• Journal of Sensor Science and Technology
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• v.17 no.6
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• pp.447-453
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• 2008

Respiration rate is one of the important vital signs. Photo-plethysmography (PPG) measurement especially on a finger has been widely used in pulse oximetry and also used in estimating respiration rate. It is well known that PPG contains respiration-induced intensity variation (RIIV) signal. However, the accuracy of finger PPG method has been controversial. We introduced a new technique of enhancing motion artifact by respiration. This was achieved simply by measuring PPG on the thorax. We examined the accuracy of these two PPG methods by comparing with two existing methods based on thoracic volume and nostril temperature changes. PPG sensing on finger tip, which is the most common site of measurement, produced 6.1 % error. On the other hand, our method of PPG sensing on the thorax achieved 0.4 % error which was a significant improvement. Finger PPG is sensitive to motion artifact and it is difficult to recover fully small respiratory signal buried in waveform dominated by absorption due to blood volume changes. Thorax PPG is poor to represent blood volumes changes since it contains substantial motion artifact due to respiration. Ironically, this inferior quality ensures higher accuracy in terms of respiration measurement. Extreme low-cost and small-sized LED/silicon detector and non-constrained reflection measurement provide a great candidate for respiration estimation in ubiquitous or personal health monitoring.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.923-928
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• 2003

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or comer. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and the results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.34 no.6
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• pp.401-415
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• 2021

Soft robots are promising devices for applications in drug delivery, sensing, and manufacturing. Traditional hard robotics are manufactured with rigid materials and their degrees of motion are constrained by the orientation of the joints. In contrast to rigid counterpart, soft robotics, employing soft and stretchable materials that easily deforms in shape, can realize complex motions (i.e., locomotion, swimming, and grappling) with a simple structure, and easily adapt to dynamic environment. Among them, the magnetic actuators exhibit unique characteristics such as rapid and accurate motion control, biocompatibility, and facile remote controllability, which make them promising candidates for the next-generation soft robots. Especially, the magnetic actuators instantly response to the stimuli, and show no-hysteresis during the recovery process, essential for continuous motion control. Here, we present the state-of-the-art fabrication process of magnetically controllable nano-/micro-composites, magnetically aligning process of the composites, and 1-dimensional/multi-dimensional multimodal motion control for the nextgeneration soft actuators.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.8
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• pp.1974-1984
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• 1994

This paper presents a relative coordinate formulation for constrained mechanical systems. Relative coordinates are defined along degrees of freedom of a joint. Graph theoretic analyses are performed to identify topological paths in mechanical systems. Cut constraints are generated to handle closed loop systems. Equations of motion are derived in the Cartesian space and transformed to the joint space. Relative generalized coordinates are corrected to satisfy the cut constraints by a parametrizatiom method.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.118-123
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• 1989

This work deals with fast-to-compute global control laws for time-optimal motion of strongly nonlinear dynamic systems like resolute robots. the theory of cell-to-cell mappings for dynamical systems offer the possibility of doing the vast majority of the control law computation offline in case of time optimization with constrained inputs. These cells result from a coarse discretization of likely swaths of state space into a set of nonuniform, contiguous volumes of relatively simple shapes. Once the cells have been designed, the bang-bang schedules for the inputs are determined for all likely starting cells and terminating cells. the resulting control law is an open-loop optimal control law with feedback monitoring and correction.

• Proceedings of the IEEK Conference
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• 2002.06e
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• pp.189-192
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• 2002

This paper has been studied the movement of snake robot. In this paper we developed a simulator to simulate the creeping locomotion of a snake robot. This Robot makes possible to analyze the creeping locomotion with the normal-direction slip coupled to gliding along the tangential direction. Using the nonslip condition of the wheels, the robot gains propulsion by means of constrained forces on the wheels caused by bending the joints. The results of simulations show that smooth lateral undulatory motion is achived.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1996.10a
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• pp.275-281
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• 1996

In order to examine the validity of an asymptotic solution obtained from the method of multiple scales, we investigate a third-order subharmonic resonance response of a bar constrained by a nonlinear spring to a harmonic excitation. The motion of the bar is governed by a linear partial differential equation with a nonlinear boundary condition. The nonlinear boundary value problem is solved by using the finite difference method. The numerical solution is compared with the asymptotic solution.

• Journal of Electrical Engineering and Technology
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• v.1 no.2
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• pp.200-210
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• 2006

This paper proposes the motion generation method in which the movement of the 3-links leg subsystem in constrained to slider-link and a singular posture can be easily avoided. This method is the realization of jumping control moving in a vertical direction, which mimics a cat's behavior. To consider the movement from the point of the constraint mechanical system, a robotics system for realizing the motion will change its configuration according to the position. The effectiveness of the proposed scheme is illustrated by simulation and experimental results.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2019.11a
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• pp.256-258
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• 2019

최근 MPEG-Immersive 표준화 그룹에서는 여러 위치에 존재하는 다수의 360 영상을 취득하고 처리하여 사용자에게 제한적인 화면 전환 이동에 따른 운동 시차(motion parallex)를 제공하는 3 degrees of freedom plus (3DoF+) 기술에 관한 표준화가 진행되고 있다. 이러한 3DoF+ 표준화 기술에서의 압축은 기존의 HEVC 코덱을 사용하나, 현재 존재하는 360 영상 사용자 시점 기반 스트리밍 기법을 3DoF+ 스트리밍에 적용하기 위해서는 기존의 360 영상과 다르게 영상 서로 간의 참조과정으로 인한 의존성으로 문제가 존재한다. 본 논문에서는 해당 문제점을 서술하고, MCTS(Motion-Constrained Tile Set)를 사용하여 보다 적은 디코더와 사용자 시점에 맞게 효율적으로 영상을 전송할 수 있는 MCTS 기반 타일 그룹 분할 방법을 제안한다.

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.3
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• pp.169-176
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• 1998

A method for the dynamic analysis of multibody systems undertaking impulsive force is introduced in this paper. A partial velocity matrix based on Kane's method is introduced to reduce the number of equations to be solved. Only minimum number of equations of motion can be obtained by using the partial velocity matrix. This reduces the computational effort significantly to obtain the dynamic response of the system. At the very moment of the impulse, instead of using the numerical integrator to solve the equations of motion, the impulse and momentum principle is used to obtain the dynamic response. The impulse as wall as the reaction force acting on the kinematic joints can easily calculated too.