• Journal of Institute of Control, Robotics and Systems
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• v.14 no.7
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• pp.663-671
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• 2008

This paper presents a real-time haptic rendering method for multi-contact interaction with virtual environments. Haptic systems often employ physics-based deformation models such as finite-element models and mass-spring models which demand heavy computational overhead. The haptic system can be designed to have two sampling times, T and JT, for the haptic loop and the graphic loop, respectively. A multi-rate output-estimation with an exponential forgetting factor is proposed to implement real-time haptic rendering for the haptic systems with two sampling rates. The computational burden of the output-estimation increases rapidly as the number of contact points increases. To reduce the computation of the estimation, the multi-rate output-estimation with reduced parameters is developed in this paper. Performance of the new output-estimation with reduced parameters is compared with the original output-estimation with full parameters and an exponential forgetting factor. Estimated outputs are computed from the estimated input-output model at a high rate, and trace the analytical outputs computed from the deformation model. The performance is demonstrated by simulation with a linear tensor-mass model.

• Journal of Korean Society for Atmospheric Environment
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• v.15 no.6
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• pp.799-804
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• 1999

Particle collection characteristics of the MOUDI cascade impactor has been studied for coarse particles in the range of 2 to 20$mu extrm{m}$ in aerodynamic diameter. A vibrating orifice aerosol generator was empolyed to generate monodisperse test aerosols. The oleic acid and sodium chloride(NaCl) particles were used as test aerosols. Aluminum foil and Teflon filter were selected as impaction media. The sampling flow rate was changed from 25 to 35L/min. Particle collection efficiency for single stage was examined for liquid particles. The stage response was obtained experimentally for the cascade impactor composed of three stages and a backup filter. The results showed that most of particle collection efficiencies measured in this work are similar to the efficiency curves obtained by Marple et al.(1991). For particles less than cut-off size of the stage, the collection efficiencies of solid particles are similar to those of loquid particles. However, the collection efficiency of solid particles decreases with mereasing particle diameter for the particles greater than the actual cut-off size of the impactor. The particle collection efficiency increases with increasing sampling flow rate at the same particel size. However, the collection efficiency curves seem not to be greatly shifted with the flow rate. The stage responses obtained by direct measurements in this work are in good agreement with those derived from the collection efficiency curves for single stage.

• Journal of Biomedical Engineering Research
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• v.31 no.4
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• pp.316-320
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• 2010

HRV(Heart rate variability) analysis parameter is widely used as an index to evaluate the autonomic nervous system and cardiac function. For reliable HRV analysis, we need to acquire the accurate ECG signals. Most of commercially available portable ECG devices have low sampling rate because of low power consumption and small size issues, which make it difficult to measure RR-interval accurately. This study is to improve the accuracy of RR-interval by developing R-wave interpolation technique, based on the morphological characteristics of the QRS complex. When the developed method was applied to ECG obtained at 200 Hz and the results were compared with 1000 Hz reference device, the error range decreased by 1.33 times in sitting and by 2.38 times in cycling exercise. Therefore, the proposed interpolation technique is thought to be useful to improve the accuracy of R-R interval in the portable ECG device with low sampling rate.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.7
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• pp.1420-1428
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• 2017

It is difficult to guarantee the reliability of the algorithm due to the difference of the sampling frequency among the various ECG databases used for the R wave detection in case of applying to different environments. In this study, we propose an optimal threshold setting method for R wave detection according to the sampling frequency of ECG signals. For this purpose, preprocessing process was performed using moving average and the squaring function based the derivative. The optimal value for the peak threshold was then detected according to the sampling frequency by changing the threshold value according to the variation of the signal and the previously detected peak value. The performance of R wave detection is evaluated by using 48 record of MIT-BIH arrhythmia database. When the optimal values of the differential section, window size, and threshold coefficient for the MIT-BIH sampling frequency of 360 Hz were 7, 8, and 6.6, respectively, the R wave detection rate was 99.758%.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.24 no.9B
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• pp.1795-1805
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• 1999

In an OFDM (Orthogonal Frequency-Division Multiplexing) system, the sampling frequency offset between the transmitter and receiver is known to cause the interchannel interference (ICI), resulting in performance degradation. In this paper, we propose two time-domain techniques to estimate the sampling frequency offset, especially for a high data-rate OFDM system. The first technique estimates the sampling frequency offset by using the phase difference between two received samples with a fixed amount of time interval, corresponding to the transmitted training symbol, under the assumption of perfect symbol and carrier offset synchronization. The second technique estimates the sampling frequency offset and carrier frequency offset jointly, when the two offsets exist together, by using two training symbols with different frequency components and using a sample algebraic calculation. The proposed estimation techniques for sampling frequency offset cause no time delay due to all time-domain processing, and have a good performance due to no ICI effect. The performances of the proposed techniques are demonstrated by various simulations.

• Survey Research
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• v.11 no.3
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• pp.33-55
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• 2010

In this study, we newly define the Total Survey Error(TSE) in exit poll and investigate the TSEs of the exit poll survey for the 18th general election of 2008 to analyse the cause of the exit poll prediction error. To explore the main cause and effect of the total survey error, the total survey error was divided by the sampling error which comes from sampling process of poll stations and the non-sampling error which comes from selecting voter and collecting responses from sampled voters in each electoral district. We consider the relationship between non-response rates and total survey error as well as non-sampling error. Also, we study the representativeness of the exit poll sample by comparing the sex/age distribution of the exit poll data and the National Election Commission poll data.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.3
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• pp.192-198
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• 2016

Motion planning problem is still one of the important issues in robotic applications. In many real-time motion planning problems, it is advisable to find a feasible solution quickly and improve the found solution toward the optimal one before the previously-arranged motion plan ends. For such reasons, sampling-based approaches are becoming popular for real-time application. Especially the use of a rapidly exploring random $tree^*$ ($RRT^*$) algorithm is attractive in real-time application, because it is possible to approach an optimal solution by iterating itself. This paper presents a modified version of informed $RRT^*$ which is an extended version of $RRT^*$ to increase the rate of convergence to optimal solution by improving the sampling method of $RRT^*$. In online motion planning, the robot plans a path while simultaneously moving along the planned path. Therefore, the part of the path near the robot is less likely to be sampled extensively. For a better solution in online motion planning, we modified the sampling method of informed $RRT^*$ by combining with the sampling method to improve the path nearby robot. With comparison among basic $RRT^*$, informed $RRT^*$ and the proposed $RRT^*$ in online motion planning, the proposed $RRT^*$ showed the best result by representing the closest solution to optimum.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.10
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• pp.4940-4957
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• 2019

Compared with the localization methods in the static sensor networks, node localization in dynamic sensor networks is more complicated due to the mobility of the nodes. Dynamic Sampling Localization Algorithm Based on Virtual Anchor (DSLA) is proposed in this paper to localize the unknown nodes in dynamic sensor networks. Firstly, DSLA algorithm predicts the speed and movement direction of nodes to determine a sector sampling area. Secondly, a method of calculating the sampling quantity with the size of the sampling area dynamically changing is proposed in this paper. Lastly, the virtual anchor node, i.e., the unknown node that got the preliminary possible area (PLA), assists the other unknown nodes to reduce their PLAs. The last PLA is regarded as a filtering condition to filter out the conflicting sample points quickly. In this way, the filtered sample is close to its real coordinates. The simulation results show that the DSLA algorithm can greatly improve the positioning performance when ensuring the execution time is shorter and the localization coverage rate is higher. The localization error of the DSLA algorithm can be dropped to about 20%.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2017.10a
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• pp.465-469
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• 2017

In this paper we propose a human body tracking method for application of smartphones. The conventional human body tracking method is divided into a sensor-based method and a vision-based method. The sensor-based methods have a weakness in that tracking accuracy is low due to cumulative error of position information. The vision-based method has no cumulative error, but it requires reduction of the computational complexity for application of smartphone. In this paper we use the improved HOG algorithm as a human body tracking method for application of smartphone. The improved HOG algorithm is implemented through downsampling and frame sampling. Gaussian pyramid is applied for downsampling, and uniform sampling is applied for frame sampling. We measured the proposed algorithm on two devices, four resolutions, and four frame sampling intervals. We derive the best detection rate among downsampling and frame sampling parameters that can be applied in realtime.

• The Journal of the Acoustical Society of Korea
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• v.42 no.5
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• pp.403-411
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• 2023

Functional ultrasound imaging, such as elasticity imaging and micro-blood flow Doppler imaging, enhances diagnostic capability by providing useful mechanical and functional information about tissues. However, the implementation of functional ultrasound imaging poses limitations such as the storage of vast amounts of data in Radio Frequency (RF) data acquisition and processing. In this paper, we propose a sub-Nyquist approach that reduces the amount of acquired axial samples for efficient shear-wave elasticity imaging. The proposed method acquires data at a sampling rate one-third lower than the conventional Nyquist sampling rate and tracks shear-wave signals through RF signals reconstructed using band-pass filtering-based interpolation. In this approach, the RF signal is assumed to have a fractional bandwidth of 67 %. To validate the approach, we reconstruct the shear-wave velocity images using shear-wave tracking data obtained by conventional and proposed approaches, and compare the group velocity, contrast-to-noise ratio, and structural similarity index measurement. We qualitatively and quantitatively demonstrate the potential of sub-Nyquist sampling-based shear-wave elasticity imaging, indicating that our approach could be practically useful in three-dimensional shear-wave elasticity imaging, where a massive amount of ultrasound data is required.