• Journal of Institute of Control, Robotics and Systems
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• v.22 no.7
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• pp.562-569
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• 2016

This paper proposes a navigation system with a robust localization method for an underwater unmanned vehicle. For robust localization with IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and depth sensors, the EKF (Extended Kalman Filter) has been utilized to fuse multiple nonlinear data. Note that the GPS (Global Positioning System), which can obtain the absolute coordinates of the vehicle, cannot be used in the water. Additionally, the DVL has been used for measuring the relative velocity of the underwater vehicle. The DVL sensor measures the velocity of an object by using Doppler effects, which cause sound frequency changes from the relative velocity between a sound source and an observer. When the vehicle is moving, the motion trajectory to a target position can be recorded by the sensors attached to the vehicle. The performance of the proposed navigation system has been verified through real experiments in which an underwater unmanned vehicle reached a target position by using an IMU as a primary sensor and a DVL as the secondary sensor.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.411-416
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• 2016

This paper presents the design methodology of an unknown input observer for Lipschitz nonlinear systems with unknown inputs in the framework of convex optimization. We use an unknown input observer (UIO) to consider both nonlinearity and disturbance. By deriving a sufficient condition for exponential stability in the linear matrix inequality (LMI) form, existence of a stabilizing observer gain matrix of UIO will be assured by checking whether the quadratic stability margin of the error dynamics is greater than the Lipschitz constant or not. If quadratic stability margin is less than a Lipschitz constant, the coordinate transformation may be used to reduce the Lipschitz constant in the new coordinates. Furthermore, to reduce the maximum singular value of the observer gain matrix elements, an object function to minimize it will be optimally designed by modifying its magnitude so that amplification of sensor measurement noise is minimized via multi-objective optimization algorithm. The performance of UIO is compared to a nonlinear observer (Luenberger-like) with an application to a flexible joint robot system considering a change of load and disturbance. Finally, it is validated via simulations that the estimated angular position and velocity provide true values even in the presence of unknown inputs.

• The Journal of Korea Robotics Society
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• v.14 no.3
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• pp.228-235
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• 2019

This paper presents a multiple DoFs (degrees-of-freedom) prosthetic forearm and sEMG (surface electromyogram) pattern recognition and motion intent classification of forearm amputee. The developed prosthetic forearm has 9 DoFs hand and single-DoF wrist, and the socket is designed considering wearability. In addition, the pattern recognition based on sEMG is proposed for prosthetic control. Several experiments were conducted to substantiate the performance of the prosthetic forearm. First, the developed prosthetic forearm could perform various motions required for activity of daily living of forearm amputee. It was able to control according to shape and size of the object. Additionally, the amputee was able to perform 'tying up shoe' using the prosthetic forearm. Secondly, pattern recognition and classification experiments using the sEMG signals were performed to find out whether it could classify the motions according to the user's intents. For this purpose, sEMG signals were applied to the multilayer perceptron (MLP) for training and testing. As a result, overall classification accuracy arrived at 99.6% for all participants, and all the postures showed more than 97% accuracy.

• Korean Journal of Applied Biomechanics
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• v.25 no.4
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• pp.371-381
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• 2015

Object : The purpose of this study was to investigate aging-related changes of intrinsic and extrinsic hand muscles in their strength, cross-sectional area and volume, force control, and multi-digit synergies. It was hypothesized that aging would negatively affect distal muscles (intrinsic muscles) more than proximal muscles (extrinsic muscles). Method : Nine young and eleven older right-handed participants underwent MRI scans of the hand and forearm. Muscle cross-sectional areas and volumes of the intrinsic and extrinsic hand muscles were determined. Result : Muscle volume of the intrinsic muscles were larger in the younger group than the older group while muscle volume of the extrinsic muscles did not differ. For the cross-sectional area, both the intrinsic and extrinsic muscles of the younger group were larger than the older group. The maximum strength of the intrinsic muscles of the young group was 31% greater than the older group ($399.1{\pm}26.4$ vs $270.2{\pm}22.9Ncm$, p < 0.05) while the extrinsic muscles showed no significant difference. Although the elderly group showed a trend of decreased force control and multi-digit synergies, no statistical differences were found. These findings indicate aging-related decreases in hand muscle size and strength affect intrinsic muscles more than extrinsic muscles, thus supporting the hypothesis that sarcopenia affects the muscle size and strength of distal muscles more than proximal muscles. Conclusion : The aging-related decreases in hand muscle size and function were more apparent in intrinsic hand muscles, located more distally, than extrinsic muscles, located more proximally.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.24 no.1
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• pp.65-74
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• 2024

In recent years, image processing technology has played a critical role in the field of autonomous driving. Among them, image recognition technology is essential for the safety and performance of autonomous vehicles. Therefore, this paper aims to develop a hybrid image recognition system to enhance the safety and performance of autonomous vehicles. In this paper, various image recognition technologies are utilized to construct a system that recognizes and tracks objects in the vehicle's surroundings. Machine learning and deep learning algorithms are employed for this purpose, and objects are identified and classified in real-time through image processing and analysis. Furthermore, this study aims to fuse image processing technology with vehicle control systems to improve the safety and performance of autonomous vehicles. To achieve this, the identified object's information is transmitted to the vehicle control system to enable appropriate autonomous driving responses. The developed hybrid image recognition system in this paper is expected to significantly improve the safety and performance of autonomous vehicles. This is expected to accelerate the commercialization of autonomous vehicles.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.14 no.1
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• pp.151-160
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• 1994

Recently, terrestrial photogrammetry has been applied effectively to data acquisition in GIS and to monitoring precise machinery for simulation test. Because 3-D coordinates of many object points can be quickly measured with constant accuracy and easy modeling by this method. In this study, the composition concerned with multi-camera system which simultaneously analyzes structure from multi-station using various cameras was developed. The errors of results were analyzed to investigate the accuracy of the system, error of unknown points and control points, convergent and strip adjustment for optimal network design also. As results of this study, the efficiency of multi-camera system developed here was proved through application to monitoring the entire area of the precise model ship. We could also acquire 3-dimensional coordinates with good accuracy by arranging pass points. Therefore, possibility of measurement of instantaneous deformation as well as precision analysis of structures can be suggested.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.4
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• pp.828-834
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• 2009

To get a better profit, standalone mobile game market shifts network-based mobile game. Currently, most of the game platform are separated into mobile to mobile, desktop to desktop, and console to console. Multi platform network game has a diverse problems including consistency control, object management technique, and bandwidth inconsistency. n this paper, we will introduce a multi-platform arcade game "Push-Push", which is played on desktop to mobile environment. The game guarantees realtime play between heterogeneous machine users and game item sharing between two platforms. e will focus n the issues of the 3rd generation multi platform games and propose some techniques or solving these problems. Our server database is implemented on MS SQL database, also the desktop programming tool is Visual Basic, and WIPI(Wireless Internet Platform or Interoperability) as a mobile platform.

• Journal of Digital Contents Society
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• v.19 no.9
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• pp.1751-1758
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• 2018

An integrated medical information system that integrates systems consisting of different environments centered on hospital information systems should be provided as a system that prioritizes the improvement of the quality of medical services, customer satisfaction, and patient safety. The RBAC-based medical information system is granted the access right according to task type, role, and rules. Through this, it is possible to use SMS channel, medical reservation and cancellation, customized statistics, and CRM / EMR interworking service using multi-channel to enable communication service without help of counselor and reduce the default rate of reservation patient, Operational improvement services can be extended to medical staff, patients and their families, as well as expanding to important decisions for patients.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.12 no.3
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• pp.127-137
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• 1992

For the real-time control of a multi-purpose reservoir in case of a storm, it is absolutely necessary to forecast accurate flood inflows through a good rainfall-runoff model by calibrating the parameters with the on-line rainfall and water level data transmitted by the telemetering systems. To calibrate the parameters of a runoff model. the trial and error method of manual calibration has been adopted from the subjective view point of a model user. The object of this study is to develop a automatic calibration method using an optimization technique. The pattern-search algorithm was applied as an optimization technique because of the stability of the solution under various conditions. The object function was selected as the sum of the squares of differences between observed and fitted ordinates of the hydrograph. Two historical flood events were applied to verify the developed technique for the automatic calibration of the parameters of the storage-function rainfall-runoff model which has been used for the flood control of the Soyanggang multi-purpose reservoir by the Korea Water Resources Corporation. The developed method was verified to be much more suitable than the manual method in flood forecasting and real-time reservoir controlling because it saves calibration time and efforts in addition to the better flood forecasting capability.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.2B
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• pp.250-262
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• 2004

In IPv6 environment, the Internet Telephony, VoD(Video on Demand) and high capacity file exchange service will be more increased than IPv4. Therefore, the strict guarantee of QoS based on End-to-End and differentiated quality control schemes are simultaneously required. This paper proposes the flow control schemes on IPv6 network that the traffic is identified by flow and the QoS of multi-service is improved by QoS information in IPv6 hop-by-hop option header. The object of flow control includes not only non-default QoS traffic, which uses the flow label, but also best-effort or encrypted traffic. Therefore, the guarantee of real-time service is strengthened and the flow, which abuses unnecessarily the network resources, is effectively controlled. Also, this paper proposes the mapping scheme between the flow and MPLS by reflecting the minimum change of the existed network resource and the status of backbone network of ISP(Internet Service Provider). In the simulation result, It is shown that the proposed scheme is effective in the side of QoS on real-time services and utilization of backbone resources.