• Journal of Institute of Control, Robotics and Systems
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• v.19 no.10
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• pp.941-946
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• 2013

In this paper, an enhanced method for attitude determination is proposed for systems using an IMU (Inertial Measurement Unit). In attitude determination with IMU, it is generally assumed that the IMU can be located in the center of gravity on the vehicle. If the IMU is not located in the center of gravity, the accelerometers of the IMU are disturbed from additive accelerations such as centripetal acceleration and tangential acceleration. Additive accelerations are derived from the lever arm which is the distance between the center of gravity and the position of the IMU. The performance of estimation errors can be maintained in system with a non-zero lever arm, if the lever arm is estimated to remove the additive accelerations from the accelerometer's measurements. In this paper, an estimation using Kalman filter is proposed to include the lever arm in the state variables of the state space equation. For the Kalman filter, the process model and the measurement model for attitude determination are made up by using quaternion. In order to evaluate the proposed algorithm, both of the simulations and the experiments are performed for the simplified scenario of motion.

• Journal of the Korean Society for Railway
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• v.20 no.4
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• pp.440-447
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• 2017

Spectrum level for the acoustic roughness of wheels and rail surface should be periodically maintained under the limitation of ISO to reduce rolling noise of railway vehicles. Thus, in maintaining railway track, displacement sensor-based measuring devices are broadly used to measure the surface roughness and to perform spectral analysis. However, these measuring devices cause unexpected measuring errors since the displacement sensors are fixed at moving platforms and the main frame produces pitching motion during measurement. To increase the accuracy of the measured values, this paper has investigated the effects of design variables such as wheel base, additional wheels, and elastic deformation of wheels on the surface roughness and acoustic roughness spectrum.

• Smart Structures and Systems
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• v.20 no.5
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• pp.619-636
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• 2017

Magnetorheological (MR) damper is a type of controllable device widely used in vibration mitigation. This device is highly nonlinear, and exhibits strongly hysteretic behavior that is dependent on both the motion imposed on the device and the strength of the surrounding electromagnetic field. An accurate model for understanding and predicting the nonlinear damping force of the MR damper is crucial for its control applications. The MR damper models are often identified off-line by conducting regression analysis using data collected under constant voltage. In this study, a MR damper model is integrated with a model for the power supply unit (PSU) to consider the dynamic behavior of the PSU, and then a real-time nonlinear model updating technique is proposed to accurately identify this integrated MR damper model with the efficiency that cannot be offered by off-line methods. The unscented Kalman filter is implemented as the updating algorithm on a cyber-physical model updating platform. Using this platform, the experimental study is conducted to identify MR damper models in real-time, under in-service conditions with time-varying current levels. For comparison purposes, both off-line and real-time updating methods are applied in the experimental study. The results demonstrate that all the updated models can provide good identification accuracy, but the error comparison shows the real-time updated models yield smaller relative errors than the off-line updated model. In addition, the real-time state estimates obtained during the model updating can be used as feedback for potential nonlinear control design for MR dampers.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.926-934
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• 2006

This paper proposes intelligent control of a virtual walking machine that can generate infinite floor for various surfaces and can provide proprioceptive feedback of walking to a user. This machine allows users to participate in a life-like walking experience in virtual environments with various terrains. The controller of the machine is implemented hierarchically, at low-level for robust actuator control, at mid-level fur platform control to compensate the external forces by foot contact, and at high-level control for generating walking trajectory. The high level controller is suggested to generate continuous walking on an infinite floor for various terrains. For the high level control, each independent platform follows a man foot during the swing phase, while the other platform moves back during single stance phase. During double limb support, two platforms manipulate neutral positions to compensate the offset errors generated by velocity changes. This control can, therefore, satisfy natural walking conditions in any direction. Transition phase between the swing and the stance phases is detected by using simple switch sensor system, while human foot motions are sensed by careful calibration with a magnetic motion tracker attached to the shoe. Experimental results of walking simulations at level ground, slope, and stairs, show that with the proposed machine, a general person can walk naturally on various terrains with safety and without any considerable disturbances. This interface can be applied to various areas such as VR navigations, rehabilitation, and gait analysis.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.1
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• pp.73-80
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• 2000

The stewart platform manipulator proposed by stewart is the parallel manipulator which is composed of several independent actuators connecting the upper plate with the base plate and capable of executing a six degree of freedom motion. The manipulator has a structure of a closed loop form, and provides better load-to-weight ratio and ratio and rigidity than a serial manipulator with an open loop form. Moreover, the manipulator has high positional accuracy because position errors of actuators are not additive. Because of these advantages, this manipulator is widely used in many engineering applications such as a driving simulator, a tool of machining center, a force/torque sensor and so on. When this Stewart platform manipulator is controlled in joint space, it is difficult to design a controller using an analytic method due to nonhnearity and unknown parameters of actuators. Therefore, a PID controller is often used because of easiness in applications. To find the PID control gain, a trial-and-error method is generally used. This method is time-consuming, and does not guarantee a optimal gain. Thus, this paper proposes a GA-PID controller which selects an optimal PID control gain using genetic algorithms. And this proposed controller is evaluated experimentally and shows acceptable performance.

• Steel and Composite Structures
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• v.20 no.3
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• pp.623-649
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• 2016

Most of the early studies on plates vibration are focused on two-dimensional theories, these theories reduce the dimensions of problems from three to two by introducing some assumptions in mathematical modeling leading to simpler expressions and derivation of solutions. However, these simplifications inherently bring errors and therefore may lead to unreliable results for relatively thick plates. The main objective of this research paper is to present 3-D elasticity solution for free vibration analysis of continuously graded carbon nanotube-reinforced (CGCNTR) rectangular plates resting on two-parameter elastic foundations. The volume fractions of oriented, straight single-walled carbon nanotubes (SWCNTs) are assumed to be graded in the thickness direction. In this study, an equivalent continuum model based on the Eshelby-Mori-Tanaka approach is employed to estimate the effective constitutive law of the elastic isotropic medium (matrix) with oriented, straight carbon nanotubes (CNTs). The proposed rectangular plates have two opposite edges simply supported, while all possible combinations of free, simply supported and clamped boundary conditions are applied to the other two edges. The formulations are based on the three-dimensional elasticity theory. A semi-analytical approach composed of differential quadrature method (DQM) and series solution is adopted to solve the equations of motion. The fast rate of convergence of the method is demonstrated and comparison studies are carried out to establish its very high accuracy and versatility. The 2-D differential quadrature method as an efficient and accurate numerical tool is used to discretize the governing equations and to implement the boundary conditions. The convergence of the method is demonstrated and to validate the results, comparisons are made between the present results and results reported by well-known references for special cases treated before, have confirmed accuracy and efficiency of the present approach. The novelty of the present work is to exploit Eshelby-Mori-Tanaka approach in order to reveal the impacts of the volume fractions of oriented CNTs, different CNTs distributions, various coefficients of foundation and different combinations of free, simply supported and clamped boundary conditions on the vibrational characteristics of CGCNTR rectangular plates. The new results can be used as benchmark solutions for future researches.

• Journal of Biosystems Engineering
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• v.38 no.1
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• pp.64-71
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• 2013

Purpose: The purpose of this study was to select standing posture parameters that have a significant difference according to the severity of spinal deformity, and to develop a novel Cobb angle prediction model for adolescent girls with idiopathic scoliosis. Methods: Five normal adolescents girls with no history of musculoskeletal disorders, 13 mild scoliosis patients (Cobb angle: $10^{\circ}-25^{\circ}$), and 14 severe scoliosis patients (Cobb angle: $25^{\circ}-50^{\circ}$) participated in this study. Six infrared cameras (VICON) were used to acquire data and 35 standing parameters of scoliosis patients were extracted from previous studies. Using the ANOVA and post-hoc test, parameters that had significant differences were extracted. In addition, these standing posture parameters were utilized to develop a Cobb-angle prediction model through multiple regression analysis. Results: Twenty two of the parameters showed differences between at least two of the three groups and these parameters were used to develop the multi-linear regression model. This model showed a good agreement ($R^2$ = 0.92) between the predicted and the measured Cobb angle. Also, a blind study was performed using 5 random datasets that had not been used in the model and the errors were approximately $3.2{\pm}1.8$. Conclusions: In this study, we demonstrated the possibility of clinically predicting the Cobb angle using a non-invasive technique. Also, monitoring changes in patients with a progressive disease, such as scoliosis, will make possible to have determine the appropriate treatment and rehabilitation strategies without the need for radiation exposure.

• Journal of radiological science and technology
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• v.41 no.6
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• pp.539-543
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• 2018

Telometer is a supplementary filming device that improves the image quality and minimizes the motion unsharpness by enhancing the reproducibility of diagnostic images because it applies constant pressure (force) to the affected area. The stress-radiogram which is widely used to provide the o-bjective quantitative stability of knee ligament is reported in literature as the most suitable method to evaluate the stability of ligament and it is advised to use the Telometer. In order to evaluate the image reproducibility of the Telometer, the collateral ligament which is the most vulnerable among the ligaments consisting of the knee joint, the stress-radiogram was executed in the order of the Telometer, the push pull gauge and the conventional stress radiogram. Then, SPSS (Statistical Package for the Social Science) for Windows 22.0 was used for comparison and evaluation. According to the results of comparison and evaluation, the standard errors and standard deviations became smaller in the order of the Telometer, the push pull gauge, the conventional stress radiogram while the image reproducibility was higher in the order of the Telometer, the push pull gauge, the conventional stress radiogram. Therefore, it is considered that the use of the TELOS for stress-radiogram would enhance the quality of patient diagnostic images and the work performance of radiologists.

• Smart Media Journal
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• v.12 no.7
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• pp.59-67
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• 2023

Recently, research on behavior analysis tracking human posture and movement has been actively conducted. In particular, OpenPose, an open-source software developed by CMU in 2017, is a representative method for estimating human appearance and behavior. OpenPose can detect and estimate various body parts of a person, such as height, face, and hands in real-time, making it applicable to various fields such as smart healthcare, exercise training, security systems, and medical fields. In this paper, we propose a method for classifying four exercise movements - Squat, Walk, Wave, and Fall-down - which are most commonly performed by users in the gym, using OpenPose-based deep learning models, DNN and CNN. The training data is collected by capturing the user's movements through recorded videos and real-time camera captures. The collected dataset undergoes preprocessing using OpenPose. The preprocessed dataset is then used to train the proposed DNN and CNN models for exercise movement classification. The performance errors of the proposed models are evaluated using MSE, RMSE, and MAE. The performance evaluation results showed that the proposed DNN model outperformed the proposed CNN model.

• Restorative Dentistry and Endodontics
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• v.48 no.2
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• pp.15.1-15.7
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• 2023

Objectives: This study evaluated the efficiency of WaveOne Primary files (Dentsply Sirona) for removing root canal fillings with 2 types of movement: reciprocating (RCP) and continuous counterclockwise rotation (CCR). Materials and Methods: Twenty mandibular incisors were prepared with a RCP instrument (25.08) and filled using the Tagger hybrid obturation technique. The teeth were retreated with a WaveOne Primary file and randomly allocated to 2 experimental retreatment groups (n = 10) according to movement type: RCP and CCR. The root canals were emptied of filling material in the first 3 steps of insertion, until reaching the working length. The timing of retreatment and procedure errors were recorded for all samples. The specimens were scanned before and after the retreatment procedure with micro-computed tomography to calculate the percentage and volume (mm³) of the residual filling material. The results were statistically evaluated using paired and independent t-tests, with a significance level set at 5%. Results: No significant difference was found in the timing of filling removal between the groups, with a mean of 322 seconds (RCP) and 327 seconds (CCR) (p < 0.05). There were 6 instrument fractures: 1 in a RCP motion file and 5 in continuous rotation files. The volumes of residual filling material were similar (9.94% for RCP and 15.94% for CCR; p > 0.05). Conclusions: The WaveOne Primary files used in retreatment performed similarly in both RCP and CCR movements. Neither movement type completely removed the obturation material, but the RCP movement provided greater safety.