• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.7
• /
• pp.685-696
• /
• 2011

An efficient laparoscope manipulator robot was designed to automatically control the position of laparoscope via a passive joint on end-effector position. The end position of the manipulator is controlled to have corresponding velocity defined in the global coordinate space using laparoscopic visual information. Desired spatial position of laparoscope was derived from detected positions of surgical instrument tips, then the clinical viewing plane was moved by visual servoing task. The laparoscope manipulator is advantageous for automatically maintaining clinically important views in the laparoscopic image without any additional operator. A laparoscope is mounted to a holder which is linked to four degree of freedom manipulator via universal joint-type passive rings connection. No change in the design of laparoscope or manipulator is necessary for its application to surgery assistant robot system. Expanded working space and surgical efficiency were accomplished by implementing slant linking structure between laparoscope and manipulator. To ensure reliable positioning accuracy and controllability, the motion of laparoscope in an abdominal space through trocar was inspected using geometrical analysis. A designed laparoscope manipulating robot system can be easily set up and controlled in an operation room since it has a few subsidiary devices such as a laparoscope light source regulator, a control PC, and a power supply.

• ETRI Journal
• /
• v.40 no.3
• /
• pp.309-317
• /
• 2018

Single carrier-frequency-division multiple access (SC-FDMA) has been adopted as the uplink transmission standard in fourth-generation cellular networks to facilitate power efficiency transmission in mobile stations. Because multiuser multiple-input multiple-output (MU-MIMO) is a promising technology employed to fully exploit the channel capacity in mobile radio networks, this study investigates the uplink transmission of MU-MIMO SC-FDMA systems with orthogonal space-frequency block codes (SFBCs). It is preferable to minimize the length of the cyclic prefix (CP). In this study, the chained turbo equalization technique with chained turbo estimation is employed in the designed receiver. Chained turbo estimation employs a short training sequence to improve the spectrum efficiency without compromising the estimation accuracy. In this paper, we propose a novel and spectrally efficient iterative joint-channel estimation, multiuser detection, and turbo equalization for an MU-MIMO SC-FDMA system without CP-insertion and with short TR. Some simulation examples are presented for the uplink scenario to demonstrate the effectiveness of the proposed scheme.

• Transactions of the Korean Society of Pressure Vessels and Piping
• /
• v.6 no.1
• /
• pp.43-49
• /
• 2010

The piping failure probability of the reactor coolant system in Kori unit 1 was evaluated considering stress corrosion cracking. The P-PIE program (Probabilistic Piping Integrity Evaluation Program) developed in this study was used in the analysis. The effect of some variables such as oxygen concentration during start up and steady state operation, and operating temperature, which are related with stress corrosion cracking, on the piping failure probabilities was investigated. The effects of leak detection capability, the size of big leak, piping loops, and reactor types on the piping failure probability were also investigated. The results show that (1) LOCA (loss of coolant accident) probability of Kori unit 1 is extremely low, (2) leak probability is sensitive to oxygen concentration during steady state operation and operating temperature, while not sensitive to the oxygen concentration during start up, and (3) the piping thickness and operating temperature play important roles in the leak probabilities of the cold leg in 4 reactor types having same inner diameter.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.10 no.4
• /
• pp.1-7
• /
• 2011

The mode analysis of end-milling was introduced using recursive parametric modeling. Also, a numerical mode analysis of FRF in end-milling at different conditions was performed systematically. In this regard, a REIVM(recursive extended instrumental variable method) modeling algorithm was adopted and natural modes of real and imaginary part were discussed. This recursive approach can be used for the on-line system identification and monitoring of an end-milling for this purpose. For acquiring a cutting force, an experimental practice was performed. And these end-milling forces were used for the calculation of FRF(Frequency response function) and its mode analysis. Also, the FRF was analysed for the prediction of end-milling system. As a results, this algorithm was successful in each condition for the detection of natural modes of end-milling. After numerical analysis of the FRF, the tooth passing frequency was discriminated in their FRF, power spectrum and mode calculation.

• Proceedings of the KOSOMBE Conference
• /
• v.1994 no.05
• /
• pp.105-108
• /
• 1994

A comparative study was made of the valvular sounds produced by normal prosthetic valves with thrombosed prosthetic valves. Comparisons of the closing sound were made for the power frequency spectra associated with individual valves. We used periodogram approach to obtain the spectral characteristics of the valve. Spectral analysis system was tested in mock circulatory system by comparing normal valves with those produced by the same valves but having simulated thrombosis at the hinge of the valve. The heart sounds was recorded from two patients having normal mechanical valve and thrombosed mechanical valve. The estimated spectrum of the thrombosed mechanical valve displayed lower apparent peak frequency than that of the normal valve. The results showed that frequency spectra gave information pertinent to the valve malfunction. Sound spectral analysis is simple and alternative diagnostic tool for early detection of prosthetic valve mal function.

• Journal of the Korean Society of Industry Convergence
• /
• v.17 no.2
• /
• pp.42-53
• /
• 2014

Robust voice recognition (RVR) is essential for a robot to communicate with people. One of the main problems with RVR for robots is that robots inevitably real environment noises. The noise is captured with strong power by the microphones, because the noise sources are closed to the microphones. The signal-to-noise ratio of input voice becomes quite low. However, it is possible to estimate the noise by using information on the robot's own motions and postures, because a type of motion/gesture produces almost the same pattern of noise every time it is performed. In this paper, we propose an RVR system which can robustly recognize voice by adults and children in noisy environments. We evaluate the RVR system in a communication robot placed in a real noisy environment. Voice is captured using a wireless microphone. Navigation Strategy is shown Obstacle detection and local map, Design of Goal-seeking Behavior and Avoidance Behavior, Fuzzy Decision Maker and Lower level controller. The final hypothesis is selected based on posterior probability. We then select the task in the motion task library. In the motion control, we also integrate the obstacle avoidance control using ultrasonic sensors. Those are powerful for detecting obstacle with simple algorithm.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.27 no.1B
• /
• pp.79-89
• /
• 2002

A synchronization method is presented for IEEE 802.11a wireless OFDM system. First the coarse symbol synchronization is achieved by measuring the moving power average of the received envelope signal. The detection probabilities and optimum thresholds for the symbol synchronization are derived. By measuring the correlation between the short training signal and received envelope signal, fine symbol synchronization can be acquired. And the frequency synchronization is achieved using long training signal. A symbol synchronization error causes a phase rotation of the constellation. After the compensation for fading channel, the rotation due to the symbol timing error can be corrected. With this method, synchronization can be well achieved over frequency selective channels.

• Journal of IKEEE
• /
• v.1 no.1 s.1
• /
• pp.73-82
• /
• 1997

In this paper we analyzed, using Markov modeling, the performance of CSMA/CD over the wireless channel which is characterized by near-far effect, shadowing and Rayleigh fading. The analysis shows that throughput of CSMA/CD is degraded by channel error. However, if capture effect which arises from the randomness of power level of received signal due to the fading phenomena of electromagnetic waves is taken into consideration, the system performance is much improved and the system stability is also made better.

• KOREAN JOURNAL OF PACKAGING SCIENCE & TECHNOLOGY
• /
• v.16 no.1
• /
• pp.9-18
• /
• 2010

For screening test of the non-volatile compounds which migrate from food packaging materials into foodstuffs, the traditional high performance liquid chromatography (HPLC) systems suffer from the lack of universal detector with high sensitivity and universality and high efficiency HPLC separation column which provides complete separation of complex mixtures into all individual substances. In this work, the use possibility of online two-dimensional liquid chromatography (2D-LC) system coupled with a charged aerosol detector (CAD), a universal detector, was reviewed. 2D-LC system permits to improve peak capacity and resolving power for complex mixtures. Charged aerosol detector (CAD) offers a new feasibility for detection of any non-volatile compounds with high sensitivity and constant response factor in a calibration range. The combination of size exclusion chromatography (SEC) and normal phase HPLC (NP-HPLC) is most frequently used for the separation of the natural and synthetic polymers which are mainly used as raw materials for the manufacture of food packaging materials. However, there is no commercial software available for data acquisition and handling and therefore the quantification in 2D-LC analysis is still rare.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.61 no.6
• /
• pp.810-816
• /
• 2012

As wind power has increased steadily, the importance of a condition monitoring system is being emphasized to maximize the availability and reliability of a wind turbine. To develop the advanced algorithms for fault detection and lifespan estimation, a wind turbine simulator is essential for verification of the proposed algorithms before applying them to a condition diagnosis & integrity prognosis system. The developed new-type simulator in this paper includes blades and various sensors as well as a motor, a gearbox and a generator of which the existing simulators generally consist. It also has similarity with a 3MW class wind turbine and can be used to acquire operational data from various operation conditions. This paper presents a design method of control logic for the wind turbine simulator, which gives a wind generation method and similar dynamic characteristics with the 3MW wind turbine. Finally, the proposed control logic is verified through experiments.