• Advances in robotics research
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• v.1 no.1
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• pp.81-99
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• 2014

This paper contributes towards the development of a computer vision system for telemonitoring of industrial articulated robotic arms. The system aims to provide precision real time measurements of the joint angles by employing low cost cameras and visual markers on the body of the robot. To achieve this, a mathematical model that connects image features and joint angles was developed covering rotation of a single joint whose axis is parallel to the visual projection plane. The feature that is examined during image processing is the varying area of given circular target placed on the body of the robot, as registered by the camera during rotation of the arm. In order to distinguish between rotation directions four targets were used placed every $90^{\circ}$ and observed by two cameras at suitable angular distances. The results were deemed acceptable considering camera cost and lighting conditions of the workspace. A computational error analysis explored how deviations from the ideal camera positions affect the measurements and led to appropriate correction. The method is deemed to be extensible to multiple joint motion of a known kinematic chain.

• Journal of Interdisciplinary Genomics
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• v.1 no.1
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• pp.10-13
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• 2019

A 10-year and 5 month-old girl with developmental delay, intellectual disability, attention deficit hyperactivity disorder, poor weight gain, and microcephaly was transferred to our pediatric clinic for genetic evaluation. Her height was within the 5-10th percentile, and her weight was under the 3rd percentile. On the social maturity scale, her developmental status was scored as 3 years 9 months for social age, and the social quotient was 35.98. A chromosomal microarray analysis was performed and the microduplication at chromosome 16p was observed: arr[GRCh37] 16p11.2 (29580020_30190029)${\times}3$. Currently, the patient is diagnosed with Grade 2 intellectual disability and is attending a computerized cognitive rehabilitation class twice weekly. In addition, nutritional support and growth follow up are also ensured in the Pediatric Gastrointestinal and Endocrinology clinic.

• Advances in robotics research
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• v.2 no.3
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• pp.237-245
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• 2018

This study evaluates the efficacy of a class robust control scheme namely active force control in performing a joint based trajectory tracking of an upper limb exoskeleton in rehabilitating the elbow joint. The plant of the exoskeleton system is obtained via system identification method whilst the PD gains were tuned heuristically. The estimated inertial parameter that enables the AFC disturbance rejection effect is attained by means of a non-nature based metaheuristic optimisation technique known as simulated Kalman filter (SKF). It was demonstrated from the present investigation that the proposed PDAFC scheme outperformed the classical PD algorithm in tracking the prescribed trajectory both in the presence and without the presence of disturbance attributed by the mannequin limb weights (1 kg and 1.5 kg) that mimics the weight of actual human limb weight. Therefore, it is apparent from the results obtained from the present study that the proposed control scheme, i.e., PDAFC is suitable for the application of exoskeleton for stroke rehabilitation.

• Advances in robotics research
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• v.2 no.3
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• pp.183-199
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• 2018

This paper presents the development of a 3D printed humanoid robotic hands of SignBot, which can perform Malaysian Sign Language (MSL). The study is considered as the first attempt to ease the means of communication between the general community and the hearing-impaired individuals in Malaysia. The signed motions performed by the developed robot in this work can be done by two hands. The designed system, unlike previously conducted work, includes a speech recognition system that can feasibly integrate with the controlling platform of the robot. Furthermore, the design of the system takes into account the grammar of the MSL which differs from that of Malay spoken language. This reduces the redundancy and makes the design more efficient and effective. The robot hands are built with detailed finger joints. Micro servo motors, controlled by Arduino Mega, are also loaded to actuate the relevant joints of selected alphabetical and numerical signs as well as phrases for emergency contexts from MSL. A database for the selected signs is developed wherein the sequential movements of the servo motor arrays are stored. The results showed that the system performed well as the selected signs can be understood by hearing-impaired individuals.

• Fisheries and Aquatic Sciences
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• v.24 no.7
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• pp.235-242
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• 2021

The present study investigated the critical thermal maxima (CT_max) of red-spotted grouper, Epinephelus akaara under different acclimation temperatures (T_acc). Fish were acclimated at 24℃, 28℃, and 32℃ water temperature for 2 weeks. Water temperature was increased at a rate of 1℃/h and CT_max level was measured following the critical thermal methodology (Paladino et al., 1980). The results showed that CT_max values of E. akaara were 35.61℃, 36.83℃, and 37.65℃ for fish acclimated at 24℃, 28℃, and 32℃, respectively. The acclimation response ratio (ARR) was 0.26. The CT_max values were significantly correlated with body size. Collectively, it is said that the CT_max value of red-spotted grouper can be affected by different adaptation temperature (24℃, 28℃, and 32℃) and the fish acclimated to a higher temperature has a higher CT_max level. Besides, the CT_max value of 35.61℃-37.65℃ indicating the upper thermal tolerance limit for E. akaara under different T_acc (24℃, 28℃, and 32℃). Understanding the thermal tolerance of E. akaara is of ecological importance in the conservation of this species.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.12
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• pp.6128-6134
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• 2012

In so many real estate development projects, there were strong needs to have a powerful tool to check feasibility of those projects. But there were not enough tool and measure to cover risk of real estate development and construction. Therefore I tried to find a real tool to measure investment value of development properly and efficiently, by means of case studies of many real estate development projects. Finally I found a fact that no tools of investment value analysis are perfect and efficient to hedge all kinds of risks in projects. Especially NPV(Net Present Value) and IRR(Internal Rate of Return) were not sufficient by themselves to measure investment value. So I found out that MIRR(Modified IRR), XIRR(X-IRR), ARR(Average Rate of Return), PP(Payback Period) and so on, would be supplementaries of proper and efficient investment value analysis.

• Journal of Life Science
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• v.8 no.2
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• pp.167-172
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• 1998

To investigate the effect of pine needle extract (PNE) on membrane fluidirt and neurotransmiter-related enzymes in brain of Spragu-Dawley(SD), male SD rats were fed basic diets (control group), and experimantal diets (PNE group)with 0.5% and 0.1% fo PNE for 6 weeks. pine (pinus tabulaeformis C$_{ARR}$ is one of the popular plant drugs which has used as a medicine in Asia. Cholesterol levels in brain mitochondria of 0.5%-PNE and 0.1%-PNDE groups were significantly decreased in 15% and 25%, respectively, compared with control group, but cholesterol levels in brain microsomes of these PNE groups howed almost no change compared with control group. Lipofuscin accumulations in brain membranes of 0.5%-PNE and 0.1%-PNE groups were sgnificantly inhibited in 18% and 21%, respectively, compared with control group. Brain memberance fluidity was also activated in 50% and 100% by the administration of 0.5%-PNE and 0.1%-PNE. higher acetylcholinesterase(15% and25%) and lower monoamine oxidase B (25% and 15%0 activities were effectively modulated by the administration of 0.5%-PNE and 0.1%-PNDE. These results suggest that more beneficial effects such as inhibition of cholesterol and lipofuscin, increase of membrane fluidity, higher acetylcholinesterase and lower monoamone oxidase activities in brain membranes of SD rats may be effectively modulated by administration of pine needle extract (PNE).

• Advances in robotics research
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• v.2 no.1
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• pp.45-57
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• 2018

Even though the popularity of projection mapping continues to increase and it is being implemented in more and more settings, most current projection mapping systems are limited to special purposes, such as outdoor events, live theater and musical performances. This lack of versatility arises from the large number of projectors needed and their proper calibration. Furthermore, we cannot change the positions and poses of projectors, or their projection targets, after the projectors have been calibrated. To overcome these problems, we propose a projection mapping method using a projector robot that can perform projection mapping in more general or ubiquitous situations, such as shopping malls. We can estimate a projector's position and pose with the robot's self-localization sensors, but the accuracy of this approach remains inadequate for projection mapping. Consequently, the proposed method solves this problem by combining self-localization by robot sensors with position and pose estimation of projection targets based on a 3D model. We first obtain the projection target's 3D model and then use it to accurately estimate the target's position and pose and thus achieve accurate projection mapping with a projector robot. In addition, our proposed method performs accurate projection mapping even after a projection target has been moved, which often occur in shopping malls. In this paper, we employ Ubiquitous Display (UD), which we are researching as a projector robot, to experimentally evaluate the effectiveness of the proposed method.

• Solar Energy
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• v.15 no.2
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• pp.25-37
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• 1995

This paper presents an approximate analytical solution to one-dimensional model of the charging process for stratified thermal storage tanks, in which variation of the inlet temperature as well as the momemtum-induced mixing is taken into accout. The mixing is incorporated into the model as a constant-depth perfectly mixed layer above the plug flow region. Based on the superposition principle, the variable inlet temperature is approximated by a number of step functions. Temperature distributions for the thermocline corresponding to three types of interfacial condition arr successfully derived in terms of well-defined functions, so that a linear combination of them constitutes the final solution. Validity and utility of this work is examined through the comparison of the approximate solution with an exact solution available for the case of linearly increasing inlet temperature. With increasing the number of steps, the present solution asymptotically approaches to the exact one. Even with a limited number of steps, the present results favorably agree with those by the exact solution for a wide range of the mixing depth. Also, it is revealed that fewer steps are needed for meaningful predictions as the mixing. depth becomes larger.

• Advances in robotics research
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• v.2 no.3
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• pp.201-217
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• 2018

Agriculture production is a critical human intensive task, which takes place in all regions of the world. The process to grow and harvest crops is labor intensive in many countries due to the lack of automation and advanced technology. Much of the difficult, dangerous and dirty labor of crop production can be automated with intelligent and robotic platforms. We propose an intelligent, agent-oriented robotic team, which can enable the process of harvesting, gathering and collecting crops and fruits, of many types, from agricultural fields. This paper describes a novel robotic organization enabling humans, robots and agents to work together for automation of gathering and collection functions. The focus of the research is a model, called HARMS, which can enable Humans, software Agents, Robots, Machines and Sensors to work together indistinguishably. With this model, any capability-based human-like organization can be conceived and modeled, such as in manufacturing or agriculture. In this research, we model, design and implement a technology application of knowledge-based robot-to-robot and human-to-robot collaboration for an agricultural gathering and collection function. The gathering and collection functions were chosen as they are some of the most labor intensive and least automated processes in the process acquisition of agricultural products. The use of robotic organizations can reduce human labor and increase efficiency allowing people to focus on higher level tasks and minimizing the backbreaking tasks of agricultural production in the future. In this work, the HARMS model was applied to three different robotic instances and an integrated test was completed with satisfactory results that show the basic promise of this research.