• IEMEK Journal of Embedded Systems and Applications
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• v.19 no.1
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• pp.1-8
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• 2024

Robotic arms have been widely utilized in various labor-intensive industries such as manufacturing, agriculture, and food services, contributing to increasing productivity. In the development of industrial robotic arms, camera sensors have many advantages due to their cost-effectiveness and small sizes. However, estimating object positions is a challenging problem, and it critically affects to the robustness of object manipulation functions. This paper proposes a method for estimating the 3D positions of objects, and it is applied to a pick-and-place task. A deep learning model is utilized to detect 2D bounding boxes in the image plane, and the pinhole camera model is employed to compute the object positions. To improve the robustness of measuring the 3D positions of objects, we analyze the effect of lens distortion and introduce a false positive filtering process. Experiments were conducted on a real-world scenario for moving medicine bottles by using a camera-based manipulator. Experimental results demonstrated that the distortion removal and false positive filtering are effective to improve the position estimation precision and the manipulation success rate.

• Korean Journal of Applied Biomechanics
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• v.25 no.1
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• pp.85-94
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• 2015

Purpose : The purpose of this study was to investigate the influence on the ground reaction force parameters according to wearing positions of backpack for during stair ascending and descending. Methods : Participants selected as subject were consisted of young female(n=10) and performed stairs walks(ascending and descending) with 2 types of wearing position(front of trunk[FT], rear of trunk[RT]). Passive(Fz 1) and active(Fz 2) forces of the vertical GRF were determined from time function and frequency domain. Also shear forces(Fx, Fy 1, Fy 2), dynamic postural stability index(MLSI, APSI, VSI, DPSI), loading rate and center of pressure (${\Delta}COPx$, ${\Delta}COPy$, COP area) were calculated from time function and frequency domain. Results : Fx, Fy 1, Fy 2, and Fz 1 in GRF didn't show significant differences statistically according to the wearing positions of backpack(p>.05), but stair descending showed higher forces than that of stair ascending. Particularly, Fz 2 of stair ascending showed higher forces than that of stair descending(p<.001), RT types showed higher than that of FT types(p<.05). MLSI, APSI, VSI, and DPSI of stair descending showed the increased stability index than that of stair ascending(p<.05), MLSI of RT types showed the decreased stability index than that of FT types(p<.05). Loading rate didn't show significant differences statistically according to the wearing positions of backpack(p>.05), but stair descending showed higher loading rate than that of stair ascending(p<.001). Also, ${\Delta}COPx$ in stair descending showed the increased movement than that of stair ascending(p<.05). Conclusions : A backpack of 10 kg(10 kg(ratio of body weights $17.61{\pm}1.17%$) showed significantly change GRF parameters according to wearing positions during stair ascending and descending. If possible, we suggest that the dynamic stability, in case of stairs walking with a smaller weights can be further improved.

• Journal of Korea Spatial Information System Society
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• v.7 no.1 s.13
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• pp.77-89
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• 2005

Recently, application area on the Location Based System(LBS) is increasing because of development of mobile-communication and GPS technique. Previous studies on the index of moving objects are classified as either index for past trajectories or current/future positions. It is necessary to develop a unified index because many applications need to process queries about both past trajectories and current/future positions at the same time. In this paper, the past trajectories of moving objects are represented as line segments and the current and future positions are represented as the function of time. We propose a new index called PCR-tree(Past, Current R-tree) for unification of past, current and future positions. Nodes of the index have bounding boxes that enclose all position data and entries in the nodes are accessed with only one interface. We implement the proposed index and show a feasibility of processing the queries about temporal-spatial domain with the query tool which we develop.

• Imaging Science in Dentistry
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• v.43 no.3
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• pp.191-196
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• 2013

Purpose: This study assessed the accuracy of linear and angular measurements on panoramic radiographs taken at different positions in vitro. Materials and Methods: Two acrylic models were fabricated from a cast with normal occlusion. Straight and $75^{\circ}$ mesially and lingually angulated pins were placed, and standardized panoramic radiographs were taken at standard position, at an $8^{\circ}$ downward tilt of the occlusal plane compared to the standard position, at an $8^{\circ}$ upward tilt of the anterior occlusal plane, and at a $10^{\circ}$ downward tilt of the right and left sides of the model. On the radiographs, the length of the pins above (crown) and below (root) the occlusal plane, total pin length, crown-to-root ratio, and angulation of pins relative to the occlusal plane were calculated. The data were subjected to repeated measures ANOVA and LSD multiple comparisons tests. Results: Significant differences were noted between the radiographic measurements and true values in different positions on both models with linear (P<0.001) and those with angulated pins (P<0.005). No statistically significant differences were observed between the angular measurements and baselines of the natural head posture at different positions for the linear and angulated pins. Conclusion: Angular measurements on panoramic radiographs were sufficiently accurate and changes in the position of the occlusal plane equal to or less than $10^{\circ}$ had no significant effect on them. Some variations could exist in the pin positioning (head positioning), and they were tolerable while taking panoramic radiographs. Linear measurements showed the least errors in the standard position and $8^{\circ}$ upward tilt of the anterior part of the occlusal plane compared to other positions.

• The Journal of Korean Physical Therapy
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• v.19 no.5
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• pp.1-10
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• 2007

Purpose: Leg-crossing sitting is very common for men and woman. No solid evidence exists for either a beneficial or a detrimental effect of this posture. This study investigated the change of activities of trunk muscles between the normal group and the low back pain group during various leg-crossing positions. Methods: The subjects were consisted of 10 subjects who don't have low back pain and 10 subjects who have low back pain. In this study, we used electromyography(EMG) to evaluate the activities of both the trunk muscles (rectus abdominis, external oblique, internal oblique, and multifidus) during various leg-crossing positions (up-right, leg-crossing, tailor-crossing, and ankle-crossing). We analyzed the data by using repeated one way ANOVA. Results: In normal group, there were increased in EMG activities of trunk muscles, but no significant differences during leg-crossing positions. In back pain group, there were increased in EMG activities of right external oblique, left. internal oblique, and both multifidus muscles in leg-crossing and tailor-crossing position, but no significant differences during leg-crossing positions. There was no significant difference of muscle activity of trunk muscles between the back pain group and the normal group. Conclusion: We suggest that low back pain people who have weak muscles of rectus abdominis, external and internal oblique are often experienced in leg-crossing posture than normal. To compensate this unstability of trunk, leg-crossing posture is substituted passive structure for activities of active muscle.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1966_1967
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• 2009

As an attempt to characterize the pulse behaviors at the three pulse diagnosis positions in the oriental medicine which are called Chon, Gwan, and Cheok, we measure the pluse waveforms by SphygmoCor apparatus, that has been used widely for the evaluation of the arterial stiffness, and examine the Augmentation Index (AIx) at the aorta. For the study, twenty healthy men at the age of twenties have participated as the subject group. The pulse has been measured twice at the three palpation positions, and by two-way repeated measures ANOVA we tested the repeatability and the mean differences in the aortic AIx between Chon, Gwan, and Cheok. The AIx was found to be statistically different between the measurement positions. Duncan's test shows that the AIx is statistically different between Chon and the other two positions. Our study may be used as a reference for further scientific quantification of the pulse diagnosis.

• Journal of the Korean Society of Physical Medicine
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• v.15 no.2
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• pp.121-128
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• 2020

PURPOSE: This study examined the changes in the cross-sectional area (CSA) of the abductor hallucis muscle during various ankle positions while performing toespread-out (TSO) exercise. METHODS: Thirty subjects with an average age of 22.1 years were recruited for this study. All subjects were firstly measured for the angle of their first metatarsophalangeal joint using a goniometer. Those with angles greater than 15° were allocated to the HV group. The remaining subjects were placed in the normal group. The CSA of the abductor hallucis was measured by ultrasound in the resting position with no movement and three ankle positions: neutral (0°), plantarflexion (30°), and dorsiflexion (30°). All data were analyzed using a two-way mixed analysis of variance between the groups (normal and HV group) and within the groups (resting, neutral, plantarflexion, and dorsiflexion) to determine the group x position interaction effects. RESULTS: During TSO exercise in the normal group, the CSA of the abductor hallucis was significantly greater in both the plantarflexion and neutral positions compared to the resting position (p_adj < .01), and plantarflexion was significantly greater than the dorsiflexion position (p_adj < .01). During the TSO exercise in the HV group, the CSA of the abductor hallucis for plantarflexion was significantly greater than it was for the resting, neutral, and dorsiflexion positions (p_adj < .01). CONCLUSION: Based on the above results, the TSO exercise in plantarflexion is an effective rehabilitation exercise for subjects with HV.

• Physical Therapy Korea
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• v.2 no.1
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• pp.44-50
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• 1995

The purpose of this study was to investigate which of 4 positions produced the highest action potential in the rectus femoris muscle of normal adult subjects. Testing was performed in supine with the right leg performing a simple straight leg raise with the knee fully extended. The left leg, however, was placed in 4 different positions: 1. Full support with $0^{\circ}$ flexion. 2. Flexed on the plinth with $60^{\circ}$ knee flexion and foot flat. 3. Same as N0.2 but with $90^{\circ}$ knee flexion. 4. Left leg hanging over the end of the plinth with $90^{\circ}$ knee flexion, $0^{\circ}$ hip flexion and no foot support. This study was designed to compare the level of electromyographic activity of the rectus femoris under 4 positions. Fourty-three healthy young adults performed three trials of each exercise condition in random order in the supine position. Electromyographic activity was recorded from surface electrodes. Rectus femoris action potentials in all 4 positions were significantly different. The highest action potential at the end of movement of the right leg occurred with the left leg hanging over the end of the plinth with $90^{\circ}$ knee flexion. It is therefore recommended the straight leg raising be performed with the contralateral leg flexed at $90^{\circ}$ over the end of the supporting surface to obtain a maximum rectus femoris isometric contraction.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.11
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• pp.99-107
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• 2009

Since a long work piece influences the natural frequency of the entire system with a miniature high speed spindle, a bar-feeder is used for a long work piece to improve the vibration characteristics of a spindle system. Therefore, it is very important to design optimally support positions between a bar-feeder and a long work piece for a miniature high speed spindle system. The goal of the current paper is to present an optimization method for the design of support positions between a bar-feeder and a long work piece. This optimization method is effectively composed of the method of design of experiment (DOE), the artificial neural network (ANN) and the genetic algorithm (GA). First, finite element models which include a high speed spindle, a long work piece and the support conditions of a bar-feeder were generated from the orthogonal array of the DOE method, and then the results of natural vibration analysis using FEM were provided for the learning inputs of the neural network. Finally, the design of bar-feeder support positions was optimized by the genetic algorithm method using the neural network approximations.

• Journal of the Optical Society of Korea
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• v.20 no.1
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• pp.107-117
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• 2016

We develop a new method to globally calibrate the feature points that are derived from the binocular systems at different positions. A three-DOF (degree of freedom) global calibration system is established to move and rotate the 3D calibration board to an arbitrary position. A three-DOF global calibration model is constructed for the binocular systems at different positions. The three-DOF calibration model unifies the 3D coordinates of the feature points from different binocular systems into a unique world coordinate system that is determined by the initial position of the calibration board. Experiments are conducted on the binocular systems at the coaxial and diagonal positions. The experimental root-mean-square errors between the true and reconstructed 3D coordinates of the feature points are 0.573 mm, 0.520 mm and 0.528 mm at the coaxial positions. The experimental root-mean-square errors between the true and reconstructed 3D coordinates of the feature points are 0.495 mm, 0.556 mm and 0.627 mm at the diagonal positions. This method provides a global and accurate calibration to unity the measurement points of different binocular vision systems into the same world coordinate system.