• KSII Transactions on Internet and Information Systems (TIIS)
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• 제17권11호
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• pp.3064-3082
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• 2023

During the last decade, several Electronic Orientation Aids devices have been proposed to solve the autonomy problems of visually impaired people. When hearing is considered the primary sense for Visually Impaired people (VI) and it is generally loaded with the environment, the use of tactile sense can be considered a solution to transmit directional information. This paper presents a new wearable haptic system based on four motors implemented in shoes, while six directions can be played. This study aims to introduce an interface design and investigate an appropriate means of spatial information delivery through haptic sense. The first experiment of the proposed system was performed with 15 users in an indoor environment. The results showed that the users were able to recognize, with high accuracy, the directions displayed on their feet. The second experiment was conducted in an outdoor environment with five blindfolded users who were guided along 120 meters. The users, guided only by the haptic system, successfully reached their destinations. The potential of tactile-foot stimulation to help VI understand Electronic Orientation Aids (EOA) instructions was discussed, and future challenges were defined.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제13권2호
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• pp.140-146
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• 2013

In this paper, we describe a vision sensor-based driving algorithm for indoor automatic guided vehicles (AGVs) that facilitates a path tracking task using two mono cameras for navigation. One camera is mounted on vehicle to observe the environment and to detect markers in front of the vehicle. The other camera is attached so the view is perpendicular to the floor, which compensates for the distance between the wheels and markers. The angle and distance from the center of the two wheels to the center of marker are also obtained using these two cameras. We propose five movement patterns for AGVs to guarantee smooth performance during path tracking: starting, moving straight, pre-turning, left/right turning, and stopping. This driving algorithm based on two vision sensors gives greater flexibility to AGVs, including easy layout change, autonomy, and even economy. The algorithm was validated in an experiment using a two-wheeled mobile robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.14-19
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• 1998

In this paper, a target approachable force-guided control with adaptive accommodation for the complex assembly is presented. The complex assembly (CA) is defined as a task which deals with complex shaped parts including concavity or whose environment is so complex that unexpected contacts occur frequently during insertion. CA tasks are encountered frequently in the field of the manufacturing automation and various robot applications. To make CA successful, both the bounded wrench condition and the target approachability condition should be satisfied simultaneously during insertion. By applying the convex optimization technique, an optimum target approaching twist can be determined at each instantaneous contact state as a global minimum solution. Incorporated with an admissible perturbation method, a new CA algorithm using only the sensed resultant wrench and the target twist is developed without motion planning nor contact analysis which requires the geometry of the part and the environment. Finally, a VME-bus based real-time control system is built to experiment various CA task. T-insertion task as a planar CA and double-peg assembly task as a spacial assembly were successfully executed by implementing the new force-guided control with adaptive accommodation.

• Smart Structures and Systems
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• 제24권3호
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• pp.293-301
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• 2019

Bolted joints are commonly used in civil infrastructure and mechanical assembly structures. Monitoring and identifying the connection status of bolts is the frontier problem of structural research. The existing research is mainly on the looseness of a single bolt. This article presents a study of assessing the loosening/tightening health state and identifying the loose bolt by using ultrasonic guided wave in a bolt group joint. A bolt-tightening index was proposed for evaluating the looseness of a bolt connection based on correlation coefficient. The tightening/loosening state of the bolt was simulated by changing the bolt torque. More than 180 different measurement tests for total of six bolts were conducted. The results showed that with the bolt torque increases, value of the proposed bolt-tightening index increases. The proposed bolt-tightening index trend was very well reproduced by an analytical expression using a function of the torque applied with an overall percentage error lower than 5%. The developed damage index based on the proposed bolt-tightening index can also be applied to locate the loosest bolt in a bolt group joint. To verify the effectiveness of the proposed method, a bolt group joint experiment with different positions of bolt looseness was performed. Experimental results show that the proposed approach is effective to detect and locate bolt looseness and has a good prospect of finding applications in real-time structural monitoring.

• Radiation Oncology Journal
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• 제26권3호
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• pp.181-188
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• 2008

목 적: 호흡을 고려한 사차원방사선치료의 효용성 증대를 위하여, 규칙적이고 안정된 호흡주기 및 호흡량을 갖도록 환자를 교육하고 호흡을 연습시키는 호흡연습장치 및 프로그램을 자체 제작하여 유용성을 평가하였다. 대상 및 방법: 호흡연습장치를 사용시 및 사용후의 호흡의 규칙도의 변화를 측정하기 위해 11명(자원자 9명, 환자 2명)을 대상으로 실험을 실시하였다. 자유롭게 호흡하는 '자유호흡(free-breathing)'법, 자유호흡 시 시뮬레이션 된 표준 호흡주기를 따라함으로써 일정한 호흡주기를 만드는 '신호모니터-호흡(guided-breathing)'법 및 호흡연습 후 시뮬레이션 신호 없이 호흡하는 '연습 후 호흡(postguided-breathing)'법 등 3가지 방법으로 호흡주기를 기록하여 호흡주기(PTP (Peak To Peak))와 호흡크기(Amplitude) 및 호흡패턴(Area, RMS (Root Mean Square))의 변화를 정량적으로 분석하였다. 결 과: 호흡주기를 보여주는 PTP 값은 '신호모니터-호흡'에서 표준편차 값(standard deviation)이 의미 있게 감소하여 호흡주기가 더 규칙적이었고(자유호흡 0.568 vs 신호모니터-호흡 0.344, p=0.0013), '연습 후 호흡'법에서는 '자유호흡' 시보다 표준변동치가 낮아 호흡주기가 보다 안정적이었으나 통계적으로 유의한 차이는 없었다(자유호흡 0.568 vs 연습 후 호흡 0.512, p=ns). 호흡량 측정 결과는 '자유호흡'보다 '신호모니터-호흡'의 경우 호흡량의 표준편차 값이 낮아 호흡량이 보다 일정하게 유지되었으나 통계적으로 유의한 차이는 없었다(자유호흡 1.317 vs 신호모니터-호흡 1.068, p=0.187). 호흡 패턴은 '자유호흡'과 '모니터 호흡' 사이에는 큰 차이가 발생하지 않았지만, '연습 후 호흡'에서는 호흡주기 내 호흡함수의 평균 면적이 7% 감소하였고 RMS 값은 5.9% 감소를 보였다. 결 론: '신호모니터-호흡'에서 호흡주기 및 호흡량이 가장 일정하게 유지되었다. 호흡연습의 효과는 시뮬레이션 신호 없이 호흡하는 '연습 후 호흡'의 경우 시간 경과에 따라 감소할 것으로 판단되었다. 본 연구에서 제작한 호흡연습장치 및 프로그램은 호흡의 주기의 규칙성과 호흡량을 일정하게 유지시키는데 효과적으로 평가되었다.

• Management Science and Financial Engineering
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• 제6권2호
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• pp.47-67
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• 2000

It is discussed how to assign delivery tasks to automated guided vehicles (AGVs) for multiple container cranes in automated container terminals. The primary goal of dispatching AGVs is to complete all the lading and discharging operations as early as possible, and the secondary goal is to minimize the total travel distance of AGVs. It is assumed that AGVs are not dedicated to a specific container crane but shared among multiple cranes. A mathematical formulation is developed and a heuristic algorithm is suggested to obtain a near optimal solution with a reasonable amount of computational time. The single-cycle and the dual-cycle operations in both the seaside and the landside operations are analyzed. The effects of pooling AGVs for multiple container cranes on the performance of an entire AGV system are also analyze through a numerical experiment.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2011년도 정기 학술대회
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• pp.673-675
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• 2011

본 연구에서는 매립 구간의 길이가 유도초음파 신호 강도에 미치는 영향을 분석하였다. 유도초음파 모드 해석을 통해 가진 모드와 주파수를 결정하였으며, 유도초음파의 가진 및 수진은 경사각 입사 방식의 Pitch-Catch 법을 이용하였다. 또한, 비 매립된 배관에서 유도초음파 신호를 획득하여, 이를 기준으로 매립된 배관에서 획득한 유도초음파 신호를 분석하였다. 실험 결과 매립 구간의 길이가 유도초음파의 신호 강도에 매우 큰 영향을 미칠 뿐만 아니라, 매립 구간의 길이와 신호 강도의 변화가 선형 비례적인 관계를 보이지 않는다는 것을 확인할 수 있었다.

• ETRI Journal
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• 제38권6호
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• pp.1207-1217
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• 2016

The general method of machine learning has encountered disadvantages in terms of the significant amount of time and effort required for feature extraction and engineering in natural language processing. However, in recent years, these disadvantages have been solved using deep learning. In this paper, we propose a mention pair (MP) model using deep learning, and a system that combines both rule-based and deep learning-based systems using a guided MP as a coreference resolution, which is an information extraction technique. Our experiment results confirm that the proposed deep-learning based coreference resolution system achieves a better level of performance than rule- and statistics-based systems applied separately

• 전기학회논문지
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• 제66권1호
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• pp.121-126
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• 2017

Tracking system is essential for Image Guided Surgery(IGS). Optical Tracking System(OTS) is widely used to IGS for its high accuracy and easy usage. However, OTS doesn't work when occlusion of marker occurs. In this paper sensor data fusion with OTS and Inertial Navigation System(INS) is proposed to solve this problem. The proposed system improves the accuracy of tracking system by eliminating gaussian error of the sensor and supplements the disadvantages of OTS and IMU through sensor fusion based on Kalman filter. Also, sensor calibration method that improves the accuracy is introduced. The performed experiment verifies the effectualness of the proposed algorithm.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송∙미디어공학회 2018년도 하계학술대회
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• pp.59-62
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• 2018

In this paper, we propose a contrast enhancement algorithm using guided image filter (GIF). The GIF is used to divide an HDR image into a base layer and a detail layer. The energy scale of base layer determinate the darkness and brightness of the image. However, the detail information in the base layer is difficult to be displayed because of the high brightness and clusters of low brightness. We propose a contrast enhancement method by adjusting the gray level of base layer by subtracting the mean value of itself. It is combined with the detail layer to preserve the detail information. Experiment results show that the proposed algorithm has better performance in detail preservation and contrast enhancement.