• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.645-650
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• 2003

Legged robots can avoid an obstacle by crawling-over or striding, according to the obstacle’s nature and the current state of the robot. Thus, it can be observed that the mobility efficiency to reach a destination is improved by such action. Moreover, if robots have many legs like 4-legged or 6-legged types, then the robot movement range is affected by the order of swing leg. In this paper, the avoidance action of a quadruped robot is generated by a neural network (NN) whose inputs are information on the position of the destination, the obstacle configuration and the robot's self-state. To realize a free gait in static walking, the order of swing leg is determined using an another NN whose inputs are the amount of movements and the robot’s self-state. The design parameter of the latter NN is adjusted by using genetic algorithm (GA).

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37B no.9
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• pp.767-777
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• 2012

Topology control increases channel efficiency by controlling transmission power of a node, and as a result, network lifetime and throughput are increased. However, reducing transmission range causes a network connectivity problem, especially in mobile networks. When a network loses connectivity, the network topology should be re-configured. However, topology re-configuration consumes lots of energy because every node need to collect neighbor information. As a result, network lifetime may decrease, even though topology control is being used to prolong the network lifetime. Therefore, network connectivity time needs to be increased to expend network lifetime in mobile networks. In this paper, we propose an Adaptive-Redundant Transmission Range (A-RTR) algorithm to address this need. A-RTR uses a redundant transmission range considering a node status and flexibly changes a node's transmission range after a topology control is performed.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.4
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• pp.313-320
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• 2011

Multi-axle driving vehicles that are used in special environments require high driving performance, steering performance, and stability. Among these vehicles, 6WS/6WD vehicles with middle wheels have structural safety by distributing the load and reducing the pitch angle during rapid acceleration and braking. 6WS/6WD vehicles are favored for military use in off road operations because of their high maneuverability and mobility on extreme terrains and obstacles. 6WD vehicles that using in-wheel motor can generate the independent wheel torque without other mechanical parts. Conventional vehicles, however, cannot generate an opposite driving force at each side wheel. Using an independent steering and driving system, six-wheel vehicles can show better performance than conventional vehicles. Using of independent steering and driving system, the 6 wheel vehicle can improve a performance better than conventional vehicle. This vehicle enhances the maneuverability under low speed and the stability at high speed. This paper describes an independent 6WS/6WD vehicle, consists of three parts; Vehicle Model, Control Algorithm for 6WS/6WD and Simulation. First, vehicle model is application of TruckSim software for 6WS and 6WD. Second, control algorithm describes the optimum tire force distribution method in view of energy saving. Last is simulation and verification.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.35 no.7B
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• pp.1018-1033
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• 2010

Recently, as the use of mobile terminal is generalized, the needs of high-speed Internet mobile service is increased. Also users want to receive the multimedia contents what they want through the various terminals in anywhere, anytime via wired and wireless integrated environment. Therefore, various mechanisms that support the mobility are proposed. However, these mechanisms are difficult to support seamless mobility and QoS awareness on the mobile multicast environment. In this paper, we propose a QoS aware handover mechanism that is able to provide the high-quality and real-time services such as mobile IPTV in an integrated environment for these requests of users. Proposed mechanism manages the multicast admission control and multicast handover using the 2-layer multicast information management at the wired and wireless integrated network that extended the service guaranteed methods through the probing based admission control of the wired network to the wireless network based on PMIPv6. We present a performance evaluation results and features analyzed by the simulations using the ㎱-2.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1121-1125
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• 2004

The RT(Robot Technology) has been developed as the next generation of a future technology. According to the 2002 technical report from Mitsubishi R&D center, IT(Information Technology) and RT(Robotic Technology) fusion system will grow five times larger than the current IT market at the year 2015. Moreover, a recent IEEE report predicts that most people will have a robot in the next ten years. RCP(Robotic Cellular Phone), CP(Cellular Phone) having personal robot services, will be an intermediate hi-tech personal machine between one CP a person and one robot a person generations. RCP infra consists of $RCP^{Mobility}$, $RCP^{Interaction}$, $RCP^{Integration}$ technologies. For $RCP^{Mobility}$, human-friendly motion automation and personal service with walking and arming ability are developed. $RCP^{Interaction}$ ability is achieved by modeling an emotion-generating engine and $RCP^{Integration}$ that recognizes environmental and self conditions is developed. By joining intelligent algorithms and CP communication network with the three base modules, a RCP system is constructed. Especially, the RCP interaction system is really focused in this paper. The $RCP^{interaction}$(Robotic Cellular Phone for Interaction) is to be developed as an emotional model CP as shown in figure 1. $RCP^{interaction}$ refers to the sensitivity expression and the link technology of communication of the CP. It is interface technology between human and CP through various emotional models. The interactive emotion functions are designed through differing patterns of vibrator beat frequencies and a feeling system created by a smell injection switching control. As the music influences a person, one can feel a variety of emotion from the vibrator's beats, by converting musical chord frequencies into vibrator beat frequencies. So, this paper presents the definition, the basic theory and experiment results of the RCP interaction system. We confirm a good performance of the RCP interaction system through the experiment results.

• Physical Therapy Korea
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• v.11 no.3
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• pp.25-32
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• 2004

The use of a gym ball is becoming more popular for dynamic balance exercises. However, little is known about the effects of the dynamic ball exercises in the elderly. The purpose of this study was to compare balance and functional mobility after dynamic balance exercises using a gym ball to reduce the risk factorfor falls. All of the 15 subjects were women between the ages of 68 and 91 (mean age=79.9 yrs, SD=5.87) at anursing home in Wonju. Seven of fifteen subjects were placed in the experimental group and the others in the control group. Three clinical tests were used to determine the degree of balance and functional mobility before beginning the exercise program, after 4 weeks of gym ball exercise, and after 8 weeks of gym ball exercise. These three tests included Timed Up & Go (TUG), Berg Balance Scale (BBS) and the Functional Independence Measure (FIM). Dynamic ball exercises training for 8 weeks (5 days per week) included side stretching, prone walking, bridging, marching and opposite arm and leg lifting. There were significant differences found before the gym ball exercise program began and after 4 weeks and then 8 weeks in the experimental group (p<.05). Significant differences between the groups were shown for TUG and BBS (p<.05). No significant difference was noted between the groups for FIM. Therefore, gym ball exercises can improve dynamic balance and may be recommended to include in a therapeutic program to help the elderly reduce their risk of a fall.

• The Journal of Korean Physical Therapy
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• v.27 no.6
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• pp.425-429
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• 2015

Purpose: This study was to identify the whether there is any correlation between Gross Motor Function Measures (GMFM) and Functional independence Measurement for children (WeeFIM) in order to identify a relevance of daily life motor with gross motor function of children with cerebral palsy. Methods: Subjects were instructed to evaluated by an occupational therapist using WeeFIM (reliability 0.83-0.99) and by a physical therapist using GMFM (reliability 0.93). 10 male children and 13 female children among 23 children being diagnosed as cerebral palsy were targeted for this study. A correlation between GMFM and WeeFIM was analyzed with Kendall correlation. Results: Participants showed significant correlation between GMFM and WeeFIM in all categories, except in the GMFM's walking running jumping category, standing category of GMFM and self care, sphincter control, communication category of WeeFIM. Lying rolling and sitting and crawling kneeling area of GMFM showed a significant correlation with self care(r=0.35, 0.39, 0.4), sphincter control (r=0.45, 0.43, 0.61), mobility transfer (r=0.44, 0.36, 0.64), locomotion (r=0.41, 0.35, 0.74), communication (r=0.4, 0.44, 0.51), and social cognition (r=0.43, 0.51, 0.64) area of WeeFIM (p<0.05). Standing of GMFM and mobility transfer (r=0.74), locomotion (r=0.47) and social cognition (r=0.4) area of WeeFIM showed a significant correlation (p<0.05). Conclusion: These findings indicated significant correlation between activity of daily living (ADL) and gross motor function of children with cerebral palsy. However, because there are a few results that are not significant, both assessment tools should be used for evaluations so that treatment can be achieved with an accurate assessment and establish a therapeutic plan.

• Journal of the Ergonomics Society of Korea
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• v.33 no.2
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• pp.109-124
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• 2014

Objective: This study was conducted for one-hand users including hemiplegic clients currently using general folding manual wheelchairs, so as to analyze their specific problems and recommend solutions regarding usage. Background: Traditional manual wheelchairs require considerable use and control of both hands for operation, thus adaptations become necessary for individuals with asymmetrical use of hands. Method: Thirty hemiplegic clients who were admitted to rehabilitation and convalescent hospitals participated as subjects. The research tools were general folding manual wheelchairs commonly used by people with impaired gait, and the Wheelchair Skills Tests (WST) WST-M/WCU 4.1 version was adopted as the assessment tool. All participants were asked to fill out questionnaires on demographics and wheelchair usage characteristics. Assessment procedures were performed with currently used manual wheelchairs and with/without the use of foot to control the wheelchair. Results: When the participants drove folding manual wheelchairs without the use of foot, even the lowest failure rate among the WST items tested recorded 96.7%. On the contrary, with the use of foot in maneuvering the wheelchairs, failure rates dropped noticeably and success rate among the WST items tested was as high as 86.7%. Conclusion: These findings imply that the use of one-arm (hand) propellable (drivable) wheelchair can be an active and effective solution in resolving problems for hemiplegic clients using existing manual wheelchairs. As such, the government should provide institutional support to further develop and distribute this device or technology, and promote relative research in tandem. For now, the supply of commercially available device to hemiplegic clients is deemed urgent and also a mechanism to provide the devices and relevant services. Application: This study offers viable solutions for hemiplegic clients who rely on existing manual wheelchairs to increase their mobility and occupational performance.

• Journal of Industrial Technology
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• v.40 no.1
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• pp.13-18
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• 2020

Lithium-ion batteries have a small volume, light weight and high energy density, maximizing the utilization of mobile devices. It is widely used for various purposes such as electric bicycles and scooters (e-Mobility), mass energy storage (ESS), and electric and hybrid vehicles. To date, lithium-ion batteries have grown to focus on increasing energy density and reducing production costs in line with the required capacity. However, the research and development level of lithium-ion batteries seems to have reached the limit in terms of energy density. In addition, the charging time is an important factor for using lithium-ion batteries. Therefore, it was urgent to develop a high-speed charger to shorten the charging time. In this thesis, a discharger was fabricated to evaluate the capacity and characteristics of Li-ion battery pack which can be used for e-mobility. To achieve this, a smart discharger is designed with a combination of active load, current sensor, and temperature sensor. To carry out this thesis, an active load switching using sensor control circuit, signal processing circuit, and FET was designed and manufactured as hardware with the characteristics of active discharger. And as software for controlling the hardware of the active discharger, a Raspberry Pi control device and a touch screen program were designed. The developed discharger is designed to change the 600W capacity battery in the form of active load.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.5B
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• pp.413-420
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• 2006

HMIPv6 is designed to reduce the signaling load to external network and improve handover speed of MN by including Mobility Anchor Point(MAP) in local handover. However in this case of macro handover, it's just used pervious MIPv6 handover algorithm. So, it occurs packet loss and transmission delay problem. In this paper, we propose the mechanism applying the HMIPv6 for Fast Handover to choose suitable to the condition buffering handover. The condition for the selection is result distance measurement between MN and CN, between MN and NAR. Furthermore, using F-SNOOP protocol, it is possible to improve wireless network performance. Wireless network has high Bit Error Rate(BER) characteristic because of path loss, fading, noise and interference. TCP regards such errors as congestion and starts congestion control. This congestion control makes packet transmission rate low. However, F-SNOOP improves TCP performance based on SNOOP and Freeze TCP that use Zero Window Advertisement(ZWA) message when handoff occurs in wireless network.