ANU pattern (a pattern named after Andong National University), $45^{\circ}$ pattern square, frame, cylindrical, triangular, cross-shaped, and hexagon, have been fabricated using the polymer deposition system.

• Physical Therapy Korea
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• v.27 no.4
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• pp.227-232
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• 2020

Background: Hallux valgus (HV) is a foot deformity developed by mediolateral deviation of the first metatarsophalangeal joint. Although various foot-toe orthoses were used to correct the HV angle, verification of the effects of kinetics variables such as ground reaction force (GRF) through three-dimensional (3D) gait analysis according to the various type of orthoses for HV is insufficient. Objects: This study aimed to investigate the effect of soft and hard types of foot and toe orthoses to correct HV deformity on the GRF in individuals with HV using 3D motion analysis system during walking. Methods: Twenty-six subjects participated in the experiment. Participants had HV angle of more than 15° in both feet. Two force platforms were used to obtain 3D GRF data for both feet and a 3D motion capture system with six infrared cameras was used to measure exact stance phase point such as heel strike or toe off period. Total walk trials of each participant were 8 to 10, the walkway length was 6 m. Two-way repeated measures ANOVA was used to determine the effects of each orthosis condition on the various GRF values. Results: The late anteroposterior maximal force and a first vertical peak force of the GRF showed that the hard type orthosis condition significantly increased GRF compared to the other orthosis conditions (p < 0.05). Conclusion: There were significant effects in GRF values when wearing the hard type foot orthosis. However, the hard type foot orthosis was uncomfortable to wear during walking. Therefore, it is necessary to develop a new foot-toe orthosis that can compensate for these disadvantages.

• IEIE Transactions on Smart Processing and Computing
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• v.4 no.6
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• pp.434-442
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• 2015

In this paper, we propose an integrated spatial and view scalable video codec based on high efficiency video coding (HEVC). The proposed video codec is developed based on similarity and uniqueness between the scalable extension and 3D multi-view extension of HEVC. To improve compression efficiency using the proposed scalable multi-view video codec, inter-layer and inter-view predictions are jointly employed by using high-level syntaxes that are defined to identify view and layer information. For the inter-view and inter-layer predictions, a decoded picture buffer (DPB) management algorithm is also proposed. The inter-view and inter-layer motion predictions are integrated into a consolidated prediction by harmonizing with the temporal motion prediction of HEVC. We found that the proposed scalable multi-view codec achieves bitrate reduction of 36.1%, 31.6% and 15.8% on the top of ${\times}2$, ${\times}1.5$ parallel scalable codec and parallel multi-view codec, respectively.

• Journal of The Korean Society of Integrative Medicine
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• v.6 no.3
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• pp.33-42
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• 2018

Purpose : The purpose of this study was to investigate the characteristics of the Flex-OA shoe, a specific functional shoe, in terms of the range of motion (ROM) of hip and knee joint during walking when compared to a standardized shoe. Methods : Twenty-six healthy adults (18 males, 6 females) participated in this study. Subjects performed 8 walking trials consisting of two different shoe conditions to evaluate the hip and knee ROM using a three-dimensional motion capture system. Visual 3D motion analysis software was finally used to coordinate the kinematic data. Result : The total ROM and maximal abduction range of the hip joint in the coronal planes when wearing the Flex-OA shoe were significantly increased during walking compared to wearing a standard shoe (p<.05). On the other hand, significantly increased ROM was observed in the sagittal plane when wearing the Flex-OA shoe in the knee joints compared to a standard shoe (p<.05). Conclusion : Although clinical application of the specific functional shoe has known clearly positive effects on knee moments, the results of this study could provide important clues to explain the background of these effects in terms of the hip and knee joints when applying a specific functional shoe.

• ETRI Journal
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• v.29 no.3
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• pp.390-392
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• 2007

In this paper, we propose a new error concealment (EC) method using inter-layer correlation for scalable video coding. In the proposed method, the auxiliary motion vector (MV) and the auxiliary mode number (MN) of intra prediction are interleaved into the bitstream to recover the corrupted frame. In order to reduce the bit rate, the proposed method encodes the difference between the original and the predicted values of the MV and MN instead of the original values. Experimental results show that the proposed EC outperforms the conventional EC by 2.8 dB to 6.7 dB.

• Interaction and multiscale mechanics
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• v.1 no.4
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• pp.449-465
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• 2008

In this paper a general approach for studying the motion of a cantilever beam interacting with a 2D fluid flow is presented. The fluid is solved by a general purpose commercial computational fluid dynamics (CFD) package (FLUENT 6.2), while the structure is managed by means of a dedicated finite element method solver, coded in FLUENT as a user-defined function (UDF). A weak fluid structure interaction coupling scheme is adopted exchanging information at the end of each time step. An arbitrary cantilever beam can be introduced in the CFD mesh with its wetted boundaries specified; the cantilever can also interact with specified rigid and flexible walls through use of a non-linear contact algorithm. After a brief review of relevant scientific contributions, some test cases and application examples are presented.