• 제어로봇시스템학회논문지
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• 제21권2호
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• pp.150-156
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• 2015

In this paper, a marionette control system using wrist and finger gestures through an IMU sensor is studied. The signals from the sensor device are conditioned and recognized, then the commands are sent to the 8 motors of the marionette via Bluetooth (5 motors control the motion of the marionette, and 3 motors control the location of the marionette). It is revealed that the degree of freedom of fingers are not independent from each other, therefore, some gestures are hardly made. Gesture mode changes for difficult postures of the fingers in cases of a lack of finger DOF are proposed. Therefore, the gesture mode change switches the assignment of gesture as required. Experimental results show that gesture mode change is successful for appropriate postures of a marionette.

• 대한전자공학회논문지SP
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• 제47권1호
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• pp.128-138
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• 2010

본 논문에서는 Wyner-Ziv 비디오 부호화를 위한 비트배정 방법을 제안한다. 손실 압축을 하는 분산 비디오 부호화 기술인 Wyner-Ziv 비디오 부호화는 부호화기에서 예측 부호화를 수행하지 않는 구조로 인해 저 복잡도 비디오 부호화의 실현이 가능하여 이동단말, 원격영상압축전송, 초저전력 비디오 부호화 등의 응용에 기대되는 기술이다. 비트율-왜곡 측면에서의 부호화 성능은 이론적으로 기존의 방법과 동일할 수 있음이 증명되었지만 지금까지 연구결과들의 비트율-왜곡 성능은 아직 이론적인 목표치에 많이 미치지 못하고 있다. 또한 H.264/AVC와 같은 기존의 비디오 부호화는 블록별로 서로 다른 양자화 값으로 부호화 될 수 있는 구조이므로 다양한 비트배정 기술이 연구되었으나, Wyner-Ziv 비디오 부호화의 한 가지 방법인 변환 영역에서의 Wyner-Ziv 방법 (Transform Domain Wyner-Ziv; TDWZ)의 경우 영상 전체에 해당하는 정보를 하나의 메시지로 묶어서 부호화 및 복호화 하므로, 영역 별로 차등화 된 비트할당이 어려워 목표로 하는 비트율로 부호화 수행이 어려웠다. 본 논문에서는 이러한 문제를 해결하기 위해 부호화기에서 영역별 영상 특성을 예측하여 할당해야할 비트량을 자동으로 계산하며, 이렇게 계산한 할당 비트량은 양자화 행렬을 영역별로 적응적으로 선택하는데 사용하도록 하여 전체 영상의 부호화 성능을 향상 시킬 수 있게 한다.

• 대한간호학회지
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• 제23권1호
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• pp.107-117
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• 1993

This study was a clinical Quasi-experiment to examine the effects of the range of motion exercise on powerlessness and life satisfaction among the E-Institutionalized elderly in Pusan. The purpose was to test the effect of the range of motion exercises on powerlessness and life satis-faction, and to examine the correlation between powerlessness and life satisfaction. The subjects for this study were 54 elderly people, both were over 60 and residing at I-Institution in Pusan. The research samples of 54 elderly were divided into an experimental and control group by matching randomized assignment. The instruments for this study were the Assessment Tool of Powerlessness in the elderly developed by Miller, Life satisfaction developed by Yoon Jin, and the Active-Passive Range of Motion Exercise Program which was developed and utilized by Shin, Jae-Shin. The data were collected from December 15, 1990 to November 1991. The paired t-test, t-test and ANCOVA were used to test hypothesis I and II, related to the Effect of the Range of Motion Exercises to powerlessness and life satisfaction. To identify the relationship of the range of motion exercises to powerlessness and life satisfaction, path analysis was done through multiple regression. The interrelationship of the variables was analyzed using t-test paired t-test. The results of the three hypothesis can be summarized as follows : 1. Hypothesis I -the experimental group which participated in the Range of Motion Exercise gets lower powerlessness score than that of the control group-was accepted by t-test (t = -3.40, p = .001) but not accepted by ANCOVA (F = .1, p =.96). 2. Hypothesis II - the experimental group which participated in the Range of Motion Exercise gets a higher Life Satisfaction Score than that of the control group-was not supported by t-test(t = 1.01, p = .316) but was accepted by ANCOVA (F = 4.39, p = .006). 3. Hypothesis III - if the powerlessness Score becomes higher, the Life Satisfaction Score will be-come lower - was accepted by Pearson Correlation Coefficient (pre-exercise : r : -.34, p=.006), (post exercise : r = -.06, p=.32) . The relation-ship between the score of powerlessness and life satisfaction was negatively correlated. The results obtained clearly showed that the effects of the range of motion exercises on powerlessness and life satisfaction are beneficial to the elderly The relation between the scores of powerlessness and life satisfaction was negatively correlated and the range of motion exercise had a direct influence to powerlessness. Therefore, it is concluded that the relationship between powerlessness and life satis-faction was not a causal one. Also it is concluded that the range of motion exercises can be applied as a nursing intervention to reduce powerlessness and to improve life satisfaction in the elderly.

• 한국융합학회논문지
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• 제9권6호
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• pp.69-75
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• 2018

제조업에 있어 공정의 효율성은 제품의 경쟁력과 직결되는 중요한 요소이다. 특히 최근 여러 국가와 FTA체결로 인해 국내외 제조업이 치열한 경쟁에 직면함에 따라 생산시간을 보다 단축하기 위한 정교한 작업관리 시스템이 요구되고 있다. 본 연구에서는 동작분석 솔루션을 활용하여 제조공정의 효율성을 제고하는 방안을 모색하고자 한다. 동작분석 솔루션을 활용하여 최적화 검증 후 제조공정을 개선할 경우 추가적인 공정 수정 또는 보완에 소요되는 비용을 절감할 수 있으며, 기업의 생산성 향상이라는 실질적 효과를 도출할 수 있다. 본 연구를 통해 작업현장의 낭비개선, 작업편성효율개선, 기종교체시간 단축, 표준시간 측정 및 작업시스템 표준화 등을 구현할 수 있다.

• 제어로봇시스템학회논문지
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• 제7권10호
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• pp.799-805
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• 2001

In this paper, we propose eigenstructure assigned sliding mode control for mismatched uncertain system. Variable structure control has the sliding mode in which the system is robust against the uncertainty and the sliding motion depends upon the sliding surface. Therefore, the surface design is one of the important problems. Also in mismatched cases, the uncertainty may affect on the sliding motion and may cause unexpected instability of the system. Thus, that should be considered, too. For robust sliding mode against the mismatched uncertainty, we suggest the design method of the sliding surface using the eigenstructure assignment, define an index as the measure of the robustness which shows the size of affordable unstructured uncertainty, and present the computation method. And also we propose the controller which can ensure the sliding mode and prove the robust stability of the proposed controller by using Lyapunov method. Finally we show the appropriateness of the proposed scheme for the mismatched uncertainty via the example.

• 대한조선학회논문집
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• 제52권4호
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• pp.330-337
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• 2015

When a tower crane is carried by a transporter in shipyard, the height and length of the tower crane should be adjusted to meet the safety guidelines. Since the guidelines came from the field experience, the safety limitation needs to be analyzed by a computer simulation. In this paper, modeling methods are addressed to implement the appropriate transportation simulation of a tower crane. For the relation between the tower crane and the transporter, normal contact force, friction force, and kinematic constraints are compared. Assignment of relevant linear acceleration and angular velocity is considered for the transporter to start or move on an inclined ground surface. By using the examined modeling methods, the dynamic motion of tower crane transportation is analyzed by a dynamic simulation program, and comparison between the simulation result and analytic solution is made to verify the feasibility of the modeling methods.

• 한국정밀공학회지
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• 제17권11호
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• pp.206-212
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• 2000

This paper presents a hybrid actuator scheme to actively control the end-point position and vibration of a two-link flexible robot arm. Control scheme consists of four different actuators; two servo-motors at the hubs and two piezoceramics bonded to the surfaces of the flexible links. Two sliding hyperplanes are designed for two servo-motors which have time varying parameters to maintain control performance in any configuration. The surface gradients of the hyperplanes are determined by pole assignment technique to guarantee the stability on the hyperplanes themselves. During the motion, undesirable oscillations caused by the torques based on the rigid link dynamics are actively suppressed by applying feedback control voltages to the piezoceramic actuators. Consequently, desired tip motion is achieved. In order to demonstrate the effectiveness of the proposed methodology, experiments are performed for the regulating and tracking control problems.

• International Journal of Concrete Structures and Materials
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• 제11권1호
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• pp.45-58
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• 2017

Recent investigations have pointed out that current code provisions specifying that the stiffness of reinforced concrete elements is strength independent, and therefore can be estimated prior to any strength assignment, is incorrect. A strength allocation strategy, suitable for preliminary structural design of medium height wall-frame dual systems, is presented for allocating strength in such buildings and estimating the dependable rigidities. The design process may be implemented by either the approximate continuous approach or the stiffness matrix method. It is based on the concept of the inelastic equivalent single-degree-of-freedom system which, the last few years, has been used to implement the performance based seismic design. The aforesaid strategy may also be used to determine structural configurations of minimum rotation distortion. It is shown that when the location of the modal centre of rigidity, as described in author's recent papers, is within a close distance from the mass axis the torsional response is mitigated. The methodology is illustrated in ten story building configurations, whose torsional response is examined under the ground motion of Kobe 1995, component KJM000.

• 대기
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• 제22권1호
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• pp.1-12
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• 2012

The Atmospheric motion vectors (AMVs) derived using infrared (IR) channel imagery of geostationary satellites have been utilized widely for real-time weather analysis and data assimilation into global numerical prediction model. As the horizontal resolution of sensors on-board satellites gets higher, it becomes possible to identify atmospheric motions induced by convective clouds ($meso-{\beta}$ and $meso-{\gamma}$ scales). The National Institute of Meteorological Research (NIMR) developed the high resolution visible (HRV) AMV algorithm to detect mesoscale atmospheric motions including ageostrophic flows. To retrieve atmospheric motions smaller than $meso-{\beta}$ scale effectively, the target size is reduced and the visible channel imagery of geostationary satellite with 1 km resolution is used. For the accurate AMVs, optimal conditions are decided by investigating sensitivity of algorithm to target selection and correction method of height assignment. The results show that the optimal conditions are target size of 32 km ${\times}$ 32 km, the grid interval as same as target size, and the optimal target selection method. The HRV AMVs derived with these conditions depict more effectively tropical cyclone OMAIS than IR AMVs and the mean speed of HRV AMVs in OMAIS is slightly faster than that of IR AMVs. Optimized mesoscale AMVs are derived for 6 months (Feb. 2010-Jun. 2010) and validated with radiosonde observations, which indicates NIMR's HRV AMV algorithm can retrieve successfully mesoscale atmospheric motions.

• 제어로봇시스템학회논문지
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• 제19권5호
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• pp.442-449
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• 2013

In this paper, a simulation system based on X-Plane and MATLAB/Simulink for multiple UAVs is presented. For the conceptual design of this proposed system, a hierarchical system architecture for multiple UAVs is presented. This architecture has object-oriented data structure which consists of three objects (UAV status, mission and task, and environment) and a hierarchy consisting of four layers (decision making layer, task assignment layer, path and motion planning layer, and collision avoidance layer) is also proposed. In addition, this paper shows a implementation of simulation system based on the proposed system architecture using X-Plane and MATLAB/Simulink. The result of simulation from the developed system in this paper validate capability of application for multiple UAVs in real environment.