• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.343-352
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• 2012

To follow a sound source by a mobile robot, the relative position and orientation of the sound source from the mobile robot have been estimated using a microphone array. In this research, the difference among the traveling times of the sound source to each of three microphones has been used to calculate the distance and orientation of the sound source from the mobile robot which carries the microphone array. The cross-correlation between two signals has been applied for detecting the time difference between two signals, which provides reliable and precise value of the time difference comparing to the conventional methods. To generate the tracking direction to the sound source, fuzzy rules are applied and the results are used to control the mobile robot in a real-time. The efficiency of the proposed algorithm has been demonstrated through the real experiments comparing to the conventional approaches.

• Journal of Korean Home Economics Education Association
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• v.9 no.1
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• pp.39-52
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• 1997

The purposes of this study are 1) to identify the position and the problems of Home Economics in Elementary School, and 2) to propose orientation for the future curriculum revision. Elementary Home Economics, historically, has been partially practiced as a part of Practical Arts Education. As a results, the nature of Home Economics Education has been distorted and lacked the disciplinary consistency with Middle School Home Economics Education： the curriculum of Home Economics Education ignored the importance of the understanding family life as well as underscored the technical skills. The identified status and problems has on implication for the subject’s further development. The propositions for Elementary Home Economics Education which has the original intention, are as follows：(1) the curriculum of Practical Arts Education must be built on theorectical base and criteria. (2) the name of subject, Practical Arts Education, must be changed to [Technology$.$Home Economics]. (3) the contents of the subject must be practical which to promote motivations and interest of students.

• Bulletin of the Korean Chemical Society
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• v.32 no.11
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• pp.3855-3860
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• 2011

The competitive solvent extractions of alkali and alkaline earth metals by di-ionizable calix[4]arene nano-baskets were studied using nine conformers of calix[4]arene nano-baskets. The objective of this work is to assess the variation of macrocycle conformation, orientation and position of pendant moieties upon the extraction parameters (efficiency, selectivity and $pH_{1/2}$) of the complexes. The results revealed that alternation of ring conformation in calixarene scaffold affects the solvent extraction parameters towards alkali and alkaline earth metals, while changing the orientation of pendant moieties from ortho- to para- as well as cis- to trans-analogues depicted no changes in those extraction parameters.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.1114-1119
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• 1995

This paper presents the development of estimation model and control method based on the new computer vision. This proposed control method is accomplished using a sequential estimation scheme that permits placement of the rigid body in each of the two-dimensional image planes of monitoring cameras. Estimation model with six parameters is developed based on a model that generalizes known 4-axis scara robot kinematics to accommodate unknown relative camera position and orientation, etc. Based on the estimated parameters,depending on each camers the joint angle of robot is estimated by the iteration method. The method is tested experimentally in two ways, the estimation model test and a three-dimensional rigid body placement task. Three results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as assembly and welding.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1908-1909
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• 2007

The design of an intelligent toothbrush, capable of monitoring brushing motion, orientation through the grip axis, during toothbrushing is described. Inappropriate Toothbrushing styles, even in adults, sometimes cause dental problems, cavities, gingivitis, etc. This smart system provides user to monitor his or her brushing pattern using accelerometer and magnetic sensors for evaluation of toothbrushing style. Directional information of toothbrush with respect to earth's magnetic field and activity data were measured by a miniaturized low-power micro- controller, MSP430 and transmitted to personal computer by 2.4GHz radio transmitter, nRF2401. A personal computer provides an on-line display of activity and orientation measurements during toothbrushing. The signal trace is then analyzed to extract clinically relevant measurement. This preliminary study showed that the proposed monitoring system was conceived to aid dental care personnel in patient education and instruction in oral hygiene regarding brushing style.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.11
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• pp.100-107
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• 1998

This paper presents the development of estimation model and control method based on the new robot vision. This proposed control method is accomplished using the sequential estimation scheme that permits placement of the rigid body in each of the two-dimensional image planes of monitoring cameras. Estimation model with six parameters is developed based on the model that generalizes known 4-axis scara robot kinematics to accommodate unknown relative camera position and orientation, etc. Based on the estimated parameters, depending on each camera the joint angle of robot is estimated by the iteration method. The method is experimentally tested in two ways, the estimation model test and a three-dimensional rigid body placement task. Three results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as assembly and welding.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.3
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• pp.289-296
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• 2016

This study presents the kinematics of an intrinsic continuum robot actuated by pneumatic artificial muscles. The single section of a developed continuum robot consisted of three muscles in parallel. The contraction of each muscle according to applied air pressure produced spatial motions of a distal plate with respect to a base plate. Based on the bending behaviors of artificial muscles, the orientation and position of the end-effector of a continuum robot were formulated using a transformation matrix. The orientation and position was also determined for a single section of the distal plate. A Jacobian matrix relating the contraction rate or the pressure rate of the muscles to the velocity vector of the end-effector was calculated considering the assembled position of actuators between neighboring sections of the robot. Experimental results showed that the motions of the intrinsic continuum robot were accurately estimated by the proposed kinematics.

• Proceedings of the KIPE Conference
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• 1998.10a
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• pp.287-292
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• 1998

This paper presents some results of performance evaluation test via actual machines of a new hybrid vector control utilizing a new indirect orientation scheme and stable filter embedded direct orientation scheme for induction motors without speed or position sensor. It is shown through the test by 0.3(kW) and 3.7(kW) motors that the proposed sensorless vector control has the following high potentialities: 1) speed range is 0 to 600(rad/s) or more, 2) zero-speed command is accepted and settles the machines at a stable standstill with no vibration 3) it can make machines to track variable command of acceleration and deceleration $\pm$6,000(rad/s2), 4) it can make machines to drive directly load of at least 26 times larger inertia than that of the machine, 5) it can make machines to produce much larger torque than the rating in torque control mode even at standstill. The performance confirmed by the test is far away for previous schemes or sensorless drive apparatuses.

• Journal of Korean Society for Geospatial Information Science
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• v.11 no.3 s.26
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• pp.3-11
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• 2003

This study has made photographing respectively by changing the photographic distance, converging angle, picturing direction by use of Rollei d7 metric and d7 $metric^{5}$ that is a measurement digital camera. And also in order to minimize the errors happened at the relative orientation, we have sorted out the round target that the relative orientation is automatically on the programming and have calculated RMSE by carrying out the bundle adjustment. We think that such a study could be used as very important basic data necessary in deriving the optimal photographic conditions by the close-range digital photogrammetry and in judging such a degree.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2010.04a
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• pp.77-80
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• 2010

The demand for human security significantly promotes the development of surveillance applications using a multi-sensor integrated UAV system. For more sophisticated operations, the system should provide a sequence of images rectified in a ground coordinate system in realtime. This rectification requires accurate position and attitude of the camera at the time of exposure of each image, which can be estimated through an Aerial Triangulation process using the GPS/INS data and tie points between adjacent images. In this work, the KLT tracker is utilized to obtain the tie points. To satisfy the realtime requirements, we present an approach to speed up the tracker by supplying the initial guessed positions of tie points based on the exterior orientation. The experimental results show that, when the guessed positions are supplied, the KLT tracker consumed less computational time than the ordinary KLT which is more suitable to be incorporated into the realtime image georeferencing process.