• 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.

• International Journal of Highway Engineering
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• v.15 no.6
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• pp.41-47
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• 2013

PURPOSES : The purpose of this study is about noise which is generated from roads and is consist of irregular frequency variation from low frequency to various band. The existing methods of noise reduction are sound barrier that uses insulation material and absorbing material or have applied passive technology of noise reduction by devices. The total frequency band is needed to apply active noise control. METHODS : In this study applies to the field of road traffic environment, signal processing controller and various analog signal input/output, the amplifier module is based on parallel-core embedded processor designed. DSP performs the control algorithm of the road traffic noise. Noise sources in the open space performance of evaluation were applied. In this study, controller of active signal processor was designed based on the module of audio input/output and main controller of embedded process. The controller of active signal processor operates noise reduction algorithm and performance tests of noise reduction in inside and outside environment were executed. RESULTS : The signal processing controller with OMAP-L137 parallel-core processors as the center, DSP processors in the active control operations dealt with quickly. To maximize the operation speed of an object and ARM processor is external function keys and display for functions and evaluating the performance management system was designed for the purpose of the interface. Therefore the reduction of road traffic noise has established an electronic controller-based noise reduction. CONCLUSIONS : It is shown that noise reduction is effective in the case of pour tonal sound and complex tonal sound below 500Hz by appling to Fx-LMS.

• Journal of Ocean Engineering and Technology
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• v.34 no.3
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• pp.180-193
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• 2020

In this study, the end-effector tracking performance of a manipulator installed on a remotely operated vehicle (ROV) for autonomous underwater intervention is verified. The underwater manipulator is an ARM 7E MINI model produced by the ECA group, which consists of six joints and one gripper. Of the six joints of the manipulator, two are revolute joints and the other four are prismatic joints. Velocity control is used to control the manipulator with forward and inverse kinematics. When the manipulator approaches a target object, it is difficult for the ROV to maintain its position and posture, owing to various disturbances, such as the variation in both the center of mass and the reaction force resulting from the manipulator motion. Therefore, it is necessary to compensate for the influences and ensure the relative distance to the object. Simulations and experiments are performed to track the trajectory of a virtual object, and the tracking performance is verified from the results.

• Korean Journal of Community Nutrition
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• v.2 no.3
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• pp.366-375
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• 1997

This study was conducted to evaluate the effectiveness and preferences of supplementary drinks for very old subjects who are likely to be malnourished. Twenty- five elderly subjects were divided into two groups. The supplemented group(N=15) received 500mls of nutrient supplement(New Care) two times daily for 4 weeks. This resulted in a significant increase in the total calories, protein, minerals and vitamins. Nutritional status was assessed both anthropometrically and biochemically, before and after the study period. A significant improvement in mid arm circumference, triceps skinfold thickness and serum albumin were observed in the supplemented group but not in the control group. There is a possibility that most of the elderly were in an anemic state at the beginning of the study since their mean hematologic parameters were within the lower normal range while their mean serum osmolarities was slightly higher than normal, . Although mean serum hemoglobin and hematocrit were not increased significantly, th percentage of the recovery rate from anemia in the supplemented group was higher than in the control group. Total lymphocyte count also showed similar tendency. Sensory evaluation of nutritional supplementary drinks were relatively good and the elderly showed great interest in nutrient supplements. This study suggests that a nutritional status of poorly nourished elderly subjects can be improved by providing them with nutritional supplementations.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2148-2153
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• 2005

For a legged robot such as a humanoid, balancing its body during a given motion is natural but the most important problem. Recently, a motion given to a humanoid is more and more complicated, and thus the balancing problem becomes much more critical. This paper suggests a real-time motion generation algorithm that guarantees a humanoid to be balanced during the motion. A desired motion of each arm and/or leg is planned by the conventional motion planning method without considering the balancing problem. In order to balance a humanoid, all the given motions are embedded into the COG Jacobian. The COG Jacobian is modified to include the desired motions and, in consequence, dimension of the COG Jacobian is drastically reduced. With the motion-embedded COG Jacobian, balancing and performing a task is completed simultaneously, without changing any other parameters related to the control or planning. Validity and efficiency of the proposed motion-embedded COG Jacobian is simulated in the paper.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.7
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• pp.695-701
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• 2008

In this paper, we propose the efficient Doppler removal method using map-based partial-time common intermediate frequency removal technique. In the proposed algorithm, the 2-stage carrier removal process was used. First, the component of common intermediate frequency is removed. Next the component of Doppler was removed with averaging and approximation. For the evaluation of the proposed algorithm, The real-time software GPS L1 C/A-code receiver was implemented. When the proposed algorithms are used, 12 tracking channels with 3 track arm(early, prompt, late) is operated real-time on PC using a Intel Pentium-III 1.0GHz CPU. Also, the requirement of memory was less than 2Mbytes. The real-time software GNSS receiver using the proposed algorithms provides the navigation solution with below 10 meter rms error. Especially, in spited of using the various approximations for implementing the algorithms, the high sensitivity capability (able to track the weak signal with -159dBm) was achieved.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.4
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• pp.391-395
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• 2010

In our paper, we propose an asymmetric single-tracked wheel system, and describe its structure and the method for maintaining the length of a transformable track system. And the method is reducing the gap of lengths. Therefore, we propose an efficient structure for transforming and explain motions with kinematics. Our transformable shape single-tracked mobile system has an advantage to overcome an obstacle or stairs by the variable arms in the single unity track system. But we will make the variable shape of tracked system get a drive that has a force to stand against a wall. In this case, we can consider this system to a rigid body and have a notice that this single tracked system is able to get vary shape with the variable arm angle. Considering forces balance along x-axis and y-axis, and moments balance around the center of the mass we have. If this rigid body is standing against a wall and doesn't put in motion, the force of flat ground and the rigid body sets an equal by a friction. In the same way, the force of a wall and the rigid sets an equal by a friction.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.22 no.1
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• pp.43-49
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• 2016

Background: The purpose of this study was to investigate the effects on balance and Jump performance in soccer player with functional ankle instability of Movement with mobilization (MWM) and taping. Methods: In 30 male college soccer player with functional ankle instability subjects of this study randomization, fibular reposition taping (FRT) group (n=10), kinesio taping (KT) group (n=10), control group (n=10) that included in the MWM and taping was classified group.Before and after intervention, measured in surface area ellipse and countermovement jump with arm swing. Results: Showed a significant balance and jump performance from the FRT group and KT group compared to the control group. Showed a significant improvement in balance from the FRT group compared to the KT group. Conclusions: MMW and taping showed the increased balance and Jump performance in soccer player with functional ankle instability.

• The Journal of the Korean bone and joint tumor society
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• v.13 no.1
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• pp.14-21
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• 2007

Bone is a common site for metastatic spread from many kinds of malignancies. The morbidity associated with this metastatic spread can be significant, including severe pain. When it comes to spinal metastasis, occupying nearly 40% of skeletal metastases, the risks of complications, such as vertebral body collapse, nerve root impingement, or spinal cord compression, are also significant. Because of the necessity of preserving the integrity of the spinal column and the proximity of critical structures, surgical treatment has limitations when durable local control is desired. Radiotherapy, therefore, is often used as an adjunct treatment or as a sole treatment. A considerable limitation of standard radiotherapy is the reported recurrence rate or ineffective palliation of pain, either clinically or symptomatically. This may be due to limited radiation doses to tumor itself because of the proximity of critical structures. CyberKnife is an image-guided robotic radiosurgical system. The image guidance system includes a kilovoltage X-ray imaging source and amorphous silica detectors. The radiation delivery device is a mobile X-band linear accelerator (6 MV) mounted on a robotic arm. Highly conformal fields and hypofractionated radiotherapy schedules are increasingly being used as a means to achieve biologic dose escalation for body tumors. Therefore, we can give much higher doses to the targeted tumor volume with minimizing doses to the surrounding critical structures, resulting in more effective local control and less severe side effects, compared to conventional fractionated radiotherapy. A description of this technology and a review of clinical applications to bone metastases are detailed herein.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.10
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• pp.86-93
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• 2004

This paper presents the remote measurement of the ECU signals adopted with KWP 2000 protocol using the wireless communication technique of bluetooth. The bluetooth technology will be the most promising network paradigm which can open the new area in the information technology. Especially, bluetooth module is able to link all the electrical products and personal computers to cellular phone or PDA. This research has a try to design a wireless measurement model of ECU signal based on the car telemery system using bluetooth device. In order to measure the ECU signals, we designed the interface circuits which is able to communicate between the ECU system and the terminal circuits according to the ISO, SAE regulation of communication protocol standard. A microprocessor S3c341 OX is used for the system control and communication of ECU signals. The embedded system software is programmed to measure the ECU signals using the ARM compiler and ANCI C based on Micro/OS-II kernel to communicate between two bluetooth modules using bluetooth stack. The remote measurement of ECU signals using the bluetooth was designed and implemented to evaluate the performance of wireless network to the transmit measurement data. The possibility for the remote measurement of the self diagnosis signals of ECU adopted with KWP2000 protocol verified through the developed systems and algorithms in embedded system.