• The Journal of Korea Robotics Society
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• v.18 no.2
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• pp.143-154
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• 2023

In this study, a fast motion planning method for the swing motion of a 6x6 wheel-legged robot to traverse large obstacles and gaps is proposed. The motion planning method presented in the previous paper, which was based on trajectory optimization, took up to tens of seconds and was limited to two-dimensional, structured vertical obstacles and trenches. A deep neural network based on one-dimensional Convolutional Neural Network (CNN) is introduced to generate keyframes, which are then used to represent smooth reference commands for the six leg angles along the robot's path. The network is initially trained using the behavioral cloning method with a dataset gathered from previous simulation results of the trajectory optimization. Its performance is then improved through reinforcement learning, using a one-step REINFORCE algorithm. The trained model has increased the speed of motion planning by up to 820 times and improved the success rates of obstacle crossing under harsh conditions, such as low friction and high roughness.

• Journal of the Korean Society of Physical Medicine
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• v.17 no.3
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• pp.23-30
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• 2022

PURPOSE: This study was designed to investigate the effects of keeping contraction of abdominal and pelvic floor muscles on 3D pelvic stability in individuals with nonspecific chronic low back pain (CLBP) during normal speed walking. METHODS: The subjects were 20 adults with CLBP deformity and had moderate pain intensity of the visual analog scale. A three-dimensional camera capture system was used to collect kinematic pelvic motion data with and without contraction of the abdominal and pelvic floor muscles during gait. The subjects were asked to walk on a walkway in the lab room and they were attached 40 reflective markers to their pelvic segment and lower extremities. A Visual3D Professional V6 program and Vicon Nexus software were used to analyze 3D pelvic kinematic data. RESULTS: There were significant differences between with and without contraction of the abdominal and pelvic floor muscles of the pelvic depression and the total pelvic motion in coronal plane during gait (p < .05). However, there were no significant differences in any of the maximal motion of the pelvic segment in sagittal and transverse motion plane according to the different muscle contraction conditions (p > .05). CONCLUSION: The results of this study suggest that maintaining co-contraction of the abdominal and pelvic floor muscles in individuals with CLBP increased pelvic stability and contributed to preventing excessive pelvic movements during gait.

• Journal of Mechanical Science and Technology
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• v.15 no.6
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• pp.735-742
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• 2001

This paper reports on the dynamics and friction characteristics of piston skirt with consideration of mixed lubrication. Piston skirt is an important part of the engine that transforms fuel into mechanical energy. The durability and low friction characteristics are important recent issues in piston skirt design. In this paper, the piston skirt motion is analyzed with consideration of mixed lubrication and piston skirt tilting motion. The entire trajectory of piston motion is obtained by using transient numerical method. Also various parameter studies are performed for piston skirt design and the development of lower frictional engine.

• Progress in Medical Physics
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• v.23 no.2
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• pp.91-98
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• 2012

Verification of internal organ motion during treatment and its feedback is essential to accurate dose delivery to the moving target. We developed an offline based internal organ motion verification system (IMVS) using cine EPID images and evaluated its accuracy and availability through phantom study. For verification of organ motion using live cine EPID images, a pattern matching algorithm using an internal surrogate, which is very distinguishable and represents organ motion in the treatment field, like diaphragm, was employed in the self-developed analysis software. For the system performance test, we developed a linear motion phantom, which consists of a human body shaped phantom with a fake tumor in the lung, linear motion cart, and control software. The phantom was operated with a motion of 2 cm at 4 sec per cycle and cine EPID images were obtained at a rate of 3.3 and 6.6 frames per sec (2 MU/frame) with $1,024{\times}768$ pixel counts in a linear accelerator (10 MVX). Organ motion of the target was tracked using self-developed analysis software. Results were compared with planned data of the motion phantom and data from the video image based tracking system (RPM, Varian, USA) using an external surrogate in order to evaluate its accuracy. For quantitative analysis, we analyzed correlation between two data sets in terms of average cycle (peak to peak), amplitude, and pattern (RMS, root mean square) of motion. Averages for the cycle of motion from IMVS and RPM system were $3.98{\pm}0.11$ (IMVS 3.3 fps), $4.005{\pm}0.001$ (IMVS 6.6 fps), and $3.95{\pm}0.02$ (RPM), respectively, and showed good agreement on real value (4 sec/cycle). Average of the amplitude of motion tracked by our system showed $1.85{\pm}0.02$ cm (3.3 fps) and $1.94{\pm}0.02$ cm (6.6 fps) as showed a slightly different value, 0.15 (7.5% error) and 0.06 (3% error) cm, respectively, compared with the actual value (2 cm), due to time resolution for image acquisition. In analysis of pattern of motion, the value of the RMS from the cine EPID image in 3.3 fps (0.1044) grew slightly compared with data from 6.6 fps (0.0480). The organ motion verification system using sequential cine EPID images with an internal surrogate showed good representation of its motion within 3% error in a preliminary phantom study. The system can be implemented for clinical purposes, which include organ motion verification during treatment, compared with 4D treatment planning data, and its feedback for accurate dose delivery to the moving target.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.46 no.6
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• pp.123-131
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• 2009

The emerging display technology has been replaced the previous position of the CRT with the LCD. The nature of hold type display such as LCD, however, causes many problems such as motion blur and motion judder. To resolve the problems, we used frame interpolation technique which improves the image quality by inserting new interpolated frames between existing frames. In this paper, we propose a novel frame interpolation technique that uses dominant MV and variance different value in each block. At first, the proposed algorithm performs unidirectional motion estimation using blocking matching algorithm. The new frame is generated by pixel average using compared block variance or by pixel motion compensation using dominant motion vector, whether the motion estimation find the target area or not. Several experiments with the proposed algorithm shows that the proposed algorithm has better image quality than the existing bidirectional frame interpolation algorithm at the rate of about 3dB PSNR and has low complexity comparing to the unidirectional frame interpolation technique.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.281-285
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• 1990

Our N.C. sewing machine is a device that acts sewing automatically in reference to N.C. data made by data input device. Our N.C. sewing mechine is composed of induction motor that has electric clutch and brake, step motor that drives x-y table. Sewing area of our machine is 170 mm * 100 mm, maximum sewing speed is about 2000 spm, maximum stitch length 6.2 mm. In actual sewing, synchronization between motion of needle up-down and motion of x-y table is a critical factor. In this paper, technology about synchronization will be profoundly discussed.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.12 no.10
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• pp.1845-1852
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• 2008

The key elements of inter prediction are motion estimation(ME) and motion compensation(MC). Motion estimation is to find the optimum motion vectors, not only by using a distance criteria like the SAD, but also by taking into account the resulting number of 비트s in the 비트 stream. Motion compensation is compensate for movement of blocks of current frame. Inter-prediction Encoding is always the main bottleneck in high-quality streaming applications. Therefore, in real-time streaming applications, dedicated hardware for executing Inter-prediction is required. In this paper, we studied a motion estimator(ME) for H.264/AVC. The designed motion estimator is based on 2-D systolic array and it connects processing elements for fast SAD(Sum of Absolute Difference) calculation in parallel. By providing different path for the upper and lower lesion of each reference data and adjusting the input sequence, consecutive calculation for motion estimation is executed without pipeline stall. With data reuse technique, it reduces memory access, and there is no extra delay for finding optimal partitions and motion vectors. The motion estimator supports variable-block size and takes 328 cycles for macro-block calculation. The proposed architecture is local memory-free different from paper [6] using local memory. This motion estimation encoder can be applicable to real-time video processing.

• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.306-312
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• 2017

Recently, development of robot technology has been actively investigated that industrial robots are used in various other fields. However, the interface of the industrial robot is limited to the planned and manipulated path according to the target point and reaching time of the robot arm. Thus, it is not easy to create or change the various paths of the robot arm in other applications, and it is not easy to control the robot so that the robot arm passes the specific point precisely at the desired time during the course of the path. In order to overcome these limitations, this paper proposes a new-media content management platform that can manipulate 6 DOF industrial robot arm using 3D game engine. In this platform, the user can directly generate the motion of the robot arm in the UI based on the 3D game engine, and can drive the robot in real time with the generated motion. The proposed platform was verified using 3D game engine Unity3D and KUKA KR-120 robot.

• Journal of Acupuncture Research
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• v.34 no.2
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• pp.75-82
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• 2017

Objectives : The purpose of this study was to determine the electrical properties of the buccal area using facial surface electromyography (sEMG). Methods : This research was conducted on 44 healthy participants irrespective of their sex. Surface electrodes were attached to the midpoints of three imaginary lines connecting ST4 (Dicang) to ST6 (Jiache), ST4 to SI18 (Quanliao), and ST4 to the center point of SI18 and ST6. Then, the participants were trained in the movement that included a comprehensive action of buccal area. While the participants were performing the motion, sEMG values ($E_1$, $E_2$, $E_3$) and the distance change of the three imaginary lines ($D_1$, $D_2$, $D_3$) were measured. The data were statistically analyzed using SPSS ver. 22.0. Results : Significant differences were observed in the distance changes ($D_1$>$D_3$, $D_2$>$D_3$) and sEMG values ($E_1$<$E_2$<$E_3$). Moreover, there were positive correlations between $D_1$ and $E_1$, $D_2$ and $E_2$. Conclusion : We suggest that the measurement at ST4 to the center point of ST6 and SI18 with this motion would be adequate to check the electrical characteristics of the buccal area.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.26 no.1
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• pp.51-56
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• 1990

The authors carried out an experiment to investigate the echo fluctuations from ocean bottom due to ship's motion. The bottom echoes was continuously measured, by using a 50 kHz Echo sounder on board of the ship being at anchor under the sea condition of 15 knots in wind velocity and approximately 2 meters in wave height, to extract the information about the pulse stretching and the ship's motion from the first return and the second return. A data acquisition system was used to record digitally the envelope of the echoes, and the analysis was applied to the echo data collected from the continental shelf in the South China Sea. The results obtained can be summarized as follows: 1. The equivalent pulse width of the second return echoes from ocean bottom was 2.4 times longer than that of the first return echoes. 2. The echo peak values of the first return fluctuated markedly than that of the second return and was shown to be extremely sensitive to small change in ship's motion. 3. Energy target strength and peak target strength of the sandy-mud bottom were -13.4 dB and -14.6 dB, respectively.