• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.9 no.5
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• pp.101-107
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• 2009

In this paper, we describe a method of detecting emergency situation using images from surveillance cameras and propose a mobile robot tracking system for detailed examination of that situation. We are able to track a few persons and recognize their actions by an analyzing image sequences acquired from a fixed camera on all sides of buildings. When emergency situation is detected, a mobile robot moves and closely examines the place where the emergency is occurred. In order to recognize actions of a few persons using a sequence of images from surveillance cameras images, we need to track and manage a list of the regions which are regarded as human appearances. Interest regions are segmented from the background using MOG(Mixture of Gaussian) model and continuously tracked using appearance model in a single image. Then we construct a MHI(Motion History Image) for a tracked person using silhouette information of region blobs and model actions. Emergency situation is finally detected by applying these information to neural network. And we also implement mobile robot tracking technology using the distance between the person and a mobile robot.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.37 no.3
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• pp.293-300
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• 2013

This study used a water tank and wave maker to generate conditions similar to the real ocean environment. Given that the waves were properly generated in the water tank, a precise analysis indicated the quantitative value of the wave force acting on a body. A high-speed camera and wave-level gauge were used to measure the temporal wave motion and period. A series of artificial water waves were successfully generated using three different wave periods and amplitudes. Each of the waves captured by a high-speed camera was sinusoidal and did not maintain its shape properly without a wave absorber, but it was substantially improved and well shaped when the wave absorber was installed.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.9 no.2
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• pp.229-236
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• 2016

In this paper, we suggest new technology that can draw characters at a long distance by tracking a hand and analysing the trajectories of hand positions. It's difficult to recognize the shape of a character without discriminating effective strokes from all drawing strokes. We detect end points from input trajectories of a syllable with camera system and localize strokes by using detected end points. Then we classify the patterns of the extracted strokes into eight classes and finally into two categories of stroke that is part of syllable and not. We only draw the strokes that are parts of syllable and can display a character. We can get 88.3% in classification accuracy of stroke patterns and 91.1% in stroke type classification.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.4
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• pp.361-368
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• 2015

This paper reports an unscented Kalman filter approach for localization of a mobile robot in an indoor environment. The method proposes a new model of measurement uncertainty which adjusts the error covariance according to the measured distance. The method also uses non-zero off diagonal values in error covariance matrices of motion uncertainty and measurement uncertainty. The method is tested through experiments in an indoor environment of 100*40 m working space using a differential drive robot which uses Laser range finder as an exteroceptive sensor. The results compare the localization performance of the proposed method with the conventional method which doesn't use adaptive measurement uncertainty model. Also, the experiment verifies the improvement due to non-zero off diagonal elements in covariance matrices. This paper contributes to implementing and evaluating a practical UKF approach for mobile robot localization.

• Physical Therapy Rehabilitation Science
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• v.6 no.4
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• pp.208-213
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• 2017

Objective: Despite reliable evidence of abnormal scapular motions increases, there is not yet sufficient evidence of abnormal humeral translations. This study aims to analyze the motion of the humeral head toward the scapula when the shoulder is actively abducted using the C-arm. Design: A case report. Methods: The participant was a healthy man without any limitation and pain during shoulder movement. The participant's shoulder was abducted; this movement in the frontal plane was measured using a C-arm (anterior-posterior view) and was analyzed with computer-aided design. The starting posture was $15^{\circ}$, and as the participant abducted his shoulder measurements were taken and analyzed at $30^{\circ}$, $60^{\circ}$, $90^{\circ}$, $120^{\circ}$, $150^{\circ}$, and ending at $165^{\circ}$. A line was drawn perpendicularly to the line connecting the humeral head axis to the glenoid, and another line was drawn perpendiculary to the line connecting the scapular axis to the glenoid. The distance between the two lines measured is defined as the e value. Results: At the starting posture ($15^{\circ}$), the central axis of the humeral head was located 1.92 mm inferior to the central axis of the scapula. The humeral head was superiorly translated from the starting posture to $120^{\circ}$, and then, showed an inferior translation to the ending posture ($165^{\circ}$). Conclusions: The results of this study showed that the humeral head moved upward from the starting posture ($15^{\circ}$) up to $120^{\circ}$ indicating, superior translation, and it moved downward when the posture was past $120^{\circ}$, indicating inferior translation.

• Physical Therapy Rehabilitation Science
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• v.6 no.4
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• pp.182-188
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• 2017

Objective: The purpose of this study was to compare ankle function between adults with and without Down syndrome (DS). Design: Cross-sectional study. Methods: Ten adults with DS and 18 without participated in this study and underwent manual muscle test (MMT), range of motion (ROM) assessment, star excursion balance test (SEBT), and functional movement screen (FMS). The tests were demonstrated to increase their accuracy and the actual measurements were assessed after one or two demonstrations. To minimize the standby time and fatigue, the travelled distance and measuring order were adjusted. To remove the influence of shoes on the measurements, the shoes were taken off and only socks were worn. Results: Dorsal and plantar flexion MMTs of both ankles were significantly weaker and plantar flexion ROM of both ankles were significantly lower in adults with DS compared with those without (p<0.05). However, dorsal flexion ROM of both ankles were not significantly different between them. There were significant differences in distances measured in all the directions (anterior, anterolateral, lateral, posterolateral, posterior, posteromedial, medial, and anteromedial directions) of SEBT (p<0.05). Significant differences were also demonstrated in the scores of hurdle step, inline lunge, shoulder mobility, and rotary stability among the seven items of FMS (p<0.05). Conclusions: To enhance the dynamic stability of adults with DS, it is necessary to improve ankle stability by strengthening the ankle dorsal and plantar flexors.

• Physical Therapy Rehabilitation Science
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• v.7 no.3
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• pp.95-101
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• 2018

Objective: To determine if the provision of visual biofeedback using real-time rehabilitative ultrasound imaging (RUSI) enhances the acquisition and retention of diaphragm muscle recruitment during exercise. Design: Two group pretest posttest design. Methods: Thirty healthy subjects were randomly assigned to the verbal feedback group (VG, n=15) or the visual and verbal feedback group (VVG, n=15). The VG performed breathing exercises 10 times with verbal feedback, and the VVG also performed breathing exercises 10 times with verbal feedback and visual feedback with the use of RUSI to measure changes in diaphragm thickness (DT). For DT, the mid-axillary lines between ribs 8 and 9 on both sides were measured in standing, and then the chest wall was perpendicularly illuminated using a linear transducer with the patients in supine to observe the region between rib 8 and 9 and to obtain 2-dimensional images. DT was measured as the distance between the two parallel lines that appeared bright in the middle of the pleura and the peritoneum. After one week, three repetitions (follow-up session) were performed to confirm retention effects. Intra- and between- group percent changes in diaphragm muscle thickness were assessed. Results: In the VVG, the intervention value had a medium effect size compared to the baseline value, but the follow-up value decreased to a small effect size. In the between-group comparisons, during the intervention session, the VVG showed no significant effect on percent change of DT but had a medium effect size compared to the VG (p=0.050, Cohen's d=0.764). During the follow-up session, retention effect did not persist (p=0.311, Cohen's d=0.381). Conclusions: RUSI can be used to provide visual biofeedback and improve performance and retention in the ability to activate the diaphragm muscle in healthy subjects. Future research needs to establish a protocol for respiratory intervention to maintain the effect of diaphragmatic breathing training using RUSI with visual feedback.

• Journal of the Society of Naval Architects of Korea
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• v.37 no.1
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• pp.67-81
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• 2000

An accurate and efficient numerical method for two-dimensional nonlinear radiation problem has been developed. The wave motion due to a moving body is described by the assumption of ideal fluid flow, and the governing Laplace equation can be effectively solved by the higher-order boundary element method with the help of the GMRES (Generalized Minimal RESidual) algorithm. The intersection or corner problem is resolved by utilizing the so-called discontinuous elements. The implicit trapezoidal rule is used in updating solutions at new time steps by considering stability and accuracy. Traveling waves caused by the oscillating body are absorbed downstream by the damping zone technique. It is demonstrated that the present method for time marching and radiation condition works efficiently for nonlinear radiation problem. To avoid the numerical instability enhanced by the local gathering of grid points, the regriding technique is employed so that all the grids on the free surface may be distributed with an equal distance. This makes it possible to reduce time interval and improve numerical stability. Special attention is paid to the local flow around the body during time integration. The nonlinear radiation force is calculated by the "acceleration potential technique". Present results show good agreement with other numerical computations and experiments.

• Water for future
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• v.13 no.2
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• pp.55-62
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• 1980

It is very important thing that the high tide prediction along the sea-side before the typhoon landing. In Korea, every year somewhere of the near sea-shore has been suffered much damages by the high tide during typhoon season, and the governement has to spend much of the reserved budget to rescue and reconstruction the damaged facilities in the seas-shore area. In this point of view, as none of the high tide prediction program in Korea, the author aims to develope this kind of study, so that this application program may dedicate the concerned organizations such as Ministry of Construction, Commerce and Industry, and Agriculture Forestry and Fishery, etc. Due to developed the software of high speed electronic computer in recently, the complicated numerical analysis can be solve very conviniently. So the author tries to prepare the high tide predecation program using the equation of motion and continous in the fluide dynamics by the constant time and distance of the differentation method. The input data for this program are the weather chart and depth data of the mattered bay, inner-sea or outer-sea. This program has been applied on the Pohan inner harbor as a model and find ort the program computation results is coincide with the observed values of "FRAN" typhoon in 1976 at the Pohang harbor.ng harbor.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.1
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• pp.78-84
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• 2015

Depth estimation is often required for robot vision, 3D modeling, and motion control. Previous method is based on the focus measures which are calculated for a series of image by a single camera at different distance between and object. This method, however, has disadvantage of taking a long time for calculating the focus measure since the mask operation is performed for every pixel in the image. In this paper, we estimates the depth by using the focus measure of the boundary pixels located between the objects in order to minimize the depth estimate time. To detect the boundary of an object consisting of a straight line and a circle, we use the Hough transform and estimate the depth by using the focus measure. We performed various experiments for PCB images and obtained more effective depth estimation results than previous ones.