• Journal of Institute of Control, Robotics and Systems
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• v.13 no.11
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• pp.1137-1145
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• 2007

Palletizing tasks are necessary to promote efficient storage and shipping of boxed products. These tasks, however, involve some of the most monotonous and physically demanding labor in the factory. Thus, many types of robot palletizing systems have been developed, although many robot motion commands still depend on the teach pendant. That is, the operator inputs the motion command lines one by one. This is very troublesome and, most importantly, the user must know how to type the code. We propose a new GUI(Graphic User Interface) for the palletizing system that is more convenient. To do this, we used the PLP "Fast Algorithm" and 3-D auto-patterning visualization. The 3-D patterning process includes the following steps. First, an operator can identify the results of the task and edit them. Second, the operator passes the position values of objects to a robot simulator. Using those positions, a palletizing operation can be simulated. We chose a widely used industrial model and analyzed the kinematics and dynamics to create a robot simulator. In this paper we propose a 3-D patterning algorithm, 3-D robot-palletizing simulator, and modified trajectory generation algorithm, an "overlapped method" to reduce the computing load.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1122-1129
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• 2009

Recently taping robot with smart recognition function have been studied in the coil manufacturing field. Due to the difficulty of 3D surface processing from the complicated working environment, it is not easy to accomplish smart tape attachment motion with non-contact sensor. To solve these problems the applicable surface recognition algorithm and a flexible sensing device has been recommended. In this research, the fusion method between 1D displacement and 3D laser scanner is applied for robust tape attachment about cold rolled coil. With these sensors we develop a two-step exploration and the smart algorithm for the awareness of non-aligned coil's information. In the proposed robot system for tape attachment, the problem is reduced to coil's radius searching with laser displacement sensor at first, and then position and orientation detection with 3D laser scanner. To get the movement at the robot's base frame, the hand-eye compensation between robot's end effector and sensing device should be also carried out respectively. In this paper, we examine the auto-coordinate transformation method in the calibration step for the real environment usage. From the experimental results, it was shown that the taping motion of robot had a robust under the non-aligned cold rolled coil.

• Research in Community and Public Health Nursing
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• v.20 no.4
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• pp.403-411
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• 2009

Purpose: The purpose of this study is to explore the effects of a group movement exercise program on psychophysiological variables in the institutionalized elderly. Methods: This research adopted the non-equivalent control group pretest-posttest design. Twenty elders were selected as an experimental group, whereas twenty-two elders were as a control group. The group movement program consisted of 35 minutes of dance and three days a week for eight weeks. Resting systolic blood pressure, diastolic blood pressure and heart rate were measured in a relaxed sitting position. The range of flexion and extension of joint was measured with a gonimeter. Life satisfaction and self-efficacy were measured by self-report. Data were analyzed through $x^2$-test, t-test and ANCOVA using SPSS/WIN program. Results: The results were as follows: Resting systolic blood pressure, diastolic blood pressure and resting heart rate decreased significantly by the group movement training. The range of flexion and extension of the shoulder and hip joints increased significantly. The scores of life satisfaction and self-efficacy increased remarkably by the group movement. Conclusion: The results suggest that group movement training can be an effective intervention to improve psychophysiological variables and the range of motion for the institutionalized elderly.

• Journal of Electrical Engineering and Technology
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• v.4 no.4
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• pp.457-466
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• 2009

This paper presents efficient parallel genetic algorithm (EPGA) based decomposed network for optimal power flow with various kinds of objective functions such as those including prohibited zones, multiple fuels, and multiple areas. Two coordinated sub problems are proposed: the first sub problem is an active power dispatch (APD) based parallel GA; a global database generated containing the best partitioned network: the second subproblem is an optimal setting of control variables such as generators voltages, tap position of tap changing transformers, and the dynamic reactive power of SVC Controllers installed at a critical buses. The proposed approach tested on IEEE 6-bus, IEEE 30-bus and to 15 generating units and compared with global optimization methods (GA, DE, FGA, PSO, MDE, ICA-PSO). The results show that the proposed approach can converge to the near solution and obtain a competitive solution with a reasonable time.

• Journal of the Korean Society of Industry Convergence
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• v.3 no.2
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• pp.131-139
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• 2000

Gear train in the automobile to be used for controlling gas flow in automobiles consists of spur gears with involute tooth type in multiple stages. This spur gear is designed considering to the high power transfer efficiency, bending stress and contact stress in the static and dynamic analysis. The torque has been increased simultaneously the angular velocity has been decreased through the stages after being supplied by AC synchronous motor. This apparatus is controlled by electrical devices such as the PIC microprocessor, hall sensor and other electric components. By comparing the preset data of PIC microcomputer which is supplied by external DC electric power with the value set of hall sensor which detects the rotation angle position, PIC microcomputer thus controls AC motor and gear train according to the program algorithm which includes the on-off control and PWM motor driving method. As the result of the experiment such as performance, fatigue, torque test, we can conclude that this system is superior to the same and familiar foreign systems.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.5 no.7
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• pp.1354-1360
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• 2001

Calculated velocity distribution was used to visual information by image that is obtained from camera. The visual velocity of object that is obtained from this visual information were fused and experimented. That is, need motion of eye that motion of head that happen by external disturbance or move of camera itself to get stable image in environment that receive external disturbance can be compensated. In this treatise, algorithm that control gaze which vision and sense of equilibrium are fused in environment with external disturbance proposed, and thing that compare with that it controls gaze only that control gaze which vision and sense of equilibrium are fused in the experiment result and position deflection is few confirmed. This was because action of camera prop is effect that record conclusion error of the speed because the appearance speed is decreased being compensated by angular velocity sensor.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.10 no.6
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• pp.714-720
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• 1998

The differential pressure venturi-cone flowmeter is an advanced flowmeter which has many advantages such as wide range of measurement, high accuracy, excellent flow turn-down ratio, low headless, short installation pipe length requirement, and etc. Like other differential pressure flowmeters, the venturi-cone flowmeter uses the law of energy conservation, but its shape and position make it perform better than others. The cone acts as its own flow conditioner and mixer, fully conditioning and mixing the flow prior to measurement. For the analysis, we used Reynolds-averaged Wavier-Stokes equations and k-$\omega$ turbulence model. The equations were fully transformed into the computational domain, the pressure-velocity coupling was made through SIMPLER algorithm, and the equations were discretized using finite analytic solutions of the liberalized equations(Finite Analytic Method). To control the separation phenomenon on the cone surface, we proposed a new shape of cone, and analyzed the flowfield in the new flowmeter system, and found the improvement on the performance of the new cone flowmeter.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.5
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• pp.467-473
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• 2007

In this paper, we present a position-based robot hand tracking scheme where a pan-tilt camera is controlled such that a robot hand is always shown in the center of an image frame. We calculate the rotation angles of a pan-tilt camera by transforming the coordinate systems. In order to identify the model parameters, we applied two optimization techniques: a nonlinear least square optimizer and a particle swarm optimizer. From the simulation results, it is shown that the considered parameter identification problem is characterized by a highly multimodal landscape; thus, a global optimization technique such as a particle swarm optimization could be a promising tool to identify the model parameters of a robot hand tracking system, whereas the nonlinear least square optimizer often failed to find an optimal solution even when the initial candidate solutions were selected close to the true optimum.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.9
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• pp.941-946
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• 2011

The Loran-C, a radio navigation system based on TDOA measurements is enhanced to eLoran using TOA measurements instead of TDOA measurements. Many error factors such as PF, SF, ASF, clock errors and unknown biases are included in eLoran TOA measurements. Because these error factors can cause failure in eLoran navigation algorithm, these errors must be compensated for high accuracy eLoran navigation results. Compensation of ASF and unknown biases are difficult to calculate, while the others such as PF and SF are relatively easy to eliminate. In order to compensate all errors in eLoran TOA measurements, a simple GPS aided bias compensation method is suggested in this paper. This method calculates the bias as the difference of TOA measurement and the range between eLoran transmitters and the receiver whose position is determined using GPS. The real data measured in Europe are used for verification of suggested method and navigation algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.375-383
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• 2012

Together with the GPS-based approach, geolocation through mobile communication networks is a key technology for location-based service. Since the Mobile WiMAX system is considered as a candidate for fourth-generation mobile systems, it is important to investigate its location capability. The geolocation of Mobile WiMAX can be realized when the preamble symbols in the down-link channel are appropriately used for a TDOA (Time-Difference-of-Arrival) approach. However, the cellular structure of Mobile WiMAX inevitably generates co-channel interference, and it is difficult for the mobile terminal to acquire distance measurements from multiple base stations. Therefore, for geolocation via multilateration using the Mobile WiMAX network, it is very important to increase hearability. This paper proposes a geolocation method for Mobile WiMAX which employs interference cancellation and preamble signal overlapping for the enhancement of hearability. A novel interference cancellation strategy for complex-valued Mobile WiMAX signals is presented which has an iterative structure. Simulation results show that the proposed geolocation method provides the user's position with an accuracy of less than 20 m through the Mobile WiMAX cellular network if there is no multi-path or NLOS (None-Line-of-Sight).