• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.12
• /
• pp.1106-1114
• /
• 2012

To achieve synchronized motion between a wearable robot and a human user, the redundancy must be resolved in the same manner by both systems. According to the seven DOF (Degrees of Freedom) human arm model composed of the shoulder, elbow, and wrist joints, positioning and orientating the wrist in space is a task requiring only six DOFs. Due to this redundancy, a given task can be completed by multiple arm configurations, and thus there exists no unique mathematical solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and their effect on the redundancy resolution of the human arm based on a seven DOF manipulator model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing different cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid for the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each two consecutive points along the task space trajectory. As a first step, the redundancy based on the kinematic criterion will be thoroughly studied based on the motion capture data analysis. Experimental results indicate that by using the proposed redundancy resolution criterion in the kinematic level, error between the predicted and the actual swivel angle acquired from the motor control system is less than five degrees.

• The Journal of the Korea Contents Association
• /
• v.12 no.1
• /
• pp.379-385
• /
• 2012

The purpose of this study is to propose that co-working plan with patient information service system for dental clinic and dental lab using smart phone system which is recently spread to. For this purpose, we introduced latest mobile S/W development environment. And design key features of patient information service system based on mobile platform(Android) by user interface design. In fact, we have applied this system(mobile system) to dental clinic and dental lab, we have following results: 1.There were significant possibility in dental utilization of smart phone based on latest ICT(Information & Communication Technology) technology. 2. Improve conventional method of image upload by connecting digital camera to the server computer using USB port. 3. Reduce error of image management by direct upload to server computer from smart phone. 4. Improve process of making prosthetic appliance by displaying dental image on smart phone in dental lab.

• Journal of Educational Research in Mathematics
• /
• v.17 no.2
• /
• pp.111-125
• /
• 2007

In this article, we introduce an example about 'computers and mathematics education' and discuss its educational meaning. First, we survey two microworlds of Logo and DGS, which are two different representation systems for geometric phenomena. And we propose needs of connecting two microworlds with common perspective. And we suggest a mediation model that connects two representations in a microworld. Using this mediation model(Circle model), we construct a circle, a ellipse, and a cardioid with two different representations. It is important that the mediation model makes it possible that we translate descriptions from one representation into the other, and guess perimeters of planar curves. We also discuss roles and mathematical implications of this mediation model by error case in calculating perimeters of ellipses.

• School Mathematics
• /
• v.7 no.3
• /
• pp.269-286
• /
• 2005

The purpose of this paper is to study the spatial sense that is introduced for the first time in our 7th mathematics curriculum. For this purpose, we first investigated the factors of the spatial sense ability and with this factors, we analyze the errors those was founded in elementary school students' carrying out tasks related to the spatial sense, and the contents of elementary mathematics textbook. From the analysis, we found that the teaching topics in the spatial sense is disagreed with the students' learning level and for each similar topics is cut off into not adjacent grades, connecting these topics to each other and to the other traditional geo-metric topics is not easy. we must consider this findings in the future revision of mathematics curriculum.

• School Mathematics
• /
• v.7 no.4
• /
• pp.427-444
• /
• 2005

The Purpose of this study is to explore he mathematical discovery and justification of six 10th grade students through mathematical modeling activities in spreadsheet environments. The students investigated problem situations with a spreadsheet, which seem to be difficult to solve in paper and pencil environment. In spreadsheet environments, it is easy for students to form a data table and graph by inputting and copying spreadsheet formulas, and to make change specific variable by making a scroll bar. In this study those functions of spreadsheet play an important role in discovery and justification of mathematical rules which underlie in the problem situations. In modeling activities, the students could solve the problem situations and find the mathematical rules by using those functions of spreadsheets. They used two types of trial and error strategies to find the rules. The first type was to insert rows between two adjacent rows and the second was to make scroll bars connecting specific variable and change the variable by moving he scroll bars. The spreadsheet environments also help students to justify their findings deductively and convince them that their findings are true by checking various cases of the Problem situations.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.1
• /
• pp.73-80
• /
• 2000

The stewart platform manipulator proposed by stewart is the parallel manipulator which is composed of several independent actuators connecting the upper plate with the base plate and capable of executing a six degree of freedom motion. The manipulator has a structure of a closed loop form, and provides better load-to-weight ratio and ratio and rigidity than a serial manipulator with an open loop form. Moreover, the manipulator has high positional accuracy because position errors of actuators are not additive. Because of these advantages, this manipulator is widely used in many engineering applications such as a driving simulator, a tool of machining center, a force/torque sensor and so on. When this Stewart platform manipulator is controlled in joint space, it is difficult to design a controller using an analytic method due to nonhnearity and unknown parameters of actuators. Therefore, a PID controller is often used because of easiness in applications. To find the PID control gain, a trial-and-error method is generally used. This method is time-consuming, and does not guarantee a optimal gain. Thus, this paper proposes a GA-PID controller which selects an optimal PID control gain using genetic algorithms. And this proposed controller is evaluated experimentally and shows acceptable performance.

• Smart Media Journal
• /
• v.7 no.2
• /
• pp.15-22
• /
• 2018

Pupil tracking technologies can be used as an efficient information provider means that provides convenience to the user by connecting with a smart device. In this paper, we measure the distance of user gaze point using the pupil tracking device which produced by Pupil-labs, also shows the experimental result with analyzing accuracy and precision. Based on that the pupil gaze point location which tracked by pupil tracking device is compared with object target in terms of error. Since the mobile pupil tracking device is also one kind of camera, we have to perform the calibration before using the device. Not only generally used 2-dimensional calibration, but also 3-dimensional calibration method is explained. To get the improved accuracy of 2-dimensional calibration result, the 3-dimensional calibration set an imaginary plane and executes the calibration in various 3-dimensional spaces. To show the efficiency of 3-dimensional calibration, we analyze the experimental result. It also introduces various using methods and information that can be obtained through the device.

• Journal of radiological science and technology
• /
• v.25 no.2
• /
• pp.71-75
• /
• 2002

According to this study, we can make the radiation check meter which have not supply because of high cost and import barrier and lengthen its life by means of repairing of radiation bomb and equipment. We can make better medical service. In my study, I used the photodiod, photoelectron, among semiconductor detectors which have a excellent detect capacity and are low cost and small size. I set up this equipment in June 1, 2002, used 640 mA remote operative fluorography equipment, which make the grade as capacity test. I used the standard measuring instrument which took proofs from a agency, now it was using in measuring agency. The comparative measuring instrument used in same condition. I took the standard which was gauged with a connecting measuring instrument. Using a existing unconnected measuring instrument, I compared the accuracy with new unconnected one. As a result, three score are within the standard. For the detailed analysis, I took the average of percentage average error. So standard instrument was -0.02, comparable was -0.22, and new one was -0.17. New one took a closer measured value with standard than comparable one. In more study, I think to take more accurate value. I expect that my study will be a base of measuring instrument, with low cost, supply of this instrument increase, I expect to decrease radiation bomb and maintain, repair and manager better.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
• /
• v.14 no.5
• /
• pp.369-374
• /
• 2021

Apartment recently built in kitchen is made is made because the gas hose with built-in ways invisible inside the sink. In this case, if the gas leaks, it is a dangerous method that can accumulate inside the sink and lead to an explosion. In this study, since the hose connected between the gas range and the intermediate valve is inside the sink, it is not possible to test for gas leaks, so a valve system that can easily check for gas leaks using a pressure sensor was studied. As for the pressure measurement method, the pressure of the hose connecting the intermediate valve and the gas range was measured so that data could be collected and analyzed using the I2C communication method. In addition, the calculation of the gas pressure supplied to the home was investigated for the atmospheric pressure error for the value calculated by adding the average value of the gas gauge pressure of 22.46 mbar at the inlet of the gas meter to the atmospheric pressure. A valve system was developed to detect minute gas leaks.

• Journal of the Korean Physical Society
• /
• v.73 no.11
• /
• pp.1764-1773
• /
• 2018

A-PET is a quad-head PET scanner developed for use in small-animal imaging. The dimensions of its volumetric field of view (FOV) are $46.1{\times}46.1{\times}46.1mm^3$ and the gap between the detector modules has been minimized in order to provide a highly sensitive system. However, such a small FOV together with the quad-head geometry causes image quality degradation. The main factor related to image degradation for the quad-head PET is the mispositioning of events caused by the penetration effect in the detector. In this paper, we propose a precise method for modelling the system at the high spatial resolution of the A-PET using a LOR (line of response) based ML-EM (maximum likelihood expectation maximization) that allows for penetration effects. The proposed system model provides the detection probability of every possible ray-path via crystal sampling methods. For the ray-path sampling, the sub-LORs are defined by connecting the sampling points of the crystal pair. We incorporate the detection probability of each sub-LOR into the model by calculating the penetration effect. For comparison, we used a standard LOR-based model and a Monte Carlo-based modeling approach, and evaluated the reconstructed images using both the National Electrical Manufacturers Association NU 4-2008 standards and the Geant4 Application for Tomographic Emission simulation toolkit (GATE). An average full width at half maximum (FWHM) at different locations of 1.77 mm and 1.79 mm are obtained using the proposed system model and standard LOR system model, which does not include penetration effects, respectively. The standard deviation of the uniform region in the NEMA image quality phantom is 2.14% for the proposed method and 14.3% for the LOR system model, indicating that the proposed model out-performs the standard LOR-based model.