• Journal of the Korea Society of Computer and Information
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• v.15 no.6
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• pp.11-18
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• 2010

In this paper, it introduced the device that was fabricated for monitoring sleeping positions of infants with 3-axis accelerometer. Sleep monitoring studies has been usually conducted two ways. To monitor sleeping posture by installing a camera and then recording of sleep in the sleeping room continuously is the first one. The other one is monitoring pressure sensor's results data for sleeping. Those two ways' benefits are that are able to get relatively accurate sleeping posture data but, there are many disadvantages like constraints of spaces and places, the installation of sensors or cameras, and high cost. In addition, it has a lot of problems that difficult to solve. For babies, it's not easy to apply, as well as uncomfortable. The proposed method uses a 3-axis accelerometer's X axis, Y axis, Z axis position output values in order to recognize the bad ground sleeping position that use of the buzzer alarm. This method uses a 3-axis acceleration sensor to measure the data and transmit sleeping posture using Bluetooth wireless in real time monitoring. The data is helpful for prevention safety hazard such as choked themselves when they slept back side on.

• Journal of Sensor Science and Technology
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• v.29 no.4
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• pp.249-254
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• 2020

It is difficult to control children who exhibit negative behavior in dental clinics. Various methods are used for preventing pediatric dental patients from being afraid and for eliminating the factors that cause psychological anxiety. However, when it is difficult to apply this routine behavioral control technique, sedation therapy is used to provide quality treatment. When the sleep anesthesia treatment is performed at the dentist's clinic, it is challenging to identify emergencies using the current breath detection method. When a dentist treats a patient that is under the influence of an anesthetic, the patient is unconscious and cannot immediately respond, even if the airway is blocked, which can cause unstable breathing or even death in severe cases. During emergencies, respiratory instability is not easily detected with first aid using conventional methods owing to time lag or noise from medical devices. Therefore, abnormal breathing needs to be evaluated in real-time using an intuitive method. In this paper, we propose a method for identifying abnormal breathing in real-time using an intuitive method. Respiration signals were measured using a 3M Littman electronic stethoscope when the patient's posture was supine. The characteristics of the signals were analyzed by applying the signal processing theory to distinguish abnormal breathing from normal breathing. By applying a short-time Fourier transform to the respiratory signals, the frequency range for each patient was found to be different, and the frequency of abnormal breathing was distributed across a broader range than that of normal breathing. From the wavelet transform, time-frequency information could be identified simultaneously, and the change in the amplitude with the time could also be determined. When the difference between the amplitude of normal breathing and abnormal breathing in the time domain was very large, abnormal breathing could be identified.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1615-1620
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• 2003

Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise. Intrinsic inaccuracies of the device can significantly deteriorate the calibration results. A measurement procedure is proposed and formulations of cost functions are discussed to prevent propagation of the inaccuracies to the calibration results.

• Journal of Drive and Control
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• v.17 no.2
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• pp.28-37
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• 2020

It is difficult to analytically derive the relationship among volumetric displacement, flowrate, torque, and rotation speed regarding an instantaneous position of gerotor hydraulic pumps/motors. This can be explained by the geometric shape of the rotors, which is highly complicated. Herein, an analytical method for the instantaneous torque, rotation speed, flowrate, and volumetric displacement of a pump/motor is proposed. The method is based on two physical concepts: energy conservation and torque equilibrium. The instantaneous torque of a pump/motor shaft is determined for the posture of rotors from the torque equilibrium. If the torque equilibrium is combined with the energy conservation between the hydraulic energy of the pump/motor and the mechanical input/output energy, the formula for determining the instantaneous volumetric displacement and flowrate is derived. The numerical values of the instantaneous volumetric displacement, torque, rotation speed, and flowrate are calculated via the MATLAB software programs, and they are illustrated for the case in which inner and outer rotors rotate with respect to fixed axes. The degrees of torque fluctuation, speed fluctuation, and flowrate fluctuation can be observed from their instantaneous values. The proposed formula may provide a better understanding of the design or analysis process of gerotor pumps/motors.

• Journal of the Korean Home Economics Association
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• v.35 no.4
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• pp.95-110
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• 1997

According to the design method for constructing the crotch angle of traditional Korean men's trousers there are differences in from after its completion. Since there is no standardization of visual & aesthetic pattern for the construction method which is stablished by the calculation formular of waist girth hip girth pantleg end and upper outer leg length it is difficult to be used for educational use or for teaching materials. Therefore the purpose of this project according to five models in proportion to the physical standard of Korea in ages from 24 to 29 years old is to establish a design criterion and the standardization of construction methods by introduction the pant construction method of the crotch angle by converting the sitting posture length to seaming crotch center point both knees width in the Korean way of sitting. The production method for the pattern design is as follow: (1) The waist girth formular is {{{{ { w} over {4 } }}}}+{{{{ {w} over {10 } }}}}(2) The hip girth formular is {{{{ {H } over { 4} }}}}+{{{{ {H } over {5 } }}}}(3) The pantleg end formular is {{{{ {H } over {4 } }}}}(4) A crotch angle is fixed at 70 degress.(5) The ratio of outer leg length to leg width is 5:8 (6) The component ratio of the upper outer leg length to the pant length in 5:8(7) The ratio of the division point of front / right inner leg length and left inner leg width to upper outer leg length is 5 : 8

• 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.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11b
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• pp.152-155
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• 2002

An industrial robot noise has various noise sources such as gears, motors, bearings, and controller fans. Among these, gears are the most dominant source for noise. The gear noise, caused by tooth profile, elastic deformation, machining error and wear, is directly correlated with the transmission error of mating gear. Due to the fact that has several axis and many gears, it is difficult to understand the characteristics of the vibration and noise of robots. In this study, some advanced analysis techniques based on digital signal processing such as power spectrum, time spectral map, RPM map, and etc., were applied for locating the dominant frequency components of the robot noises and identifying their sources. In addition, sound quality analysis was performed in order to evaluate the operator's annoyance. The noise and vibration measurements were carried out at several points during the operation of each axis considering the effect of load and posture of the robot. Eased on the results, proper countermeasures to reduce excessive noise level have been suggested considering the characteristics of sources.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.1
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• pp.77-83
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• 2005

This paper deals with determination of motions of a humanoid robot using genetic algorithm. A humanoid robot has some problems of the structural instability basically. So, we have to consider the stable walking gait in gait planning. Besides, it is important to make the smoothly optimal gait for saving the electric power. A mobile robot has a battery to move autonomously. But a humanoid robot needs more electric power in order to drive many joints. So, if movements of walking joints don't maintain optimally, it is difficult for a robot to have working time for a long time. Also, if a gait trajectory doesn't have optimal state, the expected life span of joints tends to be decreased. To solve these problems, the genetic algorithm is employed to guarantee the optimal gait trajectory. The fitness functions in a genetic algorithm are introduced to find out optimal trajectory, which enables the robot to have the less reduced jerk of joints and get smooth movement. With these all process accomplished by a PC-based program, the optimal solution could be obtained from the simulation. In addition, we discuss the design consideration for the joint motion and distributed computation of the humanoid, ISHURO, and suggest its result such as the structure of the network and a disturbance observer.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.314-319
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• 2005

When a robot navigates in the real environment, it frequently meets various environments that can be expressed by simple geometrical shapes such as fiat floor, uneven floor, floor with obstacles, slopes, concave or convex corners, etc. Among them, the convex corner composed of two plain surfaces is the most difficult one for the robot to negotiate. In this paper, we propose a gait planning algorithm to help the robot overcome the convex environment. The trajectory of the body is derived from the maximum distance between the edge boundary of the corner and the bottom of the robot when it travels in the convex environment. Additionally, we find the relation between kinematical structure of the robot and its ability of avoiding collision. The relation is realized by considering the workspace and the best posture of the robot in the convex structure. To provide necessary information for the algorithm, we use an IR sensor attached in the leg of the robot to perceive the convex environment. The validity of the gait planning algorithm is verified through simulations and the performance is demonstrated using a quadruped walking robot, called "MRWALLSPECT III"( Multifunctional Robot for WALL inSPECTion version 3).

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.353-358
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• 2012

Human detection is a challenging task in many fields because it is difficult to detect humans due to their variable appearance and posture. Furthermore, it is also hard to track the detected human because of their dynamic and unpredictable behavior. The evaluation speed of method is also important as well as its accuracy. In this paper, we propose unified detection and tracking method for humans using Gaussian-PSO (Gaussian Particle Swarm Optimization) with the HOG (Histograms of Oriented Gradients) features to achieve a fast and accurate performance. Keeping the robustness of HOG features on human detection, we raise the process speed in detection and tracking so that it can be used for real-time applications. These advantages are given by a simple process which needs just one linear-SVM classifier with HOG features and Gaussian-PSO procedure for the both of detection and tracking.