• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1832-1835
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• 2005

This paper presents the steering control algorithm of an up and down motion robot using a quaternion. The up and down motion robot is to be moved on an irregular floor that can inevitably result in the errors of both position and orientation. Especially the orientation error should be compensated every work in order to adjust the misaligned values of current orientation to those commanded values. In this paper, we propose a new steering control algorithm between the two values by using a quaternion with spherical cubic interpolation. The proposed algorithm is shown to be effective in terms of vibration when compared to a conventional simple compensation without interpolation, by using $MATLAB^{(R)}$ and $VisualNastran4D^{(R)}$

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.4
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• pp.39-43
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• 2004

A typical theme of active vision systems is gaze-fixing of a camera. Here gaze-fixing of a camera means by steering orientation of a camera so that a given point on the object is always at the center of the image. For this we need to combine a function to analyze image data and a function to control orientation of a camera. This paper presents an algorithm for gaze-fixing of a camera where image analysis and orientation control are designed in a frame. At this time, for avoiding difficulties in implementing and aiming for real-time applications we design the algorithm to be a simple closed-form without using my information related to calibration of the camera or structure estimation.

• The Korean Journal of Community Living Science
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• v.28 no.3
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• pp.461-479
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• 2017

This study was to investigate the appearance orientation and body shape management of adolescents in Daejeon. A survey was performed from December 16th~28th 2015 and 355 respondents were collected for analysis. 45.9% of the subjects were middle school students, whereas 54.1% of them were high school ones. The female and high school students tended to show higher ratings in lookism tendency and interests in beauty care, whereas male and middle school students tended to show higher ratings in physical satisfaction than the others. More than 40% of the respondents perceived them fatter than the standard weight, in particular, girls and the ones with opposite-sex friend perceived them fatter than their actual conditions. On body shape satisfaction, female and high school students indicated lower satisfaction. For body shape management, 75% of the female and 40% of the male students had tried weight control. The frequency and the duration time of exercise had higher for boys than girls, and the ones with opposite-sex friend than without. For methods of weight control, girls were more likely to do diet control, whereas boys were more committed to exercise. In general, students with high appearance orientation tended to control taking snacks and fast food or did diet control for body shape management. Conclusively, continued interest and guidance, not only at home but also in school, is required for students so that they can do proper body shape management to fulfill their appearance orientation and they will improve academic performance by gaining confidence through their appearance satisfaction.

• KIEAE Journal
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• v.17 no.3
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• pp.99-106
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• 2017

Purpose: Most modern office buildings adopt the curtain wall system in order to provide occupants with the sense of openness and high-technology, which requires large window area. As a result, the amount of solar radiation increases, negatively affecting cooling load during the summer and increasing energy costs. However, the performance of window itself is not sufficiently controllable parameter to control thermal comfort and solar radiation. Therefore, a shading device such as venetian blind is required to control them and thus a variety of studies have been performed thus far. So, the purpose of this study is to improve the performance of blind through the development of blind control algorithm. Method: Among various input variables for the control of venetian blinds, the vertical solar radiation has been selected in this study as the primary input variable and the optimal control algorithm for venetian blinds were developed for each window orientation. Result: The developed optimal control algorithm has a positive effect on building energy savings.

• Journal of Korea Entertainment Industry Association
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• v.13 no.7
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• pp.295-306
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• 2019

The purpose of this study was to Happiness Sharing Kumdo Class Participating Adolescents' achievement goal orientation on ego-resiliency and quality of life and to provide guidance measures for the correct growth of vulnerable participants through the happiness sharing Kumdo class, which will be activated as a sports support program. To achieve the purpose of this research, 236 Adolescent participating in the Happiness Sharing Kumdo Class was selected and surveyed in Seoul, Gyeonggi Province and Incheon. Based on the data collected, the following results were derived by conducting frequency analysis, exploratory factor analysis, reliability analysis, correlation analysis, and multiple regression analysis. First, verification of the effect of achievement goal orientation of Adolescent participating in Happiness Sharing Kumdo Class on ego-resiliency showed that task-orientation has significant influence on diversity, future-orientation, and emotion control, and ego-orientation has significant influence on diversity and emotion control. Second, verification of the effect of achievement goal orientation of Adolescent participating in Happiness Sharing Kumdo Class on quality of life showed that task-orientation has significant influence on quality of physical, psychological, social, environmental and educational quality, and ego-orientation has a significant influence on quality of physical and environmental quality. Third, verification of the effect of ego-resiliency on quality of life by Adolescent participating in Happiness Sharing Kumdo Class showed that diversity has not significant influence all factors of quality of life, but future-orientation has significant influence on quality of psychological and environmental quality, and emotion control has a significant influence on quality of physical, psychological, social and educational quality.

• The Journal of Korea Robotics Society
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• v.10 no.3
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• pp.154-161
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• 2015

Conventional path tracking methods designed for two-wheeled differential drive robots are not suitable for omni-directional robots. In this study, we present a controller which can accomplish more accurate path tracking and orientation correction by exploiting the unconstrained movement capability of omni-directional robots. The proposed controller is proven to be stable using a Lyapunov stability criterion. Various experiments in real environments show that performance of path tracking and orientation correction has improved in the proposed controller.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.2
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• pp.164-170
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• 2011

This paper proposes a novel monocular vision-based SLAM (Simultaneous Localization and Mapping) method using both position and orientation information of ceiling lamps. Conventional approaches used corner or line features as landmarks in their SLAM algorithms, but these methods were often unable to achieve stable navigation due to a lack of reliable visual features on the ceiling. Since lamp features are usually placed some distances from each other in indoor environments, they can be robustly detected and used as reliable landmarks. We used both the position and orientation of a lamp feature to accurately estimate the robot pose. Its orientation is obtained by calculating the principal axis from the pixel distribution of the lamp area. Both corner and lamp features are used as landmarks in the EKF (Extended Kalman Filter) to increase the stability of the SLAM process. Experimental results show that the proposed scheme works successfully in various indoor environments.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.6
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• pp.560-567
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• 2007

The objective of this research is to optimize the designing parameters of the parallel manipulator with large orientation workspace at the boundary position of the constant orientation workspace (COW). The method uses a simple genetic algorithm(SGA) while considering three different kinematic performance indices: COW and the global conditioning index(GCI) to evaluate the mechanism's dexterity for translational motion of an end-effector, and orientation workspace of two angle of Euler angles to obtain the large rotation angle of an end-effector at the boundary position of COW. Total fifteen cases divided according to the combination of the sphere radius of COW and rotation angle of orientation workspace are studied, and to decide the best model in the total optimized cases, the fuzzy inference system is used for each case's results. An optimized model is selected as a best model, which shows better kinematic performances compared to the basis of the pre-existing model.

• Korea Journal of Hospital Management
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• v.18 no.3
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• pp.1-26
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• 2013

To improve the competitiveness of the hospital provides high quality medical services in a hospital coordinator role is emphasized. This study on customer orientation of the role ambiguity in order to identify the impact of degree of customer orientation were analyzed for demographic differences. Dependent variable, customer orientation affects role ambiguity as independent variables, and regression analysis were set. And the control variables are set to support situational factors, customer orientation on the role ambiguity and hierarchical regression analysis was performed. Obtained through empirical results are as follows: First, according to the demographic characteristics of the hospital coordinator customer orientation, the difference between gender and medical subjects are not shown. Age, education, work experience, job title, and the hospital on the pattern of customer orientation has shown a difference. Second, according to the hospital coordinator role ambiguity about its impact on customer orientation analysis can be a role implementation, job implementation, opinion communication in achieving customer orientation was negatively affected. Third, role ambiguity, and customer orientation factors for the moderating effects of organizational support for the role of customer orientation can role implementation, job implementation, opinion communication was a statistically significant. Fourth, the role ambiguity factors and customer orientation for the administrative support for the moderating effect of customer orientation and role implementation is significant, but job implementation, opinion communication were statistically significant. Fifth, the role ambiguity factors and customer support for customer orientation and customer orientation for the moderating effects of role performance and the opinion communication was not statistically significant. However, job implementation was statistically significant. The limitations of this study are as follows: First, role ambiguity, situational factors and support due to limitations of the variable factors that may affect the customer orientation of a number of factors were excluded. So many exogenous variables in the measurement process can affect. Second, the variables measured as problems of self-assessment by the variable measuring the respondent's bias may occur. Third, This study is difficult to generalize. In other words, several areas of the province conducted by the empirical results of the survey as a limit on the overall generalization can follow.

• Journal of Industrial Technology
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• v.11
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• pp.65-72
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• 1991

In this paper, a control algorithm is discussed when the quadruped walking robot walks over the unknown soft ground. Firstly, it estimated the relationship between the foot force and the ground sinkage at the leg-placing phase. Secondly, the generated soil property is applied to the leg-supporting phase. If the attitude angle is changed by incorrect ground sinkage compensation, the control algorithm adjusts the attitude angle using simplified orientation orientation matrix.