• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.5
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• pp.674-682
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• 2009

The modular robot is one which was developed to get over limit of the space movement for the mobile robot. The chain type robot in particular is connected by series each other and this form expression method is simple and easy to really make a docking method efficiently. However, the related studies were focused on the movement that used to be combination, and the movement of a cell independent mainly does not consist and have a problem to dock only in a direction, not to be connected with all directions. Therefore, we suggested a modular structure for quick, independent movement to solve such a problem and had own autonomy. In addition, we are intended to get some effectiveness for connection mechanism using one locking motor. In this paper, we dealt with the design for the mechanical and electrical points and docking algorithm including communication method. All of the structure is verified with real action experiment through the shape expressions of various application platform.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.6
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• pp.505-510
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• 2016

This paper presents a searching method of corresponding points robust to rotational error for scan-matching used for SLAM(Simultaneous Localization and Mapping) in mobile robot. A differential driving mechanism is one of the most popular type for mobile robot. For driving curved path, this type controls the velocities of each two wheels independently. This case increases a wheel slip of the mobile robot more than the case of straight path driving. And this is the reason of a drifting problem. To handle this problem and improves the performance of scan-matching, this paper proposes a searching method of corresponding points using extraction of a closest point based on rotational radius of the mobile robot. To verify the proposed method, the experiment was conducted using LRF(Laser Range Finder). Then the proposed method is compared with an existing method, which is an existing method based on euclidian closest point. The result of our study reflects that the proposed method can improve the performance of searching corresponding points.

• KIPS Transactions on Software and Data Engineering
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• v.8 no.11
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• pp.449-456
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• 2019

This paper is a study on the construction of a wall-climbing mobile robot using vacuum suction and wheel-type movement, and a comparison of the performance of an automatic wall crack detection algorithm based on machine learning that is suitable for such an embedded environment. In the embedded system environment, we compared performance by applying recently developed learning methods such as YOLO for object learning, and compared performance with existing edge detection algorithms. Finally, in this study, we selected the optimal machine learning method suitable for the embedded environment and good for extracting the crack features, and compared performance with the existing methods and presented its superiority. In addition, intelligent problem - solving function that transmits the image and location information of the detected crack to the manager device is constructed.

• Journal of the Korea Convergence Society
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• v.12 no.12
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• pp.427-434
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• 2021

This study was conducted to investigate the job-performance of manual wheelchair post-management and to find out the relationship between job-performance and vocational ability of people with developmental disabilities. In this study, situational evaluation and vocational evaluation were conducted for 9 subjects participated in the vocational training program about manual wheelchair post-management. The data was analyzed by non-parametric statistical processing. As a result, the job-performance was an average of 80.87%. The job-performance had a positive correlations with visual closure, kinesthetic integration, and basic concepts(p<.05). The relationship between job-performance and vocational abilities can be used as basic data for vocational training program and job assignment. It is expected to be useful of spreading the post-management job for assistive technology devices in the local community activated through the convergence of assistive technology and vocational rehabilitation.

• Education of Primary School Mathematics
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• v.24 no.4
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• pp.203-216
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• 2021

Seeing the elapsed time as a quantity that can be measured is quite challenging for students while making students see it is also challenging for teachers. Tuning on these challenges, this article reports on what learning opportunities elementary teachers provide when they teach elapsed time focusing on quantitative objectification. I observed three mathematics classrooms where the elapsed time was taught by three elementary teachers and did a narrative analysis on the instructions. All three teachers utilized certain tools to support students access to the elapsed time as a quantity. They appropriated various quantitative attributes of the tool. In the case of the analog clock, one teacher tried to quantification the elapsed time with the number of minute hand's turning, while the other teacher indicated the distance of minute hand's moving. One teacher represented the elapsed time with the longitudinal attribute of the time band. Standing on the findings, the didactical implications of various attempts for quantitative objectification of the elapsed time implemented were discussed.

• Journal of Korea Society of Industrial Information Systems
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• v.23 no.6
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• pp.21-27
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• 2018

Wearing degree and uneven wearing detection algorithm using horizontal edge information is proposed in this paper. The noise in the input image is removed by bilateral filter, and then edges are extracted from the filtered image by using the proposed mask. As the tire is worn, grooves of tire shoulder or sipes are changed more than the vertical grooves. Therefore the edges from grooves of tire shoulder or sipes have more information about the tire wearing than the edges from vertical grooves. Proposed mask that is reflected this feature is used to extract the horizontal edges. After edge extraction, the edge image is represented in two-level system. The edge pixels of the binarization image are used to decide the wearing degree and uneven wearing. This proposed method can be used easily without any other equipments. The proposed method is conducted with a real vehicle, and the experimental results show the good performance of the proposed method in detecting wearing degree and uneven wearing.

• Journal of Korean Traditional Oncology
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• v.23 no.2
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• pp.35-41
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• 2018

Objective: The purpose of this study is to report a metastatic adrenocortical carcinoma patient treated with wheel balanced cancer therapy (WBCT) regimen. Methods: A 52-year-old female patient diagnosed and incised with metastatic adrenocortical carcinoma visited the East West Cancer Center (EWCC) on Sep. 1st, 2018 for WBCT. The patient was treated with WBCT for an approximately 2 months, from Sep. 1st to Nov. 9th. Computed tomography (CT) was used to follow-up the tumor site. Laboratory analysis and National Cancer Institute Common Terminology Criteria for Adverse Events (NCI-CTCAE), version 5.0 were used to evaluate the safety of WBCT. Results: The surgical beds after surgery (Lt. Laparoscopic adrenalectomy) were maintained without recurrence at follow up chest CT, and related symptoms and quality of life (QOL) were improved during the WBCT. Conclusion: This case study suggests that WBCT may help to improve QOL of adrenocortical carcinoma patient.

• Journal of the Korean Institute of Gas
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• v.26 no.2
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• pp.9-13
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• 2022

Electric wheelchairs, the output from the motor is mainly applied to a speed reducer using a power transmission device such as a belt or a chain. However, although a speed reducer using a belt or chain is a simple device, it occupies a lot of space and has a space limitation, so it is not suitable for an electric wheelchair driving part. However, since the speed reducer of the planetary gear type is decelerated on the same axis, the volume can be reduced, so the space constraint is less than that of the belt or chain type reducer. Therefore, in this study, a driving part that can obtain great propulsion with a speed reducer using a planetary gear type was developed through a study on the driving part of a wheelchair that can be switched between manual and electric. Accordingly, the tooth shape of the planetary gear applied to the reducer was designed using the Kisssoft program. In addition, the drive part was designed to be applicable to the existing wheelchair wheels, and the mechanism was optimized for the manual/electric switching principle and operation principle of the drive part. Based on the research contents, the final design and manufacture of the wheelchair reducer drive unit in the form of a planetary gear having one sun gear, two planetary gears and one ring gear was carried out.

• Journal of the Korean Institute of Gas
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• v.26 no.2
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• pp.21-26
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• 2022

Since the four-wheel drive transmits the driving force to all four wheels, the traction with the road surface increases, thereby increasing the driving force. However, it has the disadvantage of lowering fuel efficiency. Therefore, four-wheel drive is commonly used as a method of converting to optional four-wheel drive when necessary while driving in two-wheel drive. This selective four-wheel drive converts the driving force by mechanically changing the electric signal sent by the driver in the transfer case. In this study, in order to mechanically change the electrical signal, a reducer is applied to the motor to increase the torque to perform the function. Therefore, in this study, a reduction mechanism applicable to the motor inside the transfer case applied to convert the drive is derived, and the reduction ratio applying the planetary gear type is optimized accordingly. And based on the derived reduction ratio, two sets of planetary gears using a ring gear in common were applied to develop a planetary gear tooth type in which the input shaft and output shaft are decelerated in the same phase. Optimization design was carried out.

• Journal of Aerospace System Engineering
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• v.17 no.2
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• pp.45-55
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• 2023

This study conducted aeromechanics modeling and structural load analyses of Tilt Rotor Aeroacoustic Model (TRAM), a 25% scaled V-22 tiltrotor model used in wind tunnel tests. A rotorcraft comprehensive analysis code, CAMRAD II, was used. Analysis results of this study in low-speed forward flights were compared with DNW test and previous analysis results. Blade flap bending moments were in good agreement with measured data. Mean values and oscillatory loads for lead-lag bending and torsion moments were slightly different from measured data. However, when mean values were removed, results of structural loads for one rotor revolution were moderately compared with wind tunnel tests and previous analyses. Total forces and half peak-to-peak forces of the pitch link reasonably well matched with previous analysis results and measured data. Finally, harmonic magnitudes of blade structural loads were investigated.