• Journal of the Institute of Electronics and Information Engineers
• /
• v.54 no.3
• /
• pp.108-118
• /
• 2017

This paper presents experimental results of realtime sonar-based SLAM (simultaneous localization and mapping) using probability-based landmark-recognition. The sonar-based SLAM is used for navigation of underwater robot. Inertial sensor as IMU (Inertial Measurement Unit) and DVL (Doppler Velocity Log) and external information from sonar image processing are fused by Extended Kalman Filter (EKF) technique to get the navigation information. The vehicle location is estimated by inertial sensor data, and it is corrected by sonar data which provides relative position between the vehicle and the landmark on the bottom of the basin. For the verification of the proposed method, the experiments were performed in a basin environment using an underwater robot, yShark.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10b
• /
• pp.382-387
• /
• 1992

In order to obtain desired arc welding performance, we already developed an arc welding robot system that enabled coordinated motions of dual arm robots. In this system one robot arm holds a welding target as a positioning device, and the other robot moves the welding torch. Concerning to such a dual arm robot system, the positioning accuracy of robots is one important problem, since nowadays conventional industrial robots unfortunately don't have enough absolute accuracy in position. In order to cope with this problem, our robot system employed teaching playback method, where absolute error are compensated by the operator's visual feedback. Due to this system, an ideal arc welding considering the posture of the welding target and the directions of the gravity has become possible. Another problem still remains, while we developed an original teaching method of the dual arm robots with coordinated motions. The problem is that manual teaching tasks are still tedious since they need fine movements with intensive attentions. Therefore, we developed a 3-dimensional vision guided robot control method for our welding robot system with coordinated motions. In this paper we show our 3-dimensional vision sensor to guide our arc welding robot system with coordinated motions. A sensing device is compactly designed and is mounted on the tip of the arc welding robot. The sensor detects the 3-dimensional shape of groove on the target work which needs to be weld. And the welding robot is controlled to trace the grooves with accuracy. The principle of the 3-dimensional measurement is depend on the slit-ray projection method. In order to realize a slit-ray projection method, two laser slit-ray projectors and one CCD TV camera are compactly mounted. Tactful image processing enabled 3-dimensional data processing without suffering from disturbance lights. The 3-dimensional information of the target groove is combined with the rough teaching data they are given by the operator in advance. Therefore, the teaching tasks are simplified

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.44 no.5
• /
• pp.38-44
• /
• 2007

This paper presented a location and attitude estimation scheme of a capsule endoscope based on ultrasonic ranging. The scheme comprised eight on-capsule ultrasonic sensors to alleviate measurement errors due to irregularities in human body ultrasonic characteristics. It calculated the coordinate values and angles in a Cartesian coordinate system. The Matlab simulation reflecting random errors yielded the average deviations of 0.8mm in the location and $0.2^{\circ}$ in the attitude angle. These values are far smaller than normal intestine movement ranges inside human body, and will contribute accurate diagnosis of intestine.

• Journal of the Korean Society for Railway
• /
• v.14 no.3
• /
• pp.240-247
• /
• 2011

Finite element analysis was undertaken to investigate the effect of freezing force of water unexpectedly penetrated into inserts used in railway sleeper on pullout capacity of anchor bolts for fixing base-plate onto concrete sleeper. Based on the in-situ investigation and measurement of geometry of railway sleeper and rail-fastener, the railway sleeper was modeled by 3D solid elements. Nonlinear and fracture properties for the finite element model were assumed according to CEB-FIP 1990 model code. And the pullout maximum load of anchor bolt obtained from the model developed was compared with experimental pullout maximum load presented by KRRI for verification of the model. Using this model, the effect of position of anchor bolt, amount of fastening force applied to the anchor bolt, and compressive strength of concrete on pull-out capacity of anchor bolts installed in railway sleeper was investigated. As a result, it is found that concrete railway sleepers could be damaged by the pressure due to freezing of water penetrated into inserts. And the pullout capacity of anchor bolt close to center of railway is slightly greater than that of the others.

• Journal of the Korean Society of Clothing and Textiles
• /
• v.36 no.9
• /
• pp.940-951
• /
• 2012

This study evaluates the fit preference of the tailored jacket according to body types for 20's adult women through a comparison of real and virtual fit. A five point fit evaluation scale utilizing a wearer acceptability scale by Shen and Huck was used to evaluate the degree of the preference of real and virtual fit. This scale contained 23 items in three categories: front fit, back fit, and side fit. For each item, 5 responses from 'too tight' fit (1 point) to 'too loose' fit (5 point) were possible. The middle position for each fit criterion indicated a 'good' fit (3 point). The data were analyzed with a t-test using statistical program SPSS 17.0. According to the results, there were no significant differences ($p{\leq}.05$) between the real and virtual fit preference in total measurement items such as front collar, lapel and roll line, front shoulder slope, front armhole, front waist, abdomen, sideseam, hemline, front silhouette, side shoulder, side armhole, side sleeve width, side hip, side silhouette, back collar stand, upper back, back armhole, back waist, back hip, back silhouette except front bust, side waist, and back center back. The factor that caused a difference in the fit preference between the real and virtual fit evaluation was a specific body type such as Body Type A that indicated a small bust circumference and a big hip circumference.

• 한국해양학회지
• /
• v.30 no.1
• /
• pp.27-38
• /
• 1995

For the study of oceanic surface current, this work presents a system design which is composed of three parts, a Global Positiong System(GPS) unit, a transmitter with radio frequency (RF) modem and an antenna which are housed in a plastic spherical buoy, and computerised of VHF receiving system. The key idea for this study is to employ a commercially available GPS on a drifting buoy and to utilize the receiver position information from the buoy in determining the Lagrangian motion of surface ocean waters. Great efforts has been paid to the system design which would demand several points in harsh conditions common in the sea surface, that is power supply problems housed inside of a plastic buoy, optimizing transmitting radio frequency which limits transmitting distance to a receiving station. for all these difficulties, the system appears to be promising in future oceanic applications and is considered to economical compared to ARGOS drift buoy which is being used by commercial base. We believe that the system needs to be improved in terms of several aspects such as a longer transmitting distance, a power supply and software. for the test experiments in situ, the system has employed off the coast of Ku Ryong Po int the southeast part of Korea and successfully collected the surface current data. The results are presented for two cases from 21 to 31, March 1994 and 21 to 25, June 1994 in terms of current statistics and trajectories of drifting buoys.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.26 no.1
• /
• pp.69-74
• /
• 2016

A technique for improving estimation accuracy is introduced in order to locate the impact position of artillery shell during the weapon scoring test. Study on localization of impacts using acoustic measurement has been conducted and the usability of sensor array is verified with experiments. When the blast occurs above the ground in the firing range, the acoustic sensor above the ground can measure the directly propagated sound with the ground-reflected one. In this study, a method for reducing estimation error by using the reflection signal measurements based on the time difference of arrival method. Considering the reflection sound works as same as placing a virtual sensor symmetrically through the ground. This idea enables a virtual three-dimensional array configuration with a two-dimensional plane array above the ground as such. The time difference between the direct and the reflected propagations can be estimated using cepstrum analysis. Performance test has been made in the simulation experiment in the football size area.

• Journal of the Korean Society of Physical Medicine
• /
• v.11 no.4
• /
• pp.65-70
• /
• 2016

PURPOSE: This study aimed to compare the electromyography (EMG) activity for the middle deltoid (MD) and upper trapezius (UT) muscles in various shoulder abduction angles in patients with adhesive capsulitis (AC). METHODS: A total of 15 subjects participated in the study: 6 without AC (control group) and 9 with AC (AC group). The muscle activities of the UT and MD were measured using EMG during maximal static shoulder abductions in both groups. Each subject performed three repetitions of horizontal abduction at $0^{\circ}$, $30^{\circ}$, $60^{\circ}$, and $90^{\circ}$ of the shoulder abduction angle in a sitting position. The measurement data from the middle 3-seconds of the 5-second periods were used. The mean value of three separate sets of measurements was used in the data analysis. For each muscle, independent t-tests were performed to determine group differences. A measured repeated-measures ANOVA was performed using Bonferroni's post-hoc test. RESULTS: The muscle activity of the UT was significantly greater in the AC group; than in the control group (p<.05). The muscle activity of the MD was significantly lower in the AC group; than in the control group (p<.05). The greatest level of muscle activity for both the MD and UT was demonstrated at the $0-60^{\circ}$ and $0-90^{\circ}$ of shoulder abduction angles in the AC group. CONCLUSION: These findings showed that low muscle activation of the MD may contribute to hyperactivity of the UT during shoulder abduction in AC patients.

• Journal of the Korean Society of Physical Medicine
• /
• v.11 no.4
• /
• pp.1-9
• /
• 2016

PURPOSE: The aim of this study was to examine the effects of abdominal breathing and thoracic expansion exercises on craniovertebral and cranial rotation angles in patients with rotator cuff injury. METHODS: This study enrolled 19 patients with rotator cuff injury, and ten and nine of the patients were randomly placed in abdominal breathing and thoracic expansion exercise groups, respectively. After pain treatment in each group, breathing exercise was conducted thrice a week for four weeks. The patients were recorded by using a digital camera and Image J (version 1.46, National Institutes of Health, USA), an angle measurement program, was used to analyze changes in the craniovertebral angle, cranial rotation angle, and sagittal shoulder posture. RESULTS: Statistically significant differences in the craniovertebral angle were found in both the abdominal breathing and thoracic expansion exercise groups (p<.05). A significant difference in cranial rotation angle was found in the thoracic expansion exercise group only (p<.05). No statistically significant differences in sagittal shoulder posture were found in both groups (p>.05). CONCLUSION: Although abdominal breathing and thoracic expansion exercises did not effectively change sagittal shoulder posture, the exercises were effective in improving craniovertebral and cranial rotation angles. Therefore, abdominal breathing and thoracic expansion exercises are suggested as effective exercise programs for forward head posture.

• Tribology and Lubricants
• /
• v.34 no.2
• /
• pp.43-48
• /
• 2018

This paper presents the thermohydrodynamic analysis of tilting journal pad bearings supporting a power turbine rotor applied to a 250 kW super-critical $CO_2$ cycle. In the analysis, the generalized Reynolds equation and 3D energy equation are solved to predict oil film temperature and the 3D heat conduction equation is solved for pad temperature. The power turbine rotor is supported by two tilting pad bearings consisting of five pads with an oil supply block between the pads. Copper backing pads with higher thermal conductivity compared to steel backing pads are adopted to improve thermal management. The predicted maximum pad temperature is around $55^{\circ}C$ which is approximately $15^{\circ}C$ higher than oil supply temperature. In addition, the predicted minimum film thickness is 50 mm at a rotating speed of 5,000 rpm. These results indicate that there is no issue in the thermal behavior of the bearing. An operation test is performed with a power turbine module consisting of a power turbine, a reduction gear and a generator. Thermocouples are installed at the 75% position from the leading edge of the pad to monitor pad temperature. The power turbine uses compressed air at a temperature of $250^{\circ}C$ in its operation. The steady state pad temperatures measured in the test show good agreement with the predicted temperatures.