• The Journal of Korean Institute of Communications and Information Sciences
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• v.19 no.5
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• pp.822-832
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• 1994

DSC-HDTV image compression algorithm removes spatial, temporal, and amplitude redundancies of an image by using transform coding, motion-compensated predictive coding, and adaptive quantization, respectively. In this paper, leak processing method which is used to recover image quality quickly from scene change and transmission error and adaptive quantization using perceptual weighting factor obtained by HVS are proposed. Perceptual weighting factor is calculated by contrast sensitivity, spatio-temporal masking and frequency sensitivity. Adaptive quantization uses the perceptual weighting factor and global distortion level from buffer history state. Redundant bits according to adaptation of HVS are used for the next image coding. In the case of scene change, DFD using motion compensated predictive coding has high value, large bit rate and unstabilized buffer states since reconstructed image has large quantization noise. Thus, leak factor is set to 0 for scene change frame and leak factor to 15/16 for next frame, and global distortion level is calculated by using standard deviation. Experimental results show that image quality of the proposed method is recovered after several frames and then buffer status is stabilized.

• Physical Therapy Korea
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• v.30 no.1
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• pp.59-67
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• 2023

Background: Posterior capsule tightness (PCT), commonly seen in overhead athletes, is a soft tissue adaptation that is also noted in non-throwers. PCT is associated with scapular and humeral kinematic alterations, significant restriction of shoulder internal rotation (IR) range of motion (ROM), and significant scapular anterior tilting. Sleeper and cross-body stretches (CBS) are suggested for PCT and IR deficits, and have been modified since introduction. A novel modified sleeper stretch (NMSS) was designed in this study to prevent the risk of anterior translation of the humeral head. Though the effects of posterior shoulder stretching exercise have been widely studies, to the best of our knowledge, no previous studies have investigated the effectiveness of posterior shoulder exercises in decreasing scapular anterior tilting. Objects: To compare the immediate effects of two posterior shoulder stretching exercises (NMSS and CBS) on scapular anterior tilting and shoulder IR ROM. Methods: Thirty-two subjects with anteriorly tilted scapula and IR deficits [mean age: 24.3 ± 2.5 years; 15 males and 17 females] participated in this study. Subjects were randomly assigned to either the NMSS or CBS groups. Scapular anterior tilting (at rest and at shoulder 60° active IR) and shoulder IR ROM were measured before and immediately after intervention. Results: Scapular anterior tilting significantly decreased, while the shoulder IR ROM significantly increased in both groups. However, there was no significant group-by-time interaction effect or significant difference between the groups. Conclusion: Both stretching exercises were effective in restoring shoulder IR ROM and decreasing scapular anterior tilting.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.2
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• pp.757-770
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• 2020

We propose a hand gesture recognition method that is compatible with a head-up display (HUD) including small processing resource. For fast link adaptation with HUD, it is necessary to rapidly process gesture recognition and send the minimum amount of driver hand gesture data from the wearable device. Therefore, we use a method that recognizes each hand gesture with an inertial measurement unit (IMU) sensor based on revised correlation matching. The method of gesture recognition is executed by calculating the correlation between every axis of the acquired data set. By classifying pre-defined gesture values and actions, the proposed method enables rapid recognition. Furthermore, we evaluate the performance of the algorithm, which can be implanted within wearable bands, requiring a minimal process load. The experimental results evaluated the feasibility and effectiveness of our decomposed correlation matching method. Furthermore, we tested the proposed algorithm to confirm the effectiveness of the system using pre-defined gestures of specific motions with a wearable platform device. The experimental results validated the feasibility and effectiveness of the proposed hand gesture recognition system. Despite being based on a very simple concept, the proposed algorithm showed good performance in recognition accuracy.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.308-313
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• 2005

For a real-time quadruped robot running control, there are many important objectives to consider. In this paper, the running control architecture based on global states, which describe the cyclic target motion, and central pattern is proposed. The main goal of the controller is how the robot can have robustness to an unpredictable environment with reducing calculation burden to generate control inputs. Additional goal is construction of a single framework controller to avoid discontinuities during transition between multi-framework controllers and of a training-free controller. The global state dependent neuron network induces adaptation ability to an environment and makes the training-free controller. The central pattern based approach makes the controller have a single framework, and calculation burden is resolved by extracting dynamic equations from the control loop. In our approach, the model of the quadruped robot is designed using anatomical information of a cat, and simulated in 3D dynamic environment. The simulation results show the proposed single framework controller is robustly performed in an unpredictable sloped terrain without training.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.7
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• pp.672-678
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• 2008

This paper proposes a new rehabilitation robot with upper and lower limb connections for gait training. As humans change a walking speed, their nervous systems adapt muscle activation patterns to modify arm swing for the appropriate frequency. By analyzing this property, we can find a relation between arm swinging and lower limb motions. Thus, the lower limb motion can be controlled by the arm swing for walking speed adaptation according to a patent's intension. This paper deals with the design aspects of the suggested gait rehabilitation robot, including a trajectory planning and a control strategy. The suggested robot is mainly composed of upper limb and lower limb devices, a body support system. The lower limb device consists of a slider device and two 2-dof footpads to allow walking training at uneven and various terrains. The upper limb device consists of an arm swing handle and switches to use as a user input device for walking. The body support system will partially support a patient's weight to allow the upper limb motions. Finally, we showed simulation results for the designed trajectory and controller using a dynamic simulation tool.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.3
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• pp.139-149
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• 2015

In this paper, we describe a new approach to perform real-time implementation of an robust controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for robot manipulator consisting of dual arm with eight degrees of freedom at the joint space and cartesian space.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.12
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• pp.1170-1176
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• 2010

This study addresses adaptive control of UAVs(Unmanned Aerial Vehicles) pitch-axis maneuver. The MRAC(Model Referenced Adaptive Control) approach is employed to accommodate uncertainties which are introduced by feedback linearization of pitch attitude control by elevator input. The model uncertainty is handled by adaptation laws which update model parameters while the UAV is under control by the feedback control law. Steady-state pitch attitude achieved by the stabilizing control law is derived to provide insight on the closed-loop behavior of the controlled system. The proposed idea is free of linearization, gain-scheduling procedures, so that one can design high maneuverability of UAVs for pitching motion in the presence of significant model uncertainty.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.5 no.3
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• pp.266-272
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• 2004

In this paper, an observer-based adaptive controller is proposed to control the longitudinal motion of vehicles. The standard gradient method will be used to estimate the vehicle parameters such as mass, time constant, etc. The nonlinear model between the driving force and the vehicle acceleration will be chosen to design the state observer for the vehicle velocity and acceleration. It will be shown that the proposed observer is exponentially stable, and that the adaptive controller proposed in this paper is stable by the Lyapunov function candidate. It will be proved that the errors of the relative distance, velocity and acceleration converge to zero asymptotically fast, and that the overall system is also asymptotically stable. The simulation results are presented to investigate the effectiveness of the proposed method.

• Journal of Animal Environmental Science
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• v.5 no.1
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• pp.29-36
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• 1999

This study was conducted to determine the effects of dietary swine manure and food waste on feeding and drinking behaviours in broiler chicks. A total of 240 birds with 40g of initial weight were randomly assigned in the 8$\times$3 randomized complete block design and 10 birds per replicate. Extrusion recycled feeds(ERF) were prepared by extruding a mixture of 40% swine manure+40% food waste(FW)+20% corn. The birds assigned to one of the 8 dietary regimens; 0, 10, 30, 40% ERF of 20, 40, 60% FW in the place of a commercial boiler starter diet. Video recording were made after one week of adaptation period to the regimen. The tapes were played in a slow motion to examine feeding and drinking behaviour. Feeding and drinking times were greater in the day time at the night. Feeding times peaked at 4 hour intervals. Drinking time increased about 2 times on FW feeding compared to the other treatment groups. The results indicated that feeding and drinking behaviour could be influenced by the dietary regimens and that FW feeding increased drinking. The data also suggested that the FW could replace within 40% of broiler starter diet.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.12
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• pp.1220-1230
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• 2006

In this paper, we propose a flew technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.