• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.995-1005
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• 2011

An efficient outdoor local localization method is suggested using multi-sensor fusion with MU-EKF (Multi-Update Extended Kalman Filter) for car-like mobile robots. In outdoor environments, where mobile robots are used for explorations or military services, accurate localization with multiple sensors is indispensable. In this paper, multi-sensor fusion outdoor local localization algorithm is proposed, which fuses sensor data from LRF (Laser Range Finder), Encoder, and GPS. First, encoder data is used for the prediction stage of MU-EKF. Then the LRF data obtained by scanning the environment is used to extract objects, and estimates the robot position and orientation by mapping with map objects, as the first update stage of MU-EKF. This estimation is finally fused with GPS as the second update stage of MU-EKF. This MU-EKF algorithm can also fuse more than three sensor data efficiently even with different sensor data sampling periods, and ensures high accuracy in localization. The validity of the proposed algorithm is revealed via experiments.

• Bulletin of the Korean Chemical Society
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• v.33 no.11
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• pp.3565-3570
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• 2012

Until now, few groups reported the antifreeze activity of cyclic glycopeptides; however, the tedious synthetic procedure is not amenable to study the intensive structure activity relationship. A series of N-linked cyclic glycopeptoids and glycopeptide have been prepared to evaluate antifreeze activity as a function of peptide backbone cyclization and methyl stereochemical effect on the rigid Thr position. This study has combined the cyclization protocol with solid phase peptide synthesis and obtained significant quantities of homogeneous cyclic glycopeptide and glycopeptoids. Analysis of antifreeze activity revealed that our cyclic peptide demonstrated RI activity while cyclic glycopeptoids showed no RI activity. These results suggest that the subtle changes in conformation and Thr orientation dramatically influence RI activity of N-linked glycopeptoids.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.5
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• pp.485-497
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• 2014

This paper presents the robot vision control schemes based on the Newton-Raphson (N-R) and the Extended Kalman Filter (EKF) methods for the tracking of moving targets. The vision system model used in this study involves the six camera parameters. The difference is that refers to the uncertainty of the camera's orientation and focal length, and refers to the unknown relative position between the camera and the robot. Both N-R and EKF methods are employed towards the estimation of the six camera parameters. Based on the these six parameters estimated using three cameras, the robot's joint angles are computed with respect to the moving targets, using both N-R and EKF methods. The two robot vision control schemes are tested by tracking the moving target experimentally. Given the experimental results, the two robot control schemes are compared in order to evaluate their strengths and weaknesses.

• Journal of Korean Academy of Nursing
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• v.52 no.2
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• pp.134-143
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• 2022

Purpose: The study aimed to understand the delirium experience of intensive care unit (ICU) patients. Methods: We performed a qualitative study using Colaizzi's phenomenological method. Eleven patients, who experienced delirium according to the Confusion Assessment Method for ICU, participated after transferring to general wards from the ICU. Individual in-depth semi-structured interviews ranging from 30 minutes to 2 hours in length were conducted between November 2018 and August 2019. Results: Nine themes and four theme clusters emerged. The four theme clusters were: 1) "Overwhelmed by fear," which describes the experience of a patient close to death and the feeling of difficulty in understanding disorganized thinking; 2) "Anxious about not understanding the situation," which means that patients' sense of time and space were disordered in the ICU; 3) "Being deserted," which indicates the feeling of being separated from others and yourself; and 4) "Resistance to protect my dignity," which indicates that the dignity and autonomy of an individual in the patient's position at the ICU, are ignored. Conclusion: Nursing interventions are needed that would enable patients to maintain orientation and self-esteem in the ICU. In addition, healthcare providers need to provide information about the unfamiliar environment in the ICU in advance.

• Korean Journal of Remote Sensing
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• v.30 no.3
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• pp.383-397
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• 2014

Information technology advances are allowing conventional surveillance systems to be combined with mobile communication technologies, creating ubiquitous monitoring systems. This paper proposes monitoring system that uses smart camera technology. We discuss the dependence of interior orientation parameters on calibration target sheets and compare the accuracy of a three-dimensional monitoring system with camera location calculated by space resectioning using a Digital Surface Model (DSM) generated from stereo images. A monitoring housing is designed to protect a camera from various weather conditions and to provide the camera for power generated from solar panel. A smart camera is installed in the monitoring housing. The smart camera is operated and controlled through an Android application. At last the accuracy of a three-dimensional monitoring system is evaluated using a DSM. The proposed system was then tested against a DSM created from ground control points determined by Global Positioning Systems (GPSs) and light detection and ranging data. The standard deviation of the differences between DSMs are less than 0.12 m. Therefore the monitoring system is appropriate for extracting the information of objects' position and deformation as well as monitoring them. Through incorporation of components, such as camera housing, a solar power supply, the smart camera the system can be used as a ubiquitous monitoring system.

• Journal of Digital Convergence
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• v.11 no.12
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• pp.287-294
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• 2013

Recently, Universities's idea of employment are activity discussed. Especially, Service oriented departments' argument about the curriculum and the environment tests its accomplishment with value in employment. Therefore, this study has been done on the department of airline service which has representation of employment. This study determines the condition and the position of the department of airline services that it estimates the future service orientation in organizations placing education. It appeared that self-esteem affected Physical environment, and service effect quality as a company's loyalty. Accordingly, to improve self-esteem working staff in service should be improved. And other various measures education service quality, self-esteem, and company's loyalty should be taken as well.

• Journal of radiological science and technology
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• v.14 no.1
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• pp.61-72
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• 1991

In this paper, the rotating plate method extracting signal and reconstructing original image was proposed. The rotating methode has cell detector array each of which has used in the medical diagnosis X-ray photography. The major problem using the simple horizontal moving or non-moving methode is the size and number of detector cells which have the considerable affection on the sharpness and resolution of the reconstructed image. Secondary, the estimated pixel values of non-detected real points which are placed between detector cells will be the distorted pixels in the reconstructed image. Therefore, the proposed rotating plate method has the exact distribution on the uncertain pixels which were reconstructed by conventional methods to solve there problems. And then, the image using the rotated plate's cell out put signal was reconstructed on the computer simulation. The method will rotated the detector array plate to solve the reconstruction from the detector size and number of conventional methods. The result of simulation has estimated the original pixel position and 81 pixel/mm resolution which the reconsiderlation of the detector's moving orientation, the proposed method has 25 pixel/mm resolution. These results have been represented by 3-D computer graphics.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.353-359
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• 1988

In this paper, the design and implementation of a multi-processor based die bonder machine for the semiconductor will be described. This is a final research results carried out for two years from June, 1986 to July, 1988. The mechanical system consists of three subsystems such as bonding head module, wafer feeding module, and lead frame feeding module. The overall control system consists of the following three subsystems each of which employs a 16 bit microprocessor MC 68000 : (i) supervisory control system, (ii) visual recognition / inspection system and (iii) the display system. Specifically, the supervisory control system supervises the whole sequence of die bonder machine, performs a self-diagnostics while it controls the bonding head module according to the prespecified bonding cycle. The vision system recognizes the die to inspect the die quality and deviation / orientation of a die with respect to a reference position, while it controls the wafer feeding module. Finally, the display system performs a character display, image display ans various error messages to communicate with operator. Lead frame feeding module is controlled by this subsystem. It is reported that the proposed control system were applied to an engineering sample and tested in real-time, and the results are sucessful as an engineering sample phase.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.12
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• pp.2146-2155
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• 1997

This paper presents the Wire Parallel Mechanism for robot pose measurement which can be used to robot calibration. It is constructed with six parallel links using wire. The position and orientation of the end effector of a robot are calculated from the wire length that measured by the encoder. The unique solution is obtained from a Newton-Raphson method and geometric configuration of the mechanism, also the method to estimate a measuring space is presented. Through the simulations, it is verified that the proposed mechanism can measure a robot pose, and has a large measuring space. In conclusion, it can be used effectively in a robot pose measurement with little cost and effort.

• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.411-418
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• 2017

During the intramedullary nailing procedure, surgeons feel difficulty in manipulation of the X-ray device to align it to axes of nailing holes and suffer from the large radiation exposure from the X-ray device. These problems are caused by the fact the surgeon cannot see the hole's location directly and should use the X-ray device to find the hole's location and direction. In this paper, we proposed the robotic guidance of the distal screwing using an optical tracking system. To track the location of the hole for the distal screwing, the reference marker is attached to the proximal end of an intramedullary nail. To guide the drill's direction robustly, the 6-degree-of-freedom robotic arm is used. The robotic arm is controlled so as to align the drill guiding tool attached the robotic arm with the obtained the hole's location. For the safety, the robot's linear and angular velocities are restricted to the predefined values. The experimental results using the artificial bones showed that the position error and the orientation error were 0.91 mm and $1.64^{\circ}$, respectively. The proposed method is simple and easy to implement, thus it is expected to be adopted easily while reducing the radiation exposure significantly.