• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.9
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• pp.1964-1972
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• 2009

This paper proposed a distributed web environment for developing robot services using a 4-legged robot and MSRS. The proposed development environment of the robot services enabled a high-level complicated robot application to operate in a distributed web environment by implementing robot functions as services which can be run on network nodes using Microsoft MSRS. The environment has been also implemented using a 4-legged robot, Genibo as a robot platform. In experiment, we showed the developed robot services are enable to be executed and configured dynamically and support a remote monitoring in a distributed web environment. Finally the feasibility and the effectiveness of the proposed environment has been verified by creating a robot application using the developed robot services in Visual Program Language which helps student to create a complicated robot application system easily.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.9 no.4
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• pp.319-329
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• 2015

The purpose of this paper is to analyze lower extremities pattern of daily activities and walking on the treadmill with passive body support system. The experiments will be used for basic research of developing active harness system. The experimental procedure has been validated on 5 healthy male subjects and we measured foot pressure and 8 section of lower limb muscles activities. The EMG results of ADL indicate that there have specific muscle activity patterns followed by each activities. The vastus lateralis muscle activities were highly seems on the activities that requires flection and extension of knee joint. The foot pressure value of stair descent activity was the highest due to the fact that it is come down to the direction of gravity. The results with the passive body weight support percentages show that the EMG and foot pressure values were declined according to increasement of the body weight support percentages. Therefore the body weight support system could apply gait rehabilitation system for various patients by changing the percentages of the body weight support.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.11 no.4
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• pp.315-321
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• 2017

This paper is a study on the design and realization of Pedestrian navigation service system for the visually impaired. As it is an user interface considering visually impaired, voice recognition functioned smartphone was used as the input tool and the Osteoacusis headset, which can vocally guide directions while recognizing the surrounding environment sound, was used as the output tool. Unlike the pre-existing pedestrian navigation smartphone apps, the developed system guides walking direction by the scale of the left and right stereo sound of the headset wearing, and the voice guidance about the forked or curved path is given several meters before according to the speed of the user, and the user is immediately warned of walking opposite direction or proceeding off the path. The system can acquire stable and reliable directional information using the motion tracker with the dynamic heading accuracy of 1.5 degrees. In order to overcome GPS position error, we proposed a robust trajectory planning algorithm for position error. Experimental results for the developed system show that the average directional angle error is 6.82 degrees (standard deviation: 5.98) in the experimental path, which can be stated that it stably navigated the user relatively.

• International Area Studies Review
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• v.21 no.4
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• pp.159-172
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• 2017

In a typical trend-cycle decomposition of GDP, the trend component is usually assumed to follow a random walk process. This paper considers an ARIMA trend and assesses the validity of the ARIMA trend model. I construct univariate and bivariate unobserved-components(UC) models, allowing the ARIMA trend. Estimation results using U.S. data are favorable to the ARIMA trend models. I, also, compare the forecasting performance of the UC models. Dynamic pseudo-out-of-sample forecasting exercises are implemented with recursive estimations. I find that the bivariate model outperforms the univariate model, the smoothed estimates of trend and cycle components deliver smaller forecasting errors compared to the filtered estimates, and, most importantly, allowing for the ARIMA trend can lead to statistically significant gains in forecast accuracy, providing support for the ARIMA trend model. It is worthy of notice that trend shocks play the main source of the output fluctuation if the ARIMA trend is allowed in the UC model.

• Journal of the Earthquake Engineering Society of Korea
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• v.13 no.5
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• pp.11-21
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• 2009

Considering that the weight of a biaxial hollow slab system is not increased with an incremental increase in its thickness, and that the flexural stiffness of a biaxial hollow slab is not significantly lower than that of a general solid slab, there has been a growing need for biaxial hollow slab systems, because long span structures are in great demand. In a long span structure, the problem of vibration of floor slabs frequently occurs, and the dynamic characteristics of a biaxial hollow slab system are quite different from the conventional floor systems. Therefore, in this study, the floor vibration of a biaxial hollow slab system subjected to walking load is investigated in comparison with a conventional floor slab system. For the efficiency of time history analysis, an equivalent plate slab model that can precisely represent the dynamic behavior of a biaxial hollow slab system is used. From the analytical results, it was determined that vibration of a biaxial hollow slab system subjected to walking load is evaluated as "office-level vibration," according to the classifications of the architectural institute of Japan and ANSI.

• Journal of Biomedical Engineering Research
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• v.19 no.5
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• pp.519-530
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• 1998

In this paper, the basic study on the design of the flexible keel of the energy-storage prosthetic foot was performed in order to Improve the walking performance and Increase the activities of the below knee amputees. Based on the analysis of the anthropometric data and the normal gait on two dimensional sagittal plane available In the literature, we presented a model of the basic structure of the flexible keel of the prosthetic foot. The model of the basic structure was composed of the simple beams, and linear rotational spring and damper. Laminated carbon fiber-reinforced composites were selected as the material of the basic structure model of the flexible keel In order to apply the high strength and light weight materials to the basic structure of the flexible keel of the prosthetic foot. The recoverable strain energy In response to the change of beam shape was calculated bur the finite element analysis and it was suggested that the change of beam shape could be the design variable in flexible keel design. The simulation process was systematically designed by using orthogonal array table in order to design the flexible keel structure which could store the more recoverable strain energy. finite element analysis was carried but according to the design of simulations by using the finite element program ABAQUS and the flexible keel structure of the energy-storage prosthetic foot was obtained from the analysis of variance(ANOVA). The dynamic simulation model of the prosthetic walking using the flexible keel structure was made and the dynamic analysis was carried but during one walk cycle. Based on the above results, an effective design process was presented for the development of the prosthetic fool system.

• KIPS Transactions on Computer and Communication Systems
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• v.6 no.4
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• pp.179-188
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• 2017

It is very challenging to analyze the traffic flow in the city because there are lots of traffic accidents, intersections, and pedestrians etc. Now, even in mid-size cities Bus Information Systems(BIS) have been deployed, which have offered the forecast of arriving times at the stations to passengers. BIS also provides more informations such as the current locations, departure-arrival times of buses. In this paper, we perform the time-series analysis of the traffic flow using the data of the average trvel time and the average speed between stations extracted from the BIS. In the mid size cities, the data from BIS will have a important role on prediction and analysis of the traffic flow. We used the Dynamic Linear Model(DLM) for how to make the time series forecasting model to analyze and predict the average speeds at the given locations, which seem to show the representative of traffics in the city. Especially, we analysis travel times for weekdays and weekends separately. We think this study can help forecast the traffic jams, congestion areas and more accurate arrival times of buses.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2003.05a
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• pp.309-312
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• 2003

Though a legged robot has high terrain adaptability as compared with a wheeled vehicle, its moving speed is considerably low in general. For attaining a high moving speed with a legged robot, a dynamically stable walking, such as running for a biped robot and a trot gait or a bound gait for a quadruped robot, is a promising solution. However, energy efficiency of a dynamically stable walking is generally lower than the efficiency of a stable gait such as a crawl gait. In this paper, we present an experimental study on the energy efficiency of a quadruped walking vehicle. Energy consumption of two walking patterns for a trot gait is investigated though experiments using a TITAN-VIII.

• Journal of Advanced Navigation Technology
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• v.11 no.2
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• pp.209-216
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• 2007

In this paper, we embodied posture-stabilization and dynamic gait in a walking robot. 10 RC servo motors are used to operate joints. And the joints have enough moving ranges suitable in any walking pattern. Each joint trajectory is generated by cubic spline interpolation method and the stability of the trajectory is verified by using Zero Moment Point from the robot modeling. To avoid complex structure and expression, Zero Moment Point of the biped robot used angular acceleration is suggested. To measure the stability of the biped robot, Tilt sensor and gyro sensor are used. Finally, Personal Computer is used computer monitoring and data processing. Most of computation, such as 10 RC servo motor control, joint trajectory generating, ZMP compensation, sense measuring, etc, was used Digital Signal Processor.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.5 s.311
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• pp.1-9
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• 2006

Because most applications of vision-based object tracking demonstrate satisfactory operations only under very constrained environments that have simplifying assumptions or specific visual attributes, these approaches can't track target objects for the highly variable, unstructured, and dynamic environments like a traffic scene. An adaptive fusion framework is essential that takes advantage of the richness of visual information such as color, appearance shape and so on, especially at cluttered and dynamically changing scenes with partial occlusion[1]. This paper develops a particle filter based adaptive fusion framework and improves the robustness and adaptation of this framework by adding a new distinctive visual attribute, an image feature descriptor using SIFT (Scale Invariant Feature Transform)[2] and adding an automatic teaming scheme of the SIFT feature library according to viewpoint, illumination, and background change. The proposed algorithm is applied to track various traffic objects like vehicles, pedestrians, and bikes in a driver assistance system as an important component of the Intelligent Transportation System.