• Journal of Korean Association for Spatial Structures
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• v.23 no.4
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• pp.27-34
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• 2023

In this study, the seismic response characteristics of the three analysis model with or without TMD were investigated to find out the effective dome shape. The three analysis models are rib type, lattice type and geodesic type dome structure composed of space frame. The maximum vertical and horizontal displacements were evaluated at 1/4 point of the span by applying the resonance harmonic load and historical earthquake loads (El Centro, Kobe, Northridge earthquakes). The study of the effective TMD installation position for the dome structure shows that seismic response control was effective when eight TMDs were installed in all types of analysis model. The investigation of the efficiency of TMD according to dome shape presents that lattice dome and geodesic dome show excellent control performance, while rib dome shows different control performance depending on the historical seismic loads. Therefore, lattice and geodesic types are desirable for seismic response reduction using TMD compared to rib type.

• PNF and Movement
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• v.22 no.2
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• pp.171-180
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• 2024

Purpose: This study aimed to investigate the use of insoles in patients with temporomandibular joint disorders to assess the function and changes in pain when walking in daily life. Methods: Sixty-five patients with temporomandibular joint disorder, were selected, with 34 assigned to the control group and 31 to the experimental group. The control group walked more than 7,000 steps per day in their daily life, while the experimental group wore insoles and was instructed to take at least 7,000 steps every day. To evaluate the effect on temporomandibular joint pain, steady-state pain, maximum mouth opening, average pain, and the most severe pain were measured before and after the experiment. In addition, to determine function, mouth opening in a comfortable state, mouth opening pain, and the point of sound and the maximum degree of mouth opening were evaluated before and after the experiment. Results: After the experiment, pain, mouth opening, and sound points showed significant differences compared to the control group. However, there was no significant difference in the maximum mouth opening range. Conclusion: The application of air insoles to patients with temporomandibular joint disorder confirmed the function of the temporomandibular joint and its positive effects on pain.

• Journal of Power System Engineering
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• v.17 no.3
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• pp.89-98
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• 2013

In this paper, the authors consider control system design problem of barge type surface vessel. It is based on the Dynamic Positioning System(DPS) design problem. The main role of barge ship is to carry and supply the materials to the floating units and other places. To carry out this job, it should be positioned in the specified area. Even though sometimes the thrust systems are installed on it, in general the mooring winch system with the rope is used. It may be difficult to compare the control performances of two types. But, if we consider this problem in point of usefulness, we can easily find out that the winch control system is more useful and applicable to the real field than the thrust control system except a special use. Therefore, in this paper we consider a single type mooring winch system and control system design problem in which accurate position control is needed. Because this result can be extended to the general type mooring system in which a number of winch are installed. At first, a mathematical model of winch is obtained and evaluated to verify the usefulness for control system design by experiment. Also, the disturbance model is extracted from experiment data to evaluate the strength of the uncertainty. Based on this results, the robust control system is designed and control performance is evaluated by simulation.

• Journal of Environmental Science International
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• v.20 no.1
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• pp.81-91
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• 2011

Air quality monitoring networks are very important facilities to manage urban air pollution control and to set up an environmental policy. Since air quality monitoring network of Daegu was allocated from 1980s to mid-90s, there is need to reevaluate it and relocated its site. This study was evaluated the position of Daegu air quality monitoring station by unit environmental sensitivity index, grid emission rate, CAI (Comprehensive Air-quality Index) point. The investigation domain covered an area of 16 $\times$ 24 km centered at the metropolitan area of Daegu with grid spacing of 2 km. The location of alternative air quality monitoring networks was selected through optimization and quintiles analysis of total score. The result showed that all things considered, new air quality monitoring network need to install grid numbers 10, 28, 36, 37, 46. We also recommand three scenarios of alternative air quality monitoring network when considering unit environmental sensitivity index, emission rate and CAI point.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.218-222
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• 2014

In this paper, we introduce an autonomous calibration method for a 2D laser displacement sensor (e.g. laser vision sensor and laser range finder) by matching a single point on a flat structure. Many arc welding robots install a 2D laser displacement sensor to expand their application by recognizing their environment (e.g. base metal and seam). In such systems, sensing data should be transformed to the robot's coordinates, and the geometric relation (i.e. rotation and translation) between the robot's coordinates and sensor coordinates should be known for the transformation. Calibration means the inference process of geometric relation between the sensor and robot. Generally, the matching of more than 3 points is required to infer the geometric relation. However, we introduce a novel method to calibrate using only 1 point matching and use a specific flat structure (i.e. circular hole) which enables us to find the geometric relation with a single point matching. We make the rotation component of the calibration results as a constant to use only a single point by moving a robot to a specific pose. The flat structure can be installed easily in a manufacturing site, because the structure does not have a volume (i.e. almost 2D structure). The calibration process is fully autonomous and does not need any manual operation. A robot which installed the sensor moves to the specific pose by sensing features of the circular hole such as length of chord and center position of the chord. We show the precision of the proposed method by performing repetitive experiments in various situations. Furthermore, we applied the result of the proposed method to sensor based seam tracking with a robot, and report the difference of the robot's TCP (Tool Center Point) trajectory. This experiment shows that the proposed method ensures precision.

• Journal of the Korea Computer Graphics Society
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• v.1 no.2
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• pp.201-212
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• 1995

This paper presents a new method of dynamics-based synthesis of bipedal, especially human, walking. The motion of the body at a time point is determined by ground reaction force and torque under the support foot and joint torques of the body at that time point. Motion synthesis involves specifying conditions that constrain ground reaction force and torque, and joint torques so that a given desired motion may be achieved. There are conditions on a desired motion which end-users can think of easily, e.g. the goal position and orientation of the swing foot for a single step and the time period of a single step. In this paper, we specify constraints on the motion of the support foot, which end-users would find difficult to specify. They are constraints which enforce non-sliding, non-falling, and non-spinning the support foot. They are specified in terms of joint torques and ground reaction force and torque. To satisfy them, both joint torques and ground reaction force and torque should be determined appropriately. The constraints on the support foot themselves do not give any good clues as to how to determine ground reaction force and torque. For that purpose, we specify desired trajectories of the application point of vertical ground reaction force (ground pressure) and the application point of horizontal ground reaction (friction) force. The application points of vertical pressure and friction force are good control variables, because they are indicators to kinds of walking motions to synthesize. The synthesis of a bipedal walking motion, then, consists of finding a trajectory of joint torques to achieve a given desired motion, so that the constraints are satisfied under the condition of the prescribed center of pressure and center of friction. Our approach is distinguished from many other approaches, e.g. the inverted-pendulum approach, in that it captures and formulates dynamics of the support foot and reasonable constraints on it.

• Journal of Advanced Navigation Technology
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• v.19 no.4
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• pp.311-317
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• 2015

This paper is a study on how to develop service robots can easily complex software development services robot control system. User created contents based on the robot control system developed in this study is a robot drive control circuit, a sensor data processing, the status, the monitoring systems and modular system to configure the service robot operation screen from a user perspective and that can control the service robot operation As in the text-based features that can be operated to have freedom to the robot control service content. In addition, the user has the advantage that changes position by the development as well as user created contents desired by the user operating the robot control GUI (graphic user interface) also changes are possible. As a result, the service robot operator to offer a way to make the service robot can be conveniently presented in a user's point of view how to enable the development of the service robot.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.868-874
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• 2014

This paper proposes a novel mapping algorithm in Omni-directional Vision SLAM based on an obstacle's feature extraction using Lucas-Kanade Optical Flow motion detection and images obtained through fish-eye lenses mounted on robots. Omni-directional image sensors have distortion problems because they use a fish-eye lens or mirror, but it is possible in real time image processing for mobile robots because it measured all information around the robot at one time. In previous Omni-Directional Vision SLAM research, feature points in corrected fisheye images were used but the proposed algorithm corrected only the feature point of the obstacle. We obtained faster processing than previous systems through this process. The core of the proposed algorithm may be summarized as follows: First, we capture instantaneous $360^{\circ}$ panoramic images around a robot through fish-eye lenses which are mounted in the bottom direction. Second, we remove the feature points of the floor surface using a histogram filter, and label the candidates of the obstacle extracted. Third, we estimate the location of obstacles based on motion vectors using LKOF. Finally, it estimates the robot position using an Extended Kalman Filter based on the obstacle position obtained by LKOF and creates a map. We will confirm the reliability of the mapping algorithm using motion estimation based on fisheye images through the comparison between maps obtained using the proposed algorithm and real maps.

• Archives of Plastic Surgery
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• v.41 no.1
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• pp.57-62
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• 2014

Background Achieving symmetry is a key goal in breast reconstruction. Anatomically shaped tabbed expanders are a new tool in the armamentarium of the breast reconstruction surgeon. Suture tabs allow for full control over the expander position and thus inframammary fold position, and, in theory, tabbed expanders mitigate many factors responsible for poor symmetry. The impact of a tabbed expander on breast symmetry, however, has not been formally reported. This study aims to evaluate breast symmetry following expander-implant reconstruction using tabbed and non-tabbed tissue expanders. Methods A chart review was performed of 188 consecutive expander-implant reconstructions that met the inclusion criteria of adequate follow-up data and postoperative photographs. Demographic, oncologic, postoperative complication, and photographic data was obtained for each patient. The photographic data was scored using a 4-point scale assessing breast symmetry by three blinded, independent reviewers. Results Of the 188 patients, 74 underwent reconstruction with tabbed expanders and 114 with non-tabbed expanders. The tabbed cohort had significantly higher symmetry scores than the non-tabbed cohort ($2.82/4{\pm}0.86$ vs. $2.55/4{\pm}0.92$, P=0.034). Conclusions The use of tabbed tissue expanders improves breast symmetry in tissue expander-implant-based breast reconstruction. Fixation of the expander to the chest wall allows for more precise control over its location and counteracts the day-to-day translational forces that may influence the shape and location of the expander pocket, mitigating many factors responsible for breast asymmetry.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.70-77
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• 2014

This paper proposes a novel localization algorithm based on ego-motion which used Lucas-Kanade Optical Flow and warping image obtained through fish-eye lenses mounted on the robots. The omnidirectional image sensor is a desirable sensor for real-time view-based recognition of a robot because the all information around the robot can be obtained simultaneously. The preprocessing (distortion correction, image merge, etc.) of the omnidirectional image which obtained by camera using reflect in mirror or by connection of multiple camera images is essential because it is difficult to obtain information from the original image. The core of the proposed algorithm may be summarized as follows: First, we capture instantaneous $360^{\circ}$ panoramic images around a robot through fish-eye lenses which are mounted in the bottom direction. Second, we extract motion vectors using Lucas-Kanade Optical Flow in preprocessed image. Third, we estimate the robot position and angle using ego-motion method which used direction of vector and vanishing point obtained by RANSAC. We confirmed the reliability of localization algorithm using ego-motion based on fisheye warping image through comparison between results (position and angle) of the experiment obtained using the proposed algorithm and results of the experiment measured from Global Vision Localization System.