• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.159-168
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• 2024

Lower limb amputees are increasing due to various reasons. It is difficult for lower limb amputees to walk without an assistive device such as a prosthetic leg. In this paper, an electronically controlled knee-type prosthetic leg with a 4-bar linkage structure for lower limb amputees was developed. The knee-type prosthetic leg has a 4-bar linkage structure and assists walking by using an integrated drive module. The torque is 90 Nm, the rotation speed is up to 120 deg, and it weight 1.9 kg, so it is lighter than a commercial prosthetic leg, so it can be used for a long time because there is less fatigue when walking. An integrated control board was developed by applying various sensors and microprocessor. The motor drive and encoder are built into the integrated drive module. The integrated control board and integrated drive module communicate using CAN. When a lower limb amputee wears a knee-type prosthetic leg and walks, it shows a shape similar to the swing phase graph of a normal people, and it is possible to walk naturally while walking.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.2
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• pp.828-834
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• 2013

In this paper, TMC (Tracker Motion Controller) as one of the many research methods for condensing efficiency improvements can be condensed into efficient solar system configuration to improve the power generation efficiency of the castle with Concentrated solar silicon and photovoltaic systems (CPV)experiments using PV systems. Microprocessor used on the solar system, tracing the development of solar altitude and latitude of each is calculated in real time. Also accept the value from the sensor, motor control and communication with the central control system by calculating the value of the current position of the sun, there is a growing burden on the applicability. Through the way the program is appropriate for solar power systems and sensors hybrid-type algorithm was implemented in the ARM core with built-in TMC, Concentrated CPV system compared to the existing PV systems, through the implementation of the TMC in the country's power generation efficiency compared and analyzed. Sensor method using existing experimental results Concentrated solar power systems to communicate the value of GPS location tracking method hybrid solar horizons in the coordinate system of the sun's azimuth and elevation angles calculated by the program in the calculations of astronomy through experimental resultslook clear day at high solar irradiation were shown to have a large difference. Stopped after a certain period of time, the sun appears in the blind spot of the sensor, the sensor error that can occur from climate change, however, do not have a cloudy and clear day solar radiation sensor does not keep track of the position of the sun, rather than the sensor of excellence could be found. It is expected that research is constantly needed for the system with ongoing research for development of solar cell efficiency increases to reduce the production cost of power generation, high efficiency condensing type according to the change of climate with the optimal development of the ability TMC.

• Journal of Bio-Environment Control
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• v.9 no.4
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• pp.237-243
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• 2000

Agricultural machine is currently operated by man power in the greenhouse, which is oppressively hot and humid, and is for a farmer not to work in comfortable circumstances. In the future, agricultural machine will not have to operate by man power, but it will need do by unmanned power. In order to put into the automatic and unmanned operation of agricultural machine, this system was designed and built to move through the fixed path in the greenhouse. This system was composed of guiders(wires), a limit switch, an operating equipment, its software for automatizing a machine in the greenhouse. The guider was connected between the wall pillars, and the equipment was able to slide over the fixed path made of the guider, by rectilinear and rotational motion. A micro mouse was developed with a stepping motor to calculate on the success rate of its operation with the system As might be expected, this system with the micro mouse was moved the moved the paths with a success rate of 100% on the flat plane surface in our laboratory. However, on the sand plane or the other materials plane, the success rate was not better than 80%. If the micro mouse were well operated, the success rate was would be 100%. Based on the results of this research, this system would be expected to operate well on the path made of a simple wire.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.35 no.8
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• pp.789-798
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• 2011

We carry out an experimental investigation to analyze the basic performance of NO(nitric oxide) storage in a lean phase and also analyze the NO reduction achieved by the spraying of reducing agents in the rich phase of the exhaust gas in an LNT(Lean NOx Trap). This is an after-treatment system used to reduce the NOx emissions from a diesel engine. If the stored NO is reduced, we measure the outlet concentration downstream of the LNT. The test LNT material used in the experiments is commercial LNT. After being canned into stainless-steel(SUS304), it was built in a micro bench-flow reactor. Compositions of feed gases, three heated and three no heated gases were sprayed upstream of the LNT to analyze the characteristics. We use various temperatures and space velocities as response variables.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.20 no.6
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• pp.84-99
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• 2021

As the micro-mobility market grows, the demand for route guidance, that includes uphill information as well, is increasing. Since the climbing angle depends on the electric motor uesed, it is necessary to establish an uphill road DB according to the threshold standard. Although road alignment information is a very important element in the basic information of the roads, there is no information currently on the longitudinal slope in the road digital map. The High Definition(HD) map which is being built as a preparation for the era of autonomous vehicles has the altitude value, unlike the existing standard node link system. However, the HD map is very insufficient because it has the altitude value only for some sections of the road network. This paper, hence, intends to propose a method to generate the road longitudinal slope using currently available data. We developed a method of computing the longitudinal slope by combining the digital elevation model and the standard link system. After creating an altitude at the road link point divided by 4m based on the Seoul road network, we calculated individual slope per unit distance of the road. After designating a representative slope for each road link, we have extracted the very steep road that cannot be climbed with personal mobility and the slippery roads that cannot be used during heavy snowfall. We additionally described errors in the altitude values due to surrounding terrain and the issues related to the slope calculation method. In the future, we expect that the road longitudinal slope information will be used as basic data that can be used for various convergence analyses.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.22 no.2
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• pp.93-104
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• 2023

Currently, the permanent road traffic volume surveys under Road Act are conducted using a intrusive Automatic Vehicle Classification (AVC) equipments to classify 12 categories of vehicles. However, intrusive AVC equipment inevitably have friction with vehicles, and physical damage to sensors due to cracks in roads, plastic deformation, and road construction decreases the operation rate. As a result, accuracy and reliability in actual operation are deteriorated, and maintenance costs are also increasing. With the recent development of ITS technology, research to replace the intrusive AVC equipment is being conducted. However multiple equipments or self-built DB operations were required to classify 12 categories of vehicles. Therefore, this study attempted to prepare a method for classifying 12 categories of vehicles using vehicle specification information of the Vehicle Management Information System(VMIS), which is collected and managed in accordance with Motor Vehicle Management Act. In the future, it is expected to be used to upgrade and diversify road traffic statistics using vehicle specifications such as the introduction of a road traffic survey system using Automatic Number Plate Recognition(ANPR) and classification of eco-friendly vehicles.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.30 no.2
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• pp.169-177
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• 2017

In this paper, classification of spall and crack faults of gear teeth is studied by applying the ensemble empirical mode decomposition(EEMD) for the gear transmission error(TE). Finite element models of the gears with the two faults are built, and TE is obtained by simulation of the gears under loaded contact. EEMD is applied to the residuals of the TE which are the difference between the normal and faulty signal. From the result, the difference of spall and crack faults are clearly identified by the intrinsic mode functions(IMF). A simple test bed is installed to illustrate the approach, which consists of motor, brake and a pair of spur gears. Two gears are employed to obtain the TE for the normal, spalled, and cracked gears, and the type of the faults are separated by the same EEMD application process. In order to quantify the results, crest factors are applied to each IMF. Characteristics of spall and crack are well represented by the crest factors of the first and the third IMF, which are used as the feature signals. The classification is carried out using the Bayes decision theory using the feature signals acquired through the experiments.

• Journal of the Korean Orthopaedic Association
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• v.54 no.4
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• pp.309-316
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• 2019

Purpose: This study examined the residential environment and accessibility of rehabilitation for cerebral palsy (CP) to identify the problems with residential laws pertaining to the disabled and provide basic data on the health legislation for the rights of the disabled. Materials and Methods: The literature was searched using three keywords: residence, rehabilitation, and accessibility. Two items were selected: residential environment and rehabilitation accessibility. The questionnaire included 51 items; 24 were scored using a Likert scale and 27 were in the form of multiple-choice questions. Results: This study included 100 subjects, of which 93 lived at home and seven lived in a facility. Of these 93 subjects, 65% were living in apartments, usually two or more floors above ground, and 40% of them were living without elevators. According to the Gross Motor Function Classification System, subjects with I to III belonged to the ambulatory group and IV, V were in the non-ambulatory group. Subjects from both groups who lived at home found it most difficult to visit the rehabilitation center by themselves. In contrast, among those who lived at the facility, the ambulatory group found it most difficult to leave the facility alone, while the non-ambulatory group found it most difficult to use the toilet alone. Moreover, 83% of respondents thought that rehabilitation was necessary for CP. On the other hand, 33% are receiving rehabilitation services. Rehabilitation was performed for an average of 3.6 sessions per week, 39 minutes per session. Conclusion: There is no law that ensures secure and convenient access of CP to higher levels. Laws on access routes to enter rooms are insufficient. The disabled people's law and the disabled person's health law will be implemented in December 2017. It is necessary to enact laws that actually reflect the difficulties of people with disabilities. Based on the results of this study, an investigation of the housing and rehabilitation of patients with CP through a large-scale questionnaire will necessary.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.22 no.8
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• pp.1123-1132
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• 2018

In this paper, we design and implement a public bicycle sharing system based on smart phone application capable of distributing access codes via internet connection. When smartphone user uses the application to request a bicycle unlock code, server receives the request and sends an encrypted code, which is used to unlock the bicycle at the station and the same code is used to return the bicycle. The station's hardware prototypes were built on top of Internet devices such as raspberry pi, arduino, keypad, and motor driver, and smartphone application basically includes shared bike rental and return functionality. It also includes an additional feature of reservation for a certain time period. We tested the implemented system, and found that it is efficient because it shows the average of 3-4 seconds delay. The system can be implemented to manage multiple bikes with a single control box, and as the user can use a smartphone application, this makes the system more cost effective.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2017.05a
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• pp.463-466
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• 2017

The purpose of this paper is to develop a module capable of all-directional driving different from conventional wheeled robots, and to solve the problems of the conventional mobile robot with side driving performance degradation, It is possible to overcome the disadvantages such as an increase in the time required for the unnecessary driving. The all - direction spherical wheel drive module for driving a ball - balancing robot is required to develop a power transfer mechanism and a driving algorithm for driving the robot in all directions using three rotor casters. 3DoF (Axis) A driver with built-in forward motion algorithm is embedded in the module and a driving motor module with 3DoF (axis) for driving direction and speed is installed. The movement mechanism depends on the sum of the rotation vectors of the respective driving wheels. It is possible to create various movement directions depending on the rotation and the vector sum of two or three drive wheels. It is possible to move in different directions according to the rotation vector field of each driving wheel. When a more innovative all-round spherical wheel drive module for forward movement is developed, it can be used in the driving part of the mobile robot to improve the performance of the robot more technically, and through the forward-direction robot platform with the drive module Conventional wheeled robots can overcome the disadvantage that the continuous straightening performance is lowered due to resistance to various environments. Therefore, it is necessary to use a full-direction driving function as well as a cleaning robot and a mobile robot applicable in the Americas and Europe It will be an essential technology for guide robots, boarding robots, mobile means, etc., and will contribute to the expansion of the intelligent service robot market and future automobile market.