• ETRI Journal
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• v.40 no.4
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• pp.522-530
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• 2018

In this study, we developed a robotic walker that actively controls its speed and direction of movement according to the user's gait intention. Sensor fusion between a low-cost light detection and ranging (LiDAR) sensor and inertia measurement units (IMUs) helps determine the user's gait intention. The LiDAR determines the walking direction by detecting both knees, and the IMUs attached on each foot obtain the angular rate of the gait. The user's gait intention is given as the directional angle and the speed of movement. The two motors in the robotic walker are controlled with these two variables, which represent the user's gait intention. The estimated direction angle is verified by comparison with a Kinect sensor that detects the centroid trajectory of both the user's feet. We validated the robotic walker with an experiment by controlling it using the estimated gait intention.

• Journal of the Korean Society for Precision Engineering
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• v.11 no.5
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• pp.110-123
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• 1994

The development of automatic production systems have required inteligent diagnostic and monitoring function to repair system failure and reduce production loss by the failure. In order to perform accurate functions of intelligent system, inferencing about total system failure and fault analysis due to each mechanical component failures are required. Also the solution about repair and maintenance can be suggested from these analysis results. As an essential component of mechanical system, a bearing system is investigated to define the failure behavior. The bearing failure is caused by lubricant system failure, metallurgical defficiency, mechanical condition(vibration, overloading, misalignment) and environmental effect. This study described roller bearing fault train due to stress variation and metallurgical defficiency from lubricant failure by using FTA.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.11
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• pp.1043-1047
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• 2013

Smart mobile robot is a kind of Intelligent Robot. It means that operates manipulate autonomously and recognize the external environment. Smart mobile robot moving mechanism has many type and the type depend on the robot shape or purpose. Recently, research on the moving mechanism has been actively in many area. The moving mechanism divided to wheel type, crawler type, walking type, other type and the moving type choose by the kind of robot or the purpose robot. In this paper, describe the kind of moving mechanism on the smart mobile robot and the technical trend of moving mechanism of smart mobile robot.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1435-1439
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• 2004

Most recently, CP(Cellular Phone) has been one of the most important technologies in the IT(Information Tech-nology) field, and it is situated in a position of great importance industrially and economically. To produce the best CP in the world, a new technological concept and its advanced implementation technique is required, due to the extreme level of competition in the world market. The RT(Robot Technology) has been developed as the next generation of a future technology. Current robots require advanced technology, such as soft computing, human-friendly interface, interaction technique, speech recognition, object recognition etc. unlike the industrial robots of the past. Therefore, this paper explains conceptual research for development of the RCP(Robotic Cellular Phone), a new technological concept, in which a synergy effect is generated by the merging of IT & RT. RCP infra consists of $RCP^{Mobility}$ $RCP^{Interaction}$, $RCP^{Integration}$ technologies. For $RCP^{Mobility}$, human-friendly motion automation and personal service with walking and arming ability are developed. $RCP^{Interaction}$ ability is achieved by modeling an emotion-generating engine and $RCP^{Integration}$ that recognizes environmental and self conditions is developed. By joining intelligent algorithms and CP communication network with the three base modules, a RCP system is constructed. Especially, the RCP mobility system is focused in this paper. $RCP^{Mobility}$ is to apply a mobility technology, which is popular robot technology, to CP and combine human-friendly motion and navigation function to CP. It develops a new technological application system of auto-charging and real-world entertainment function etc. This technology can make a CP companion pet robot. It is an automation of human-friendly motions such as opening and closing of CPs, rotation of antenna, manipulation and wheel-walking. It's target is the implementation of wheel and manipulator functions that can give service to humans with human-friendly motion. So, this paper presents the definition, the basic theory and experiment results of the RCP mobility system. We confirm a good performance of the RCP mobility system through the experiment results.

• Journal of Biomedical Engineering Research
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• v.28 no.3
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• pp.369-376
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• 2007

With the convergence of ubiquitous networking and medical technologies, ubiquitous healthcare(U-Healthcare) service has come in our life, which enables a patient to receive medical services at anytime and anywhere. In the u-Healthcare environment, intelligent real-time biosignal aquisition/analysis techniques are inevitable. In this study, we propose a motion artifact cancelation method in portable photoplethysmography(PPG) signal aquisition using an accelerometer and an adaptive filter. A preliminary experiment represented that the component of the pedestrian motion artifact can be found under 5Hz in the spectral analysis. Therefore, we collected PPG signals under both simulated conditions with a motor that generates circular motion with uniform velocity (from 1 to 5Hz) and a real walking condition. We then reduced the motion artifact using a recursive least square adaptive filter which takes the accelerometer output as a noise reference. The results showed that the adaptive filter can remove the motion artifact effectively and recover peak points in PPG signals, which represents our method can be useful to detect heart rate in real walking condition.

• Journal of IKEEE
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• v.23 no.3
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• pp.883-892
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• 2019

This study is the method which is adapted to control ankle joint movement for resolving the problem of gait imbalance in intervals where gait environments are changed and slope walking, as applying terrain-adaptive technique to intelligent above-knee prosthesis. In this development of above-knee prosthesis, to classify the gait modes is essential. For distinguishing the stance phases and the swing phase depending on roads, a machine learning which combines decision tree and random forest from knee angle data and inertial sensor data, is proposed and adapted. By using this method, the ankle movement state of the prosthesis is controlled. This study verifies whether the problem is resolved through butterfly diagram.

• Annual Conference of KIPS
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• 2021.11a
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• pp.1290-1293
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• 2021

Currently, blind people are experiencing a lot of inconvenience in their daily lives. In order to provide helpful service for the visually impaired, this study was carried out to make a new smart glasses that transmit information monitoring walking environment in real-time object recognition. In terms of object recognition, YOLOv4 was used as the artificial intelligence model. The objects, that should be identified during walking of the visually impaired, were selected, and the learning data was populated from them and re-learning of YOLOv4 was performed. As a result, the accuracy was average of 68% for all objects, but for essential objects (Person, Bus, Car, Traffic_light, Bicycle, Motorcycle) was measured to be 84%. In the future, it is necessary to secure the learning data in more various ways and conduct CNN learning with various parameters using darkflow rather than YOLOv4 to perform comparisons in the various ways.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.19 no.3
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• pp.1-13
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• 2020

When pedestrians cross a pedestrian crossing during a pedestrian signal, there is a problem that pedestrians are exposed to the danger of traffic accidents due to permissive-left turning and right-turning vehicles. In order to solve this problem, there is an increasing demand to improve the traffic signal system to increase pedestrian safety at the signal crossing. This study aims to examine the feasibility of introducing a leading pedestrian interval(LPI) to prevent conflict between unprotected left and right turn vehicles and pedestrians. In this study, the need for LPI was surveyed by experts and the general public. As a result of the survey, many opinions indicated that the introduction of LPI was necessary. In addition, after selecting the non-protected left and right turn pilot operation targets, LPI was installed on two signal intersections. After installation, the speed analysis of the arrival vehicle in the pedestrian crossing and the violation rate of the pedestrian signal were analyzed. As a result of analysis, when the walking signal was equalized, the speed of the arriving vehicle in the pedestrian crossing was reduced, and the violation rate of the walking signal was improved.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.15 no.3
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• pp.129-145
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• 2016

This paper analyzed and compared the service level and satisfaction of the sidewalks in collector roads from 6 different location, which has a lot of volume of pedestrians. For the study, it performed an investigation of road geometry, flow, research about satisfaction of walking and video recording. Based on this data, this study computed the service level of the sidewalks and pedestrian satisfaction. This study made a sense of correlation between service level and satisfaction. Also it focused on factors influencing on the effectiveness of satisfaction. This study also analyzed the change of walking behavior chracteristics according to the change of the level of satisfaction. This study adopted Multi-Modal Level of Service(MMLOS) method, because it could consider more factors. This study reached the conclusion that MMLOS method cannot completely reflect the level of pedestrian satisfaction. We have to consider more factors than in the current system for use in the development of sidewalk design. The result of this study is expected to reflect the pedestrian satisfaction in future sidewalks design.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.14 no.6
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• pp.37-49
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• 2015

In Space Syntax, the greater the degree of integration between separate links, the greater the links' accessibility from the target network. As such, planning pedestrian walks so that links with high degrees of integration are connected, or else inducing high integration value land use are both valid options. The travel distribution model reflects how walking demand, or more specifically, the pedestrian, partakes in route choosing behavior that minimizes select criteria, notably level of discomfort, as measured using travel distance and time. The model thus demonstrates travel patterns associated with demand pertaining to minimization of discomfort experienced by the pedestrian. This research introduces a method that integrates Space Syntax and the pedestrian travel distribution model. The integrated model will determine whether regions with high degrees of integration are actually being used as pivots for pedestrian demand movement, as well as to explain whether the degree of integration is sustained at an appropriate level while considering actual movement demand. As a means to develop the integrated model, a method that combines display of the visibility of the space syntax network and road-divided links is proposed. The pedestrian travel distribution model also includes an alternative path finding mechanism between origin and destination, which allows for uniform allocation of demand.