• Korean Journal of Applied Biomechanics
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• v.19 no.3
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• pp.539-547
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• 2009

The purpose of this study was to investigate the changes of kinetic and kinematic parameters in obstacle gaits after 12 weeks of an aquatic exercise program. Eight female elders walked in four different heights of obstacles(0, 2.5, 5.1, & 15.2cm) on their self-selected speed. The ROM of hip was significantly increased after the aquatic exercise program. Swing and Stance duration were decreased. The step length was significantly increased and the step width was decreased. After the exercise program the clearance between the right foot and the top of obstacle(except 15.2cm) increased and the crossing speed was increased. The braking force, propulsive force, braking impulse, and propulsive impulse were significantly changed after the aquatic exercise program. The 12 weeks of the aquatic exercise program resulted in lower body strength and balance gains in female elders. The improvements were associated with changes in kinetic and kinematic parameters leading to an obstacle-crossing speed and a safer lower-limb control. The aquatic exercise program is suggested as an effective intervention to promote gait ability and prevent fall-related to the injuries.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38C no.2
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• pp.155-164
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• 2013

Two design techniques for more accurate and more convenient hybrid positioning system with visible light communication (VLC) and ad-hoc wireless network infrastructure are proposed, in order to overcome the problems of high estimation error, high cost, and limited service range of the conventional positioning techniques. First method is based on a non-carrier VLC based hybrid positioning technique for applications involving of low data rate optical sensing and narrow-range visible light reception from transmitter, and long-range positioning. The second method uses a 4 MHz carrier VLC-based hybrid positioning technique for a high data rate optical sensing and wide-range visible light receiving from transmitter, and mid-range positioning applications. In indoor environments with obstacles where there are long-range 7731.4cm and mid-range 2368cm distances between an observer and a target respectively, the hybrid positioning developed with two design techniques are tested, and the proposed system is verified and analyzed in this paper.

• Journal of Convergence for Information Technology
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• v.9 no.6
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• pp.7-12
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• 2019

In order to shoot underwater, the photographer must be equipped with shooting equipment and enter into the water. Since the photographer directly enters the water, safety accidents occur frequently due to various obstacles or deep water in the water. The proposed underwater stereo photography technique can solve the safety accident problem caused by the entry of the photographer into the water by using the drone for underwater photographing. In addition, this technique has the advantage of obtaining underwater images at low cost. In this study, the angle of the proposed cam for stereoscopic photography was analyzed and the condition that the proper stereoscopic image can be viewed was defined as the distance from the floor of 18cm to the floor distance of 41.4cm. This provision is proposed to be used to adjust the height of the shooting area descended by the elevation chain of the water surface hovering drones.

• Progress in Medical Physics
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• v.13 no.1
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• pp.32-36
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• 2002

For Intensity Modulated Radiation Therapy(IMRT), the spatial resolution of intensity map(IM) is limited by the width of multi-leaf collimator, which would make an effect on the conformity of the target, as well as organs at risk. Several Methods are suggested to increase the spatial resolution, which can be categorized by the hardware-dependent technique and the software-based technique. However the best solution might be to make the width of MLC finer. it has several obstacles in the respects of technical difficulty and cost. This preliminary study is designed to investigate the clinical effectiveness of the virtual-micro IMRT(VMIMRT) technique, one of the software-based technique. A particular intensity map was created, which has 42$\times$54 pixel dimension ,0.5cm pixel size and 15 intensity levels. Using this intensity map, segment fields of IMRT were generated with 1$\times$lcm, 0.5$\times$1cm, 0.5$\times$0.5cm(VMIM) beamlet size, respectively As results, we found that there was no evidence of improvement for VMIMRT, compared with the 0.5$\times$lcm beamlet size which can be delivered by 1cm width MLC. The reason seems to be due to the constraint of VMIMRT. Further study is required to prove the benefit of the VIMRT in clinical case like head and neck cancer, where is expected that higher resolution than 1cm is necessary.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11b
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• pp.333-343
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• 2000

An automatic guidance system for combine was designed to harvest paddy rice by following a predetermined path. The automatic guidance system consisted of DGPS to locate position of combine, a gyro sensor system to measure heading angle, ultrasonic sensors to detect obstacles, a hydraulic system, microcomputer as a controller, and I/O interface system. Hydraulic cylinders and valves were installed to control movement of the combine. The heading angle and the position of the combine, and ultrasonic measurements from edge were used as the inputs of the controller. The operating position of hydraulic cylinder was determined as output of the controller. The automatic guidance system was evaluated at the 45-m straight path by changing the posture of the combine. The average RMS errors were 14.0 cm without offset and 15.0 cm with 1-m offset. The DGPS provided accurate position information within the limited error to guide the combine in the field. The results showed that the automatic guidance system could guide the combine autonomously in the paddy field when the posture of the combine was changed.

• Journal of Electrical Engineering and Technology
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• v.8 no.4
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• pp.879-888
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• 2013

This paper addresses the vision based local path planning system for obstacle avoidance. To handle the obstacles which exist beyond the field of view (FOV), we propose a Panoramic Environment Map (PEM) using the MDGHM-SIFT algorithm. Moreover, we propose a Complexity Measure (CM) and Fuzzy logic-based Avoidance Motion Selection (FAMS) system to enable a humanoid robot to automatically decide its own direction and walking motion when avoiding an obstacle. The CM provides automation in deciding the direction of avoidance, whereas the FAMS system chooses the avoidance path and walking motion, based on environment conditions such as the size of the obstacle and the available space around it. The proposed system was applied to a humanoid robot that we designed. The results of the experiment show that the proposed method can be effectively applied to decide the avoidance direction and the walking motion of a humanoid robot.

• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.99-109
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• 2023

In this paper, the cinch bag typed fruit harvesting gripper was proposed. This gripper is focused on preventing problems that we found from the related research and setting the breakthrough as a design condition according to the harvest failures of other related studies. The cover part is designed to overcome the surrounding obstacles of target fruits such as tomato, Korean melon, and sweet pepper. The measurement of maximum load showed that the well-grasped target object, such as a spherical object with 65 mm of diameter, is unable to slip in a range of 0 kg to 10 kg. The fact that the gripper allows from 4 cm to 6 cm of positional error was shown in the measurement of positional error tolerance. And the cover part of this gripper showed that the suggested gripper can grab a target object without being obstructed by leaves and stems. Finally, it was proved that the gripper satisfied the design conditions through the measurement of contacting force, which showed it is appropriate for grasping an actual fruit without damage.

• Journal of Practical Agriculture & Fisheries Research
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• v.23 no.2
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• pp.51-61
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• 2021

As a result of examining the germination rate between ginseng varieties, Jagyongjong varieties had the highest germination rate, and Yeonpung. had the lowest germination rate. In the ginseng seed germination rate experiment, the highest germination rate and growth condition were shown in artificial soil conditions of the ratio of Peatmoss 6.5: Pearlite 2: Masato 1.5. Good soil conditions require adequate soil moisture forces during the incubation period. The cultivation of ginseng medicinal crops requires optimal soil breathability, soil pH, and soil stabilization, which are important for root breathing. Microbial activity in the soil has a great influence on the growth of ginseng. The optimum pH of the soil for ginseng cultivation is 5.0-5.5 As a result of the experiment, the soil remained in an appropriate range after a month. In general, when the EC concentration value of the soil for ginseng cultivation is 0.2 mS/cm or more, growth deteriorates, and when the EC concentration value is 0.5 mS/cm or more, concentration obstacles such as root decay occur. As a result of the analysis, the higher the concentration value of EC, the more likely it is to interfere with ginseng growth.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• autumn
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• pp.271-274
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• 2002

The aim of FMEA method which is already generalized in the industry engineering is to grasp a possibility that defect forms will appear. And it is a means of prevention step to let person remove obstacles which have an influence on customers beforehand in order. The two parts of FMEA are Design FMEA which we prepare in an early stage and Process FMEA which we prepare in time previous to mass production. This Study apply Process FMEA to execution fields of the construction industry.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.5
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• pp.568-576
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• 1999

Using a laser sheet beam projector combined with a CCD-Camera, an efficient technique to recognize complex surface of curvature and lane has been demonstrated for the purpose of mobile robot navigation. In general, obstacles of indoor environments in the field of SLIT-RAY plane are captured as segments of an elliptical arc and a line in the camera image. The robot has been capable of moving along around the obstacle in front of it, by recognizing the original shape of each segment with the differential coefficient by means of least squares method. In this technique, the imaged pixels of each segment, particularly elliptical arc, have been converted into a corresponding circular arc in the real-world coordinates so as to make more feasible the image processing for the position and radius measurement than conventional way based on direct elliptical are analyses. Advantages over direct elliptical cases include 1) higher measurement accuracy and shorter processing time because the circular arc process can reduce the shape-specifying parameters, 2) no complicated factor such as the tilt of elliptical arc axis in the image plane, which produces the capability to find column position and radiua regardless of the camera location . These are essentially required for a mobile robot application. This technique yields an accuracy less than 2cm for a 28.5cm radius column located in the range of 70-250cm distance from the robot. The accuracy obtained in this study is sufficient enough to navigate a cleaning robot which operates in indoor environments.