• Physical Therapy Korea
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• v.28 no.1
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• pp.36-46
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• 2021

Background: It is reported that the proprioceptive sensation of patients with neck pain is reduced, and neck sensory-motor control training using visual feedback is reported to be effective. Objects: The purpose of this study is to investigate how sensorimotor control training for the cervical spine affects pain, function, and psychosocial status in patients with chronic cervical pain. Methods: The subjects consisted of 36 adults (male: 15, female: 21) who had experienced cervical spine pain for more than 6 weeks. An exercise program composed of cervical stabilization exercise (10 minutes), electrotherapy (10 minutes), manual therapy (10 minutes), and cervical sensorimotor control training (10 minutes) was implemented for both the experimental and the control groups. The cervical range of motion (CROM) and head repositioning accuracy were assessed using a CROM device. In the experimental group, the subjects wore a laser device on the head to provide visual feedback while following pictures in front of their eyes; whereas, in the control group, the subjects had the same training of following pictures without the laser device. Results: There were no statistically significant differences between the two groups in pain, dysfunction, range of motion, or psychosocial status; however, post-test results showed significant decreases after 2 weeks and 4 weeks compared to baseline (p < 0.01), and after 4 weeks compared to after 2 weeks (p < 0.01). The cervical joint position sense differed significantly between the two groups (p < 0.05). Conclusion: In this study, visual feedback enhanced proprioception in the cervical spine, resulting in improved cervical joint position sense. On the other hand, there were no significant effects on pain, dysfunction, range of motion, or psychosocial status.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1190-1194
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• 2007

Since the dismantling processes of building are very dangerous, there have been many studies to develop a remote operating devices using joystick. In this paper, in order to improve the operability of the dismantling actuator that is usually an excavator, a novel concept of tele-operated haptic device is proposed. Operators who use this haptic device with additional environmental sensing devices can work safely away from the dangerous sites. First, based on the concept design of the haptic device, the workspace mapping from the haptic device to the excavator is explored. Second, the kinematics which deals with the conversion from the 3 dimensional position information of the haptic device to the joint variable information of the backhoe is included. Lastly, 3D graphical simulation of both haptic device and the backhoe will be shown. This new design of the haptic device can be easily manufactured and gives the workers very convenient and transparent remote control capability.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.2
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• pp.146-151
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• 2013

With the development of mobile internet, requirements of positioning accuracy for the LBS (Location Based Service) are becoming more and more higher. The LBS is based on the position of each mobile device. So, it requires a proper acquisition of accurate user's indoor position. Thus indoor positioning technology and its accuracy is crucial for various LBS. In general, RSSI (Received Signal Strength Indicator) measurements are used to obtain the position information of mobile unit under WLAN environment. However, indoor positioning error increases as multiple AP's configurations are becoming more complex. To overcome this problem, an enhanced indoor localization method by AP (Access Point) selection criteria adopting DOP (Dilution of Precision) is proposed.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.7
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• pp.544-550
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• 2000

Among the several types of 3D display methods the autostereoscopic method has an advantage that we can enjoy a 3D image without any additional device but the method has a disadvantage of a narrow viewing zone so that the moving viewer coannot see the 3D image continuously. This disadvantage can be overcome with the detectioni of viewer's positional movement by head tracking. In this paper we suggest a method of detecting the position of the moving viewer's two eyes by using images obtained through a color CCD camera, The suggested method consists of the preprocessing process and the eye-detection process. Through the experiment of applying the suggested method we were able to find the accurate two-eyes position for 78 images among 80 sample input images of 8 different men with the processing speed of 0.39 second/frame using a personal computer.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.9
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• pp.1103-1111
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• 1999

STACOM will be utilized to control substation voltage in the near future. Although STACOM shows good voltage regulation performance owing to its rapid and continuous response, it needs additional reactive power compensation device to keep control margin for emergency such as fault. ULTC transformer is one of good candidates. This paper presents a Kohonen Neural Network (KNN) based coordination control scheme of ULTC transformer and STACOM. In this paper, the objective function of the coordination control is minimization of both STACOM output and the number of switchings of ULTC transformer while maintaining substation voltage magnitude to the predefined constant value. This coordination, control is performed based on reactive load trend of the substation and KNN which offers optimal tap position in view of STACOM output minimization. The input variables of KNN are active and reactive power of the substation, current tap position, and current STACOM output. The KNN is trained by effective Iterative Condensed Nearest Neighbor (ICNN) rule. This coordination control applied to IEEE 14 bus system and shows satisfactory results.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.118.2-118
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• 2002

Uncertain time delay happens when the process reads the sensor data and sends the control input to the plant located at a remote site in distributed control system. As in the case of data network using TCP/IP, VDN that integrates both device network and data network has uncertain tim e delay. Uncertain time delay can cause degradation in stability of distributed control system based on VDN. This paper investigates the transmission characteristic of VDN and suggests a control scheme based on the Smith's predictor to minimize the effect of uncertain time delay. The validity of the proposed control scheme is demonstrated with tracking position control of experiments.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.34 no.2
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• pp.231-237
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• 1998

Generally, the three position solenoid valve has veen used for the hydraulic steering gear on account of it’s low cost, simplicity in device, etc. But, there is some off-set because of dead-zone which exists in on-off valves. In this paper, we proposed a combined controller which was added an integral controller to an only on-off one in hydraulic steering gear control system used low speed three position solenoid valve. Experimental results show that the off-set is removed, and the number of valve switching is reduced considerable. The validity of proposed method comparing with an only on-off control was proved by the response experiments.

• Proceedings of the IEEK Conference
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• 2001.06e
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• pp.119-122
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• 2001

This paper deals with new type of active magnetic bearing (AMB) for the linear motors. We adopted optical sensing mechanism for the gap sensing. Using the laser and the PSD (Position Sensitive Device), the absolute rotor position is obtained independent of the profile of the guide rail. With this measurement, the rotor can be controller to follow the straight beam of the laser. Another advantage of optical sensing mechanism might be the elimination of the possible interference between the proximity sensor and the electro-magnet. By adopting the push-full actuating mechanism, the bearing stiffness is increased near the equilibrium position. For the simplicity, distributed control system is constructed. Eight independent PID control algorithm is used with the full order observer. Several simulation md test results are presented.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.739-739
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• 2005

In the conventional AF lens actuating system the VCM actuator is used. However due to the actuating mechanism, the VCM actuator has disadvantage in miniaturizing which is essential to the actuator for the mobile device. Therefore novel type actuator is required and the one of the candidate is actuator using electoractive polymer (EAP). The EAP actuator is one of the attractive smart materials that is light and can be easily fabricated with low cost. This paper proposes an AF lens actuator for mobile phone using dielectric elastomer. The proposed actuator was designed and analyzed using finite element method. The designed actuator is verified by experiment and the position control algorithm is applied.

• Journal of the Korean Society of Industry Convergence
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• v.25 no.6_1
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• pp.953-959
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• 2022

In this paper, the design result of robotic tools and the development of robot control system for chemical coupler assembly are presented. This research aims to eliminate the risk of chemicals exposed to human operators by developing the robotic tools and robot automation system for chemical tank lorry unloading that were done manually. Due to tight tolerance between couplers, even small pose error may result in very large internal force. In order to resolve the problem, the 6-axis compliance device is employed, which can provide not only enough compliance between couplers but also F/T sensing. The 6-axis compliance device having large force and moment capacity is designed. A simple linear gripper with rack-and-pinion is designed to grasp two sizes of couplers. The proposed robot automation system consists of 6-DOF collaborative robot with offset wrist, 6-axis compliance device with F/T sensing, linear gripper, and two robot visions.