• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.293-300
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• 2020

The purpose of our sensor system is to transparentize the large hydraulic manipulators of a six-ton dual arm excavator from the operator camera view. Almost 40% of the camera view is blocked by the manipulators. In other words, the operator loses 40% of visual information which might be useful for many manipulator control scenarios such as clearing debris on a disaster site. The proposed method is based on a 3D reconstruction technology. By overlaying the camera image from front top of the cabin with the point cloud data from RGB-D (red, green, blue and depth) cameras placed at the outer side of each manipulator, the manipulator-free camera image can be obtained. Two additional algorithms are proposed to further enhance the productivity of dual arm excavators. First, a color correction algorithm is proposed to cope with the different color distribution of the RGB and RGB-D sensors used on the system. Also, the edge overlay algorithm is proposed. Although the manipulators often limit the operator's view, the visual feedback of the manipulator's configurations or states may be useful to the operator. Thus, the overlay algorithm is proposed to show the edge of the manipulators on the camera image. The experimental results show that the proposed transparentization algorithm helps the operator get information about the environment and objects around the excavator.

• Journal of Korean Medicine Rehabilitation
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• v.25 no.1
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• pp.1-15
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• 2015

Objectives The aim of this study was to investigate the effects of Cannabis Fructus on exercise capacity and cognitive function in chronic hypoperfusion induced vascular dementia rat model. Methods Vascular dementia rat models were induced by chronic cerebral hypoperfusion through bilateral common carotid arteries occlusion (BCCAO). All rats were randomly divided into 4 groups: normal group; control group; CF I group (feeding Cannabis Fructus 100 mg/kg); CF II group (feeding Cannabis Fructus 300 mg/kg). In order to study the effects of oral administration of Cannabis Fructus on vascular dementia rat models, corner turn test, hole board test, radial arm maze test, passive avoidance test were taken and Acetylcholine (ACh) activity, Acetylcholinesterase (AChE) activity, serum of Vascular endothelial growth factor (VEGF) protein level were measured. Also histological findings of the liver, kidney, brain and the change of Tau immunoreactive neurons in hippocampus were observed. Results CF I and CF II showed significant improvement in corner turn test, hole board test, radial arm maze test, passive avoidance test, Acetylcholine (ACh) activity, Acetylcholinesterase (AChE) activity, the serum of Vascular endothelial growth factor (VEGF) protein level and the change of Tau immunoreactive neurons in hippocampus. CF I showed more significant effect than CF II in these tests. However in histological observations of the liver and kidney both CF I and CF II showed glomerular injury and hepatotoxicity. Conclusions These results suggest that Cannabis Fructus was helpful in improving exercise capacity and cognitive function on Chronic hypoperfusion induced Vascular Dementia rats. However Cannabis Fructus affects the liver and kidney, therefore suggest that this is an area for further study.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.4A
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• pp.447-457
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• 2004

This paper proposes a RSA crypto-processor for embedded systems. The architecture of the RSA crypto-processor should be used relying on Big Montgomery algorithm, and is supported by configurable bit size. The RSA crypto-processor includes a RSA control signal generator, an optimal Big Montgomery processor(adder, multiplier). We use diverse arithmetic unit (adder, multiplier) algorithm. After we compared the various results, we selected the optimal arithmetic unit which can be connected with ARM core-processor. The RSA crypto-processor was implemented with Verilog HDL with top-down methodology, and it was verified by C language and Cadence Verilog-XL. The verified models were synthesized with a Hynix 0.25${\mu}{\textrm}{m}$, CMOS standard cell library while using Synopsys Design Compiler. The RSA crypto-processor can operate at a clock speed of 51 MHz in this worst case conditions of 2.7V, 10$0^{\circ}C$ and has about 36,639 gates.

• The KIPS Transactions:PartD
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• v.9D no.4
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• pp.677-686
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• 2002

Recently, the Open-Development-Tool-Environment becomes a basic requirement of RTOS (Real Time Operating System) for embedded systems with restricted memory and CPU power in order to develop applications effectively. A remote interactive shell is one of the basic software components which makes users develop, test and control softwares without burdening target systems. In this paper, we have implemented the remote interactive shell with the following functions : loading object modules, spawning and manipulating tasks facilities thru a remote host. Comparing information reference methods with nonredundant overhead, we have achieved the system with easy maintenance. The shell has been developed with Q-PLUS RTOS under ARM EBSA285 target board and NT host.

• Journal of Biomedical Engineering Research
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• v.24 no.4
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• pp.309-318
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• 2003

In this paper a 6 degree-of-freedom robot was studied for medical purpose. In the past the robot used for industry field was utilized for medical robot but in these days the robot used for rehabilitation. welfare, and service. This system was Proposed for a stroke patient or a patient who can not use one arm. A master-slave system was constructed to exercise either paralysis or abnormal arm using normal arms movement. Study on the human body motion result was applied to calculate a movement range of humans elbow and shoulder. In addition, a force-torque sensor is applied to estimate the rehabilitation extent of the patient in the slave robot. Therefore, the stability of the rehabilitation robot could be improved. By using the rehabilitation robot, the Patient could exercise by himself without any assistance In conclusion. the proposed system and control algorithm were verified by computer simulation and system experiment.

• Journal of Electrical Engineering and Technology
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• v.9 no.5
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• pp.1471-1481
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• 2014

This paper presents the new power dissipation model of individual switching device in a high-level modular multilevel converter (MMC), which can be mostly used in voltage sourced converter (VSC) based high-voltage direct current (HVDC) system and flexible AC transmission system (FACTS). Also, the voltage balancing method based on sorting algorithm is newly proposed to advance the MMC functionalities by effectively adjusting switching variations of the sub-module (SM). The proposed power dissipation model does not fully calculate the average power dissipation for numerous switching devices in an arm module. Instead, it estimates the power dissipation of every switching element based on the inherent operational principle of SM in MMC. In other words, the power dissipation is computed in every single switching event by using the polynomial curve fitting model with minimum computational efforts and high accuracy, which are required to manage the large number of SMs. After estimating the value of power dissipation, the thermal condition of every switching element is considered in the case of external disturbance. Then, the arm modeling for high-level MMC and its control scheme is implemented with the electromagnetic transient simulation program. Finally, the case study for applying to the MMC based HVDC system is carried out to select the appropriate insulated-gate bipolar transistor (IGBT) module in a steady-state, as well as to estimate the proper thermal condition of every switching element in a transient state.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.4B
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• pp.360-367
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• 2009

In this paper, we propose a design methodology of IEEE 802.11n MAC which aims to achieve the higher throughput of more than 100Mbps in downlink as measured at the MAC-SAP and present the implementation results of MAC using the proposed design methodology. With our proposed methodology, different from the conventional design flow which has the separate codes for the protocol validation, for the network simulation, and for the system implementation, the unified code can be used for the network simulation and the implementation of software and hardware. Our MAC architecture is partitioned into two parts, Upper-layer MAC and Lower-layer MAC, in order to achieve the high efficiency for the new features of IEEE 802.11n standard. They are implemented in software and hardware respectively. The implemented MAC is tested on ARM based FPGA board.

• Journal of Biomedical Engineering Research
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• v.40 no.5
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• pp.206-214
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• 2019

Surgical methods and associated precision systems have been developed, but surgical procedures that require precise location and fine manipulation of the lesion remain a limitation. The combination of precision robot manipulation technology and 3D medical image navigation technology overcomes the limitations of minimally invasive surgery (MIS) and enables a more stable and successful operation. Surgical robots are surgical robots such as da Vince, and surgical robots using industrial robotic arms. There are various developments and researches of medical robots. In recent medical robot development, a new type of surgical robot based on an industrial robot arm capable of easily replacing the end effector according to the user's needs is being actively developed at home and abroad. Therefore, in this study, we developed safety and performance evaluation guideline for micro - surgical robots based on open robot platform using general purpose robot arm to help quality control of the medical device.

• Journal of Convergence for Information Technology
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• v.11 no.9
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• pp.124-129
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• 2021

A time-interpolation technique has been applied to the conventional FLASH analog-to-digital converter (ADC) to increase a number of quantization level, thus it reduces not only a power dissipation, but also minimize an active chip area. In this work, we demonstrated 5-bit ADC which has 31 quantization levels consisting of 16 conventional voltage-mode comparators and 15 time-mode comparators. As a result, we have achieved about 48.4% voltage-mode comparator reductions. The ADC is fabricated in a 14nm fin Field-effect transistor (FinFET) process with an active die area of 0.0024 mm2 while consuming 0.82 mW through a 0.8 V supply. At 400-MS/s conversion rate, the ADC performs 28.03 dB SNDR (4.36 ENOB) at 21MHz input frequency.

• PNF and Movement
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• v.17 no.1
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• pp.119-127
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• 2019

Purpose: The purpose of this study is to show the effect of elastic band on balance and functional ability in chronic stroke patients living in community. Methods: The subjects who participated in the study were 9 patients with chronic stroke. One of them gave up during the study, finally 8 patients performed. The intervention was conducted once a week for 10 weeks. In this study functional reach test (FRT), timed up and go test (TUG), Tinetti performance oriented mobility assessment (Tinetti-POMA) were measured for balance. The coordination training of arms and legs using the elastic band was performed in three positions as supine, side lying, sitting. One arm performed flexion-adduction- external rotation with elbow flexion pattern and the opposite side(diagonal) leg was performed flexion-adduction-external rotation with knee flexion pattern, the other arm's pattern was extension-abduction-internal rotation with elbow extension and the opposite side (diagonal) leg was in extension-abduction-internal rotation with knee extension pattern. The training was performed in each position for 15 minutes in per position. The participants had a five minute break after each training. Results: The results are as follows. FRT and Tinetti-POMA showed significant increase statistically in each position. The TUG showed significant decrease statistically in each position. Conclusion: Even though the coordination training with elastic band had performed once a week, it showed positive effects on balance in chronic stroke patients. Therefore, if we can suggest the appropriate frequencies of coordination training of arms and legs using the elastic band, it can be a method to improve daily life and life quality to patients with chronic stroke.