• Journal of Electrical Engineering and Technology
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• v.8 no.4
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• pp.879-888
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• 2013

This paper addresses the vision based local path planning system for obstacle avoidance. To handle the obstacles which exist beyond the field of view (FOV), we propose a Panoramic Environment Map (PEM) using the MDGHM-SIFT algorithm. Moreover, we propose a Complexity Measure (CM) and Fuzzy logic-based Avoidance Motion Selection (FAMS) system to enable a humanoid robot to automatically decide its own direction and walking motion when avoiding an obstacle. The CM provides automation in deciding the direction of avoidance, whereas the FAMS system chooses the avoidance path and walking motion, based on environment conditions such as the size of the obstacle and the available space around it. The proposed system was applied to a humanoid robot that we designed. The results of the experiment show that the proposed method can be effectively applied to decide the avoidance direction and the walking motion of a humanoid robot.

• Journal of Korea Multimedia Society
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• v.7 no.12
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• pp.1657-1664
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• 2004

We propose a method that classifies images into two object types man-made and natural objects. A central object is extracted from each image by using central object extraction method[1] before classification. A central object in an images defined as a set of regions that lies around center of the image and has significant color distribution against its surrounding. We define three measures to classify the object images. The first measure is energy of edge direction histogram. The energy is calculated based on the direction of only non-circular edges. The second measure is an energy difference along directions in Gabor filter dictionary. Maximum and minimum energy along directions in Gabor filter dictionary are selected and the energy difference is computed as the ratio of the maximum to the minimum value. The last one is a shape of an object, which is also represented by Gabor filter dictionary. Gabor filter dictionary for the shape of an object differs from the one for the texture in an object in which the former is computed from a binarized object image. Each measure is combined by using majority rule tin which decisions are made by the majority. A test with 600 images shows a classification accuracy of 86%.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2013.10a
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• pp.775-780
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• 2013

In recent years, a notebook like an ultrabook gets thinner. Its thickness causes problems in cooling fan performance, system installation condition, and so on. In this study, we installed a small turbofan in notebook system with very narrow gap in order to generate similar condition to a real product. Experiments were performed to measure the fan's performance and the flow and noise characteristics, its results were compared with computational ones. Prediction of P-Q curve using CFD showed under about 5% error in high flow rate and its trend was agreed with experimental one over the flow field. Experimental data to measure the noise at a distance of 100 mm from a rotation axis direction of an impeller corresponded well with computational ones of broadband and BPF noise. The noise experiments to measure at a distance of 100 mm from a rotation axis direction of an impeller corresponded well with computational ones of broadband and BPF noise. Especially, tip part of impeller blade and part of exit and bottom near in an analysis by a commercial program(FlowNoise).

• Journal of the Korean Society of Physical Medicine
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• v.16 no.2
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• pp.1-8
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• 2021

PURPOSE: This study examined the effects of changes in the head direction (forward, upward 10° and downward 10°) on the quadriceps, center of pressure (COP), and foot pressure during squat exercises. The aim was to determine if the head direction could better activate the quadriceps muscle and provide a safer and stable squat posture during squat exercise. METHODS: Fifteen healthy college students were asked to stand on a Zebris, and three electrodes for sEMG were attached to their vastus medialis oblique (VMO), vastus lateralis (VL), and rectus femoris (RF) muscles. The participants then performed squatting exercises under three head directions (forward, upward 10°, and downward 10°). Surface electrodes were then used to record the EMG data during exercise. The Zebris FDM-SX was used to measure the foot pressure and COP of the participants. RESULTS: In squat exercise, the upward head direction group showed significantly higher VL activation than the downward head direction group (p < .05). The upward head direction group showed a significant backward change in the deviation of the COP than the downward and forward groups (p < .05). The upward head direction group showed a significant decrease in forefoot pressure than the downward and forward groups (p < .05) and an increase in the hindfoot pressure compared to the downward and forward groups (p < .05). CONCLUSION: The head direction upward in squat exercise has a positive effect on the quadriceps.

• The Journal of the Acoustical Society of Korea
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• v.32 no.1
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• pp.32-42
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• 2013

Typical underwater piezoelectric spherical sensors are omni-directional, thus can measure the scalar quantity sound-pressure-magnitude only with the limitation not being able to measure the direction of the incoming wave. This paper proposes a method to simultaneously measure both the magnitude and direction of the sound wave with the spherical sensor. The method divides the piezoceramic sphere of the sensor into eight elements, and distinguishes the magnitude and direction of the sound pressure by combining the output voltage of the elements in a particular manner. Further, through the analysis of the sensitivity variation in relation to the structural parameters like radius and thickness of the piezoceramic sphere, we have suggested the way to improve the sensitivity of the vector sensor.

• Journal of Integrative Natural Science
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• v.9 no.2
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• pp.155-160
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• 2016

Applying image processing techniques to education, the face of the learner is photographed, and expression and movement are detected from video, and the system which estimates degree of concentration of the learner is developed. For one learner, the measuring system is designed in terms of estimating a degree of concentration from direction of line of learner's sight and condition of the eye. In case of multiple learners, it must need to measure each concentration level of all learners in the classroom. But it is inefficient because one camera per each learner is required. In this paper, position in the face region is estimated from video which photographs the learner in the class by the difference between frames within the motion direction. And the system which detects the face direction by the face part detection by template matching is proposed. From the result of the difference between frames in the first image of the video, frontal face detection by Viola-Jones method is performed. Also the direction of the motion which arose in the face region is estimated with the migration length and the face region is tracked. Then the face parts are detected to tracking. Finally, the direction of the face is estimated from the result of face tracking and face parts detection.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.6
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• pp.323-334
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• 2014

In this paper, we proposed indoor positioning system with improved accuracy. The proposed indoor location measurement system is based pedestrian location measurement method that use the embedded sensor of smartphone. So, we do not need wireless external resources, such as GPS or WiFi signals. The conventional methods measure indoor location by generating a movement route of pedestrian by step and direction recognition. In this paper, to correct the direction sensor error, we use the common feature of the normal indoor floor map that the indoor path is lattice-structured. And we quantize moving directions depending on the direction of indoor path. In addition, we propose moving direction measuring method using geomagnetic sensor and gyro sensor to improve the accuracy. Also, the proposed step detection method uses angle and accelerometer sensors. The proposed step detection method is not affected by the posture of the smartphone. Direction errors caused by direction sensor error is corrected due to proposed moving direction measuring method. The proposed location error correction method corrects location error caused by step detection error without the need for external wireless signal resources.

• Journal of the Ergonomics Society of Korea
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• v.11 no.1
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• pp.103-109
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• 1992

Direct manipulations are composed of pointing operations and dragging operations. In order to find the optimum design parameters (such as C/D ratio, moving direction) for the direct manipulation of a GUI(Graphical User Interface), an ergonomic experiment was devised (2*4*3*8 design) to measure the performance of a mouse (Microsoft) and a trackball (Logitech). The results showed that the mouse was more suitable for the direct manipulation (expecially for the dragging operation) than the trackball, and the suitable C/D ratio was 10 (for the mouse) and 16 (for the trackball). Also the movement direction was a determinant factor in trackball performance.

• Journal of Biomedical Engineering Research
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• v.8 no.1
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• pp.75-80
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• 1987

With the conventional CW Doppler velocity meter, bl-directional velocities cannot be separated. The new CW Doppler system uses quadrature detection and phase rotation to produce simultaneous independent audio and velocity signals for forward and reverse blood flow direction, is fabricated. Specially, this system shows that phase rotation method for flow direction separation provides easy and satisfactory feature. From in vivo blood flow measurement, we can easily differentiate typical artery flow from vein flow, and measure both velocity characteristics qualitatively.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.5
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• pp.481-485
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• 2014

In service robots, a number of human movements are analyzed using a variety of sensors. Vibration signals from walking movements of a human provide useful information about the distance and the movement direction of the human. In this paper, we measure the intensity of vibrations and detect both human walking pace and direction. In our experiments, vibration signals detected by microphone sensors provide good estimation of the distance and direction of a human movement. This can be applied to HRI (Human-Robot Interaction) technology.