• Journal of Institute of Control, Robotics and Systems
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• v.7 no.8
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• pp.697-702
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• 2001

The ring laser gyro(RLG) has been used extensively in strapdown inertial navigation system(SDINS) because of the apparent of having wide dynamic range, digital output and high accuracy. The dithered RLG system has dynamic motion at sensor level, caused by the dithering motion to overcome the lock-in threshold. In this case, an attitude error is produced by not only the true coning of the vehicle motion but also the pseudo coning of the sensor motion. This paper describes the definition of the multi-frequency coning motion and its noncommutativity error to reject the pseudo coning error produced by the sensor motion such as the dithered RLG. The simulation results are presented to minimize the multi-frequency coning error.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.3
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• pp.137-146
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• 1997

External linkage type spine motion analysis was developed for relative trunk motion respect to the pelvis. A special programs for calculation of the relative angular motion and for graphical display were also developed. The developed device assured its accuracy and conveniency after application to 15 normal vol- unteers. Compare to the normal subjects, 18 patients treated with fixations and decompression surgery showed relatively large coupling motion. Optimal trajectory of the trunk motion derived from mathematical model in flexion and extension matched well with measurement for normal subjects.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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• pp.658-662
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• 2000

In order to achieve systematical method for improving motion accuracy of hydrostatic table, an algorithm using finite element method is proposed in this paper. Quantification of averaging effect of oil film on motion error is performed theoretically by analysis on the relationship between spacial frequency of rail form error and motion error of table. Influences of film stiffness and pocket size on the motion error of table are also analyzed theoretically Validity of the algorithm is verified experimentally from the test on the motion error of table with three types of rail which have different form profile. Experimental results show that the algorithm is very effective to analyze theoretically the motion error of hydrostatic table.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.309-315
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• 2020

This study shows a control strategy that acquires both precision and manipulation sensitivity of remote center motion with manual traction for a surgical assistant robot. Remote center motion is an essential function of a laparoscopic surgical robot. The robot has to keep the position of the insertion port in a three-dimensional space, and general laparoscopic surgery needs 4-DoF (degree-of-freedom) motions such as pan, tilt, spin, and forward/backward. The proposed robot consists of a 6-axis collaborative robot and a 2-DoF end-effector. A 6-axis collaborative robot performs the cone-shaped trajectory with pan and tilt motion of an end-effector maintaining the position of remote center. An end-effector deals with the remaining 2-DoF movement. The most intuitive way a surgeon manipulates a robot is through direct teaching. Since the accuracy of maintaining the remote center position is important, direct teaching is implemented based on position control in this study. A force/torque sensor which is attached to between robot and end-effector estimates the surgeon's intention and generates the command of motion. The predefined remote center position and the pan and tilt angles generated from direct teaching are input as a command for position control. The command generation algorithm determines the direct teaching sensitivity. Required torque for direct teaching and accuracy of remote center motion are analyzed by experiments of panning and tilting motion.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.35 no.3C
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• pp.278-286
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• 2010

Motion Compensated Frame Interpolation(MCFI) has been used to reduce motion jerkiness for dynamic scenes and motion blurriness for LCD-panel display as post processing for large screen and full HD(high definition) display. Conventionally, block matching algorithms (BMA) are widely used to do motion estimation for simplicity of implementation. However, there are still several drawbacks. So in this paper, we propose a novel shape-based ME algorithm to increase accuracy and reduce ME computational cost. To increase ME accuracy, we do motion estimation based on shape of moving objects. And only moving areas are included for motion estimation to reduce computational cost. The results show that the computational cost is 25 % lower than full search BMA, while the performance is similar or is better, especially in the fast moving region.

• The Korean Journal of Emergency Medical Services
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• v.14 no.1
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• pp.5-18
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• 2010

Objective : This study compares Video laryngoscope and Direct laryngoscope in tracheal Intubation on rapidity and accuracy by paramedic and aims to improve efficiency of airway management and survival rate in pre-hospital treatment for the patients with severe trauma, cardiac arrest or dyspnea caused by acute diseases. Methods : 60 paramedics were recruited from 13 fire stations located in C province. With the consent of the paramedics, likelihood ratio test was carried out and they were divided into two different groups; DL group (30) and GVL group (30). Regarding intubation conditions, difficult airway grade I, grade II and grade III as well as sniffing position and neutral position were examined. This study also compared between ambulance in motion and in stand still. Frequency, average and standard deviation were analyzed with statistics program, SPSS WIN 17.0 and repeated measure design was introduced to examine inter-relations between position, grade and groups. Results : Intubation was performed more rapidly in neutral position and GVL than in sniffing position and DL(F = 15.260, p = .000). Rapidity value was better with grade I and grade II than grade III and better with GVL than DL(F = 32.629, p = .000). Accuracy value was higher with neutral position and GVL than sniffing position and DL(F = 5.008, p = .011). grade III was less accurate than grade I, grade II and GVL was more accurate than DL(F = 10.966, p = .000). Ambulance motion status did not show any statistically significant differences in accuracy and rapidity. Conclusion : Given this study results, neutral position is better for the patient with severe trauma. For a better survival, GVL intubation can be considered since GVL can enhance accuracy as well as rapidity regarding difficult airway. Since there is no significant differences in ambulance motion factors, intubation can be recommended even in moving ambulance for shortening traveling time to a hospital.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.3
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• pp.580-585
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• 2009

Real Time Locating Systems (RTLS) are used to track and identify the location of objects in real time using simple, inexpensive tags attached to or embedded in objects and readers that receive the wireless signals from these tags to determine their locations. A tag is powered an internal source such as a battery. The blink frequency of a tag affects the energy efficiency and the locating accuracy of RTLS. The mobility of a tag also affects the locating accuracy. In this paper, we introduce a RTLS tag design which improves the locating accuracy and the power efficiency. We propose an adaptive transmission-rate control algorithm using a motion sensor. By analyzing the signal pattern of the motion sensor, we can build a model to estimate the speed of the motion. Using this model, our algorithm can achieve better locating accuracy and lower power consumption than those of the conventional method. In our experiments, the number of transmission reduced as 40%, keeping similar locating accuracy.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.161-166
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• 2002

Recently, researches on precision machining of nato-order, especially in the field of optical components and semi-conductors have been under development very actively. A accuracy of machining and positioning in a critical issue in ultra-precision machining. This paper proposes a new positioning system which can give excellent dynamic characteristics and reduce errors in horizontal, vertical, pitching, and yawing motions. In this paper, we suggest a connecting mechanism (the couplings) to reduce motion errors such as chatter and runout while preserving the positioning accuracy. We verified the good performance in the new connecting systems with various coupling types, which we classified into the fixed type, the spring type, the aeroctatic-nozzle type, and the aeroctatic-porous type according to the way of reducing the chatter and error.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.305-308
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• 2005

Linear motor has been developed for linear motion of machine tools. Linear motor is useful to design the linear motion, high speed and high accuracy, because of the simple system not required the additional mechanical part such as coupling and ballscrew. This paper tested performance of linear motor such as velocity response, position tracing performance, subordinate Traction force change and positional accuracy.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.1
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• pp.194-199
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• 2016

EMG has specific information which is related to movements according to the activities of muscles. Therefore, users can intuitively control a prosthesis. For this reason, biosignals are very useful and convenient in this kind of application. Bioimpednace also provides specific information about movements like EMG. In this study, we used both EMG and bioimpedance to classify the typical hand gestures such as hand open, hand close, no motion (rest), supination, and pronation. Nine able-bodied subjects and one amputee were used as experimental data set. The accuracy was $98{\pm}1.9%$ when 2 bio-impedance and 8 EMG channels were used together for normal subjects. The number of EMG channels affected the accuracy, but it was stable when more than 5 channels were used. For the amputee, the accuracy is higher when we use both of them than when using only EMG. Therefore, accurate and stable hand motion estimation is possible by adding bioimepedance which shows structural information and EMG together.