• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1071-1076
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• 2003

In this work, we propose a new framework of robot control for a variety of applications to our unstructured everyday environments. Programming robots can be a very time-consuming process and seems almost impossible for ordinary end users. To cope with this, this work is to provide a software framework for building robot application programs automatically, where we have robots learn how to accomplish a commanded task from the object. An integrated sensing and computing tag is embedded into every single object in the environment. In the robot controller, only the basic software libraries for low-level robot motion control are provided from the robot manufacturer. The main contributions of this work is to develop a server platform that we call Omniscient Server that generates the application programs and send them to the robot controller through the network. The object-related information from the object server merges into robot control software to generate a detailed application program based on the task commands from the human. We have built a test bed and demonstrated that a robot can perform a common household task within the proposed framework.

• Smart Structures and Systems
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• v.16 no.5
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• pp.873-889
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• 2015

In civil engineering, probabilistic seismic risk assessment is used to predict the economic damage to a lifeline system of possible future earthquakes. The results are used to plan mitigation measures and to strengthen the structures where necessary. Instead, after an earthquake public authorities need mathematical models that compute: the damage caused by the earthquake to the individual vulnerable components and links, and the global behavior of the lifeline system. In this study, a framework that was developed and used for prediction purpose is modified to assess the consequences of an earthquake in quasi real-time after such earthquake happened. This is possible because nowadays entire seismic regions are instrumented with tight networks of strong motion stations, which provide and broadcast accurate intensity measure maps of the event to the public within minutes. The framework uses the broadcasted map and calculates the damage to the lifeline system and its component in quasi real-time. The results give the authorities the most likely status of the system. This helps emergency personnel to deal with the damage and to prioritize visual inspections and repairs. A highway transportation network is used as a test bed but any lifeline system can be analyzed.

• Clinical and Experimental Pediatrics
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• v.49 no.5
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• pp.570-573
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• 2006

A healthy, 14-year-old boy presented with right hip pain and consequent fever after falling out of bed while sleeping. The patient could not walk and complained of severe pain with active and passive motion, which consisted mainly in extension and internal rotation of the right hip. Laboratory analysis of the peripheral blood identified leukocytosis and increased levels of acute phase reactants. Magnetic resonance imaging of the hip, which was performed with the expectation of right hip pathology, revealed cellulitis and abscess in the right psoas muscle and associated inflammatory changes in the adjacent presacral fat plane but showed no abnormal lesions in the adjacent pelvic bone and spine. Staphylococcus hominis was cultured from the blood. With empirical antibiotic therapy, the patient recovered fully. We report a case of primary psoas abscess confused with hip pathology in an immunocompetent child without underlying disease.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.16 no.2
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• pp.114-123
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• 2017

This paper introduces a novel obstacle-climbing robot that moves on the facade of buildings and its climbing mechanism. A winch system set on the top of the building makes the vertical motion of the robot while it climbs obstacles that protrude from the wall surface. The obstacle-climbing robot suggested in this research is composed of a main platform and three modular climbing units. Various sensors installed on each climbing unit detect the obstacles, and the robot controller coordinates the three units and the winch to climb the obstacles using the obstacle-climbing mechanism. To evaluate the performance of the developed robot prototype, a test bed, which consists of an artificial wall and an obstacle, was manufactured. The obstacle size and the time required to climb the obstacle were selected as the performance indices, and extensive experiments were carried out. As a result, it was confirmed that the obstacle-climbing robot can climb various-sized obstacles with a reasonable speed while it moves on the wall surface.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.10
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• pp.1062-1069
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• 2012

This paper suggests a computational modeling to reflect static/dynamic characteristics of LM bearings. A theoretical study for modeling LM bearings is elucidated by using the Hertz contact theory, the Lagrange's equation of motion, normal mode analysis and a calculation of equivalent moment center. The complex geometry of LM bearings is replaced by a simplified model with eight springs only. The suggested model reflects static and dynamic characteristics of LM bearings without any consideration for the shape of the bed or stages on the LM bearings. The modal experimental results are compared to the simulation results with the suggested computational modeling. The difference between the experiments and simulation is calculated less than 8%.

• Journal of Korea Water Resources Association
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• v.38 no.4 s.153
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• pp.313-321
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• 2005

The elimination and erosion of cohesive sediments in port and reservoir water can so far be processed only with mechanical evacuation methods under extreme energy expenditure. The so-called flushing jets do not serve the purpose because they cannot set the material spaciously in motion despite high shear stresses at the bed. Therefore this study aims to examine the resuspension of the deposited fine material($Al_{2}O_3$) under presence of gas bubbles in order to decreased cohesive sediments in multipurpose dam, port and lakes. In the case of laboratory trial important parameters considered are supplied amount of air and the consolidation time of the solid materials. With increasing gas content alumina remains in suspension at high pH values in the laboratory test, where the particles fall mote rapidly without air addition.

• Journal of Computing Science and Engineering
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• v.2 no.2
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• pp.180-199
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• 2008

Technology has had a tremendous impact on our daily lives. Recently, technology and its impact on aging has become an expanding field of inquiry. A major reason for this interest is that the use of technology can help older people who experience deteriorating health to live independently. In this paper we give a brief review of the in-home monitoring technologies for the elderly. In the pilot study, we analyze the possibility of employing the data generated by a continuous, unobtrusive nursing home monitoring system for predicting elevated(abnormal)pulse pressure(PP) in elderly(PP=systolic blood pressure-diastolic blood pressure). Our sensor data capture external information(behavioral) about the resident that is subsequently reflected in the predicted PP. By continuously predicting the possibility of elevated pulse pressure we may alert the nursing staff when some predefined threshold is exceeded. This approach may provide additional blood pressure monitoring for the elderly persons susceptible to blood pressure variations during the time between two nursing visits. We conducted a retrospective pilot study on two residents of the TigerPlace aging in place facility with age over 70, that had blood pressure measured between 100 and 300 times during a period of two years. The pilot study suggested that abnormal pulse pressure can be reasonably well estimated (an area under ROC curve of about 0.75) using apartment bed and motion sensors.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2011.11a
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• pp.3-4
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• 2011

In this study, the nonlinear mathematical model of Manta type UUV is derived the hydrodynamic derivatives and the sliding mode controller of Manta type UUV test bed is designed. The sliding mode control scheme is used for robust control on the nonlinear motion. The designed controller is used the depth and heading control. It is based on the 6 DOF mathematical model with effect of the ocean currents. As a result, the performance of the designed controller is confirmed by computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1657-1661
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• 2005

The velocity dipole field method is presented for real-time collision avoidance of mobile robots. The direction of motion of the obstacle is used as the axis of the dipole field, and the speed of the obstacle is used to proportionally strengthen the dipole field. The elliptical field lines of the dipole field are useful to skillfully guide the robot around obstacles, quite similar to the way humans avoid moving obstacles. Field modulation coefficient is also introduced to weaken the field effect as the obstacle recedes. The real-time algorithm of the velocity dipole field has been devised and experimentally tested on the robot soccer test-bed. The results show the capability of the new real-time collision avoidance strategy and how it can overcome the weaknesses in the conventional potential field method. The new method makes an explicit and proactive action of collision avoidance, unlike the conventional method, which forces the robot merely away from the obstacle aimlessly. The proposed method delivers greater capability with no considerable computational overhead

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.24 no.2
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• pp.141-147
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• 2015

In this study, a position control algorithm for an omni-directional mobile robot based on Mecanum wheels was introduced and experimentally evaluated. Multiple ultrasonic sensors were installed around the mobile robot to obtain position feedback. Using the distance of the robot from the wall, the position and orientation of the mobile robot were calculated. In accordance with the omni-directional velocity generation mechanism, the velocity kinematics between the Mecanum wheel and the mobile platform were determined. Based on this formulation, a simple and intuitive position control algorithm was suggested. To evaluate the control algorithm, a test bed composed of artificial walls was designed and implemented. While conventional control algorithms based on normal wheels require additional path planning for two-dimensional planar motion, the omni-directional mobile robot using distance sensors was able to directly follow target positions with the simple proposed position feedback algorithm.