• The Journal of the Korea Contents Association
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• v.19 no.4
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• pp.326-335
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• 2019

This study is focusing on teenagers who are needed a correction program called "Gillwe School". This program has a companion who is called a guide and the guide leads them correction program while walking with teenagers. This report has represented 131 semantic units, 7 sub-constituencies and 4components through analysis of 46 cases of the companion participants stories since 2014 and clearly, defined as the final four regions ("Understanding of protection youth", "Positive change of companion's gaze", "Doubts the walking program", "Program's effectiveness and Companion's importance,".) Through a series of studies, I look forward to finding ways to develop programs for the protection of juvenile correctional professionals, such as trarining professional counselors for protection youth, duration and number of correction programs, and expanding the number of participants.

• Journal of the Korean Society of Physical Medicine
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• v.18 no.2
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• pp.83-92
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• 2023

PURPOSE: This study examined the effect of using a smartphone according to the direction of wearing a bag on muscle characteristics and balance ability in adults in their 20s with chronic ankle instability. METHODS: Twelve people with chronic ankle instability were examined for three weeks. The types of carrying a bag were classified into three conditions: to the right, to the left, and on both sides. The muscle characteristics and balance ability were measured and analyzed. The one-way ANOVA was used to obtain a difference between conditions. RESULTS: A significant difference in the muscle tone of medial gastrocnemius was observed between the dominant group and the non-dominant group. The muscle tone and stiffness of the peroneus longus decreased significantly after walking with a smartphone and carrying a bag. The maximum slope of the forward and reverse directions increased and decreased significantly, respectively, after walking with a smartphone and carrying a bag on both sides. CONCLUSION: In this study, muscle fatigue causes a decrease in muscle tone and stiffness with chronic ankle instability when carrying a heavy back while walking, and there were asymmetric changes in the balance ability. Therefore, adults with chronic ankle instability should carefully avoid carrying a heavy bag for extended times, irrespective of the style or type of the bag.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.518-523
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• 2015

This paper proposes a gait phase classifier using a Recurrent Neural Network (RNN). Walking is a type of dynamic system, and as such it seems that the classifier made by using a general feed forward neural network structure is not appropriate. It is known that an RNN is suitable to model a dynamic system. Because the proposed RNN is simple, we use a back propagation algorithm to train the weights of the network. The input data of the RNN is the lower body's joint angles and angular velocities which are acquired by using the lower limb exoskeleton robot, ROBIN-H1. The classifier categorizes a gait cycle as two phases, swing and stance. In the experiment for performance verification, we compared the proposed method and general feed forward neural network based method and showed that the proposed method is superior.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.20 no.5
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• pp.79-88
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• 2020

This paper propose the method to drive a solar panel cleaning robot efficiently on an inclined panel using vacuum pad pressure. In this method, the rubber pads using the vacuum pressure are used to attach robot body to the panel surface. By applying the linkage mechanism to the vacuum pads, it was possible to reduce robot weight and power consumption and to prevent slipping of the robot. In addition, the use of solenoid valves, proximity sensors, and encoders to detect movement of the robot body and the control of the pad pressure dedicate to the driving of the robot on an inclined panel. In order to move the robot forward, the operation sequence of multiple solenoid valves was completed, and the six vacuum pads mounted to both legs were accurately controlled to form vacuum and atmospheric pressure in right order so that the robot could move forward without slipping. At last, it was confirmed through experiments that straight-forward moving and rotational movement could be performed up to 36 degrees of inclination angle of solar panel.

• Proceedings of the IEEK Conference
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• 1998.06a
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• pp.565-568
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• 1998

In this paper, we implemented the electornic moving aid system for safe walking of the blind. An obstacle detecting of each sector used ultrasound and a distance measurement used time of flight. The alarm is designed to have a sound and a tactile function that can be selected on an user's convenience. This system can detect and obstacle of upward, forward, downward and optimally warn to the blind with vibration, beep sound by appling warning algorithm on object detection. Experimental testing and performance evaluation have been successfully carried out with a prototype cane, and the experiment shows the capability of the function to detect unknown objects within an assigned distance, under knees, over head height, and crushed puddles.

• Korean Journal of Human Ecology
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• v.15 no.3
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• pp.449-455
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• 2006

We researched the comfort degree of 8 bodily parts while high school students carry out 9 different motions common to them. We observed high school students to study active effection when they are wearing Saenghwal Hanboks as a school uniform. As a result of this study, the highest degrees of comfort were recorded at standing position, walking, and upright sitting position with one's waist keeping 90 degree. On the other hand, the lowest degrees of comfort were experienced when they bend forward 45 degree and 90 degree each, and also when arms were folded across the chest. Furthermore, students reported that their buttocks, waist, and knees were comfortable during observation period, but that their backs, shoulders, and arm hole were uncomfortable throughout. In general, girls felt more comfortable than boys did, while they were wearing Saenghwal Hanbok as a school uniform.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1482-1487
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• 2003

This paper presents a new family of 4-DoF parallel mechanism with two platforms. The new mechanism is composed of front and rear platforms, and three limbs. Two limbs with 6dof joint (P-P-S-P) are attached to the each platform and are perpendicular to baseplate, while the middle limb with 4-Dof joints (R-R-R-P or R-R-P-P) is attached to the revolute joint that connect front and rear platform. The two-DoF-driving mechanism at the middle limb with two base-fixed prismatic actuators can generate the heaving and roll motions or two translational motions. Therefore, Therefore, the new 4-Dof parallel mechanism (1T-3R) can generate pitch motions at each platforms, roll, and heaving motions, while another type of new 4-Dof parallel mechanism (2T-2R) can generate pitch motions at each platforms, x and z translational motions. For 1T-3R mechanism, kinematic analyses including inverse, forward kinematics, and Jacobian are performed.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.688-693
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• 2001

It is almost impossible to have a straight web for processing in the continuous process systems. The cambered web usually causes the strip walking and damage during process. It is necessary to identify the lateral dynamics of the cambered web for the precise control of lateral behavior. In this paper, a dynamic model of the lateral behavior for a cambered web is developed by introducing the concept of steering angle equivalent to moment caused by the camber. This model can be extended to include terms associated with moment, induced by roller's tilting, web slippage, and shear force, etc. Using this model, a new feed-forward controller is proposed to enable the on-line camber estimation, which is difficult to be measured directly, and the prediction of lateral deflection caused by camber. Computer simulation study shows that the proposed controller successfully eliminates the effect of camber and has better control performance than that of the existing PID controller.

• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.59-65
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• 2023

This paper proposes an Extended and Adaptive Inverse Perspective Mapping (EA-IPM) model that can obtain an accurate bird's-eye view (BEV) from the forward-looking monocular camera on the sidewalk with various curves. While Inverse Perspective Mapping (IPM) is a good way to obtain ground information, conventional methods assume a fixed relationship between the camera and the ground. Due to the nature of the driving environment of the mobile robot, there are more walking environments with frequent motion changes than flat roads, which have a fatal effect on IPM results. Therefore, we have developed an extended IPM process to be applicable in IPM on sidewalks by adding a formula for complementary Y-derive processes and roll motions to the existing adaptive IPM model that is robust to pitch motions. To convince the performance of the proposed method, we evaluated our results on both synthetic and real road and sidewalk datasets.

• Journal of information and communication convergence engineering
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• v.22 no.2
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• pp.139-144
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• 2024

In this study, four types of fall detection systems - designed with YOLOPose, principal component analysis (PCA), convolutional neural network (CNN), and long short-term memory (LSTM) architectures - were developed and compared in the detection of everyday falls. The experimental dataset encompassed seven types of activities: walking, lying, jumping, jumping in activities of daily living, falling backward, falling forward, and falling sideways. Keypoints extracted from YOLOPose were entered into the following architectures: RAW-LSTM, PCA-LSTM, RAW-PCA-LSTM, and PCA-CNN-LSTM. For the PCA architectures, the reduced input size stemming from a dimensionality reduction enhanced the operational efficiency in terms of computational time and memory at the cost of decreased accuracy. In contrast, the addition of a CNN resulted in higher complexity and lower accuracy. The RAW-LSTM architecture, which did not include either PCA or CNN, had the least number of parameters, which resulted in the best computational time and memory while also achieving the highest accuracy.