• Journal of Institute of Control, Robotics and Systems
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• v.22 no.3
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• pp.210-216
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• 2016

This paper presents a novel collision avoidance technique for mobile robots based on omni-directional vision simultaneous localization and mapping (SLAM). This method estimates the avoidance path and speed of a robot from the location of an obstacle, which can be detected using the Lucas-Kanade Optical Flow in images obtained through fish-eye cameras mounted on the robots. The conventional methods suggest avoidance paths by constructing an arbitrary force field around the obstacle found in the complete map obtained through the SLAM. Robots can also avoid obstacles by using the speed command based on the robot modeling and curved movement path of the robot. The recent research has been improved by optimizing the algorithm for the actual robot. However, research related to a robot using omni-directional vision SLAM to acquire around information at once has been comparatively less studied. The robot with the proposed algorithm avoids obstacles according to the estimated avoidance path based on the map obtained through an omni-directional vision SLAM using a fisheye image, and returns to the original path. In particular, it avoids the obstacles with various speed and direction using acceleration components based on motion information obtained by analyzing around the obstacles. The experimental results confirm the reliability of an avoidance algorithm through comparison between position obtained by the proposed algorithm and the real position collected while avoiding the obstacles.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.487-495
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• 2012

In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 4 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.

• Journal of the Korea Society of Computer and Information
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• v.24 no.12
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• pp.35-41
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• 2019

This paper propose design of remotely controllable hologram based interactive signage. General idea is organization of work of hologram signage through using Raspberry Pi hardware platform and Intel realsense r200 for interaction opportunity. Remote content management is based on Screenly software solution. Open CV based solutions are used for content controlling on the spectators side. Represented work describe of using of the 3D content rendering algorithm based on 3D gaming technology Unity 5. An experimental model was carried out with the purpose of IoS designing, to 3D data visualization and to introduce a new method for visualizing and displaying 3D data on a hologram pyramid signage. Description of working model of hologram signage is given in this paper.

• Journal of the Korean Society of Physical Medicine
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• v.8 no.1
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• pp.49-58
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• 2013

PURPOSE: The purpose of this study was to determine if auditory cues velocity has a greater effect on the gait pattern of patients with Parkinson's disease (PD) than the cues applied individually. METHODS: The subjects were 15 elderly patients diagnosed with PD, 15 healthy elderly persons. Patients were measured of three conditions performed in random order: slow, general, fast. The auditory cue velocity consisted of a metronome beat ${\pm}20%$ than the subject's general gait speed. Using a motion analysis and a force platform measurement system, changes in spatiotemporal variables, kinetic and kinematic variables were compared to gait analysis. RESULTS: Comparison between the auditory cues velocity, there was a significant difference in the spatiotemporal variables with regard to the cadence, stride length, support time, step length, double support time (p<.05). Comparison between the auditory cues velocity, there was a significant increase general and fast velocity gait than slow velocity gait in the maximum flexion in swing phase of knee joint (p<.05). There appears to be the aspect of an increasing ground reaction force (GRF) on the first peak in the vertical axis (p<.05). CONCLUSION: Auditory cues velocity improved of spatio-temporal factors, kinematic and kinetic factors depending on the velocity of the faster. Therefore at the rehabilitation training of PD patients auditory cues velocity would be used for recovery and gait reeducation, may arise through the patients functional ability.

• International Journal of Aeronautical and Space Sciences
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• v.16 no.3
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• pp.475-483
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• 2015

We propose a numerical scheme to simulate the time-domain echo signals at tracking radar for a realistic scenario where an EAD (expendable active decoy) and an airborne target are both in dynamic states. On various scenarios where the target takes different maneuvers, the trajectories of the EAD ejected from the target are accurately calculated by solving 6-DOF (Degree-of-Freedom) equations of the motion for the EAD. At each sampling time of the echo signal, the locations of the EAD and the target are assumed to be fixed. Thus, the echo power from the EAD can be simply calculated by using the Friis transmission formula. The returned power from the target can be computed based on the pre-calculated scattering matrix of the target. In this paper, an IPO (iterative physical optics) method is used to construct the scattering matrix database of the target. The sinc function-interpolation formulation (sampling theorem) is applied to compute the scattering at any incidence angle from the database. A simulator is developed based on the proposed scheme to estimate the echo signals, which can consider the movement of the airborne target and EAD, also the scattering of the target and the RF specifications of the EAD. For applications, we consider the detection probability of the target in the presence of the EAD based on Monte Carlo simulation.

• Korean Journal of Applied Biomechanics
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• v.19 no.3
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• pp.519-528
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• 2009

The effects of taping on the use of such measures for prevention have already been comprehensively described in the literature. However, few studies have analyzed ground reaction forces and postural stability with functional ankle instability subject during dynamic activities with ankle taping The purpose of this study was to identify the effects of ankle taping on ground reaction force and postural stability during jump landing. Fourteen players who has ankle instability were participated in this study. we used vicon and force platform. The application of taping who has ankle instability decreased DF and inversion angular velocity and peak vertical ground reaction force during landing. It also improved A-P cop, M-L cop in stability. The findings of this study support the use of taping as part of injury prevention for subject with functional ankle instability in clinical setting.

• The Journal of the Korea Contents Association
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• v.12 no.9
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• pp.93-105
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• 2012

Dardenne brothers' films deals with minorities' issues who are shoved out to periphery of society, and especially takes interest in value-deprived human life in labor market of today. This study examines such social awareness of Dardenne brothers targeting their latest works awarded in Cannes Film Festival, , , , , . And analysis is attempted about Dardenne brothers' unique formal aesthetical style that exactly captures such social awareness. In Dardenne brothers' films a person shows up who faces abject matter of living. Their agony is closely connected to unemployment, and shows images of irresistible anxiety and alienation. Dardenne brothers' images are not only simple platform with contents embodied, but designed form showing essential thematic consciousness. Location and gaze, motion of camera capturing a character makes us to reflect the situation a character is facing in the world. There are almost no regard about plots, no dramatic devices, superficial and even straightforward, but Dardenne brothers' films have such independent formal aesthetic, which makes able to give endless tension.

• Journal of Drive and Control
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• v.17 no.3
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• pp.33-46
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• 2020

We introduce a piece of special-purpose equipment for responding to disasters that has a dual-arm manipulator consisting of six-axis multi joints, and a master-slave operating system controlled by a wearable joystick for intuitive and convenient operation. However, due to the complexity and diversity of a disaster environment, training and suitable training means are needed to improve the interaction between the driver and equipment. Therefore, in this paper, a system that can improve the operator's immersion in the training simulation is proposes, this system is implemented in a virtual environment. The implemented system consists of a cabin installed with the master-slave operation system, a motion platform, visual and sound systems, as well as a real-time simulation device. This whole system was completed by applying various techniques such as a statistical mapping method, inverse kinematics, and a real-time physical model. Then, the implemented system was evaluated from a point of view of the appropriateness of the mapping method, inverse kinematics, the feasibility for real-time simulations of the physical environment through some task mode.

• The Journal of the Acoustical Society of Korea
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• v.13 no.2
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• pp.30-37
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• 1994

Since the morden targets are of high speed and getting quiet in both active and passive mode, the necessities of developing advanced SONAR system capable of performing target motion analysis (TMA) and target classification are evident. In order to develop such a system, the scattering mechanism of complex bodies needs to be, some extent, fully understood and modeled. In this paper, MOving Spread Target(MOST) signal simulation model is presented and discussed. The model is based on the highlight distribution method, and simulates pulse elongation of spread target, doppler effect due to kinematics of the target as well as SONAR platform, and distribution target strength of each highlight point (HL) with directivity. The model can be used in developing and evaluating advanced SONAR system through system simulation, and can also be used in the development of target state estimation algorithm.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.2
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• pp.390-396
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• 2015

The drastic growth of mobile communication and spreading of smart phone make the significant attention on Location Based Service. The one of most important things for vitalizations of LBS is the accurate estimating position for mobile object. Focusing on an image sensor deployed in smart phone, we develop a LED based positioning estimation framework. The developed approaches can strengthen the advantages of independent indoor applicability of LED. The estimation of LED based positioning is effectively applied to any indoor environment. We put a focus especially on the algorithmic framework. of image processing of smart phone. From LED lighting, we can obtain a typical signal image which contains the unique positioning information. Furthermore test-bed based on smart phone platform is practically developed and all data have been harvested from the actual measurement of test indoor area. This can approve the practical usefulness of proposed framework.