• Journal of Intelligence and Information Systems
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• v.29 no.2
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• pp.23-34
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• 2023

Wearable technology for military applications has received considerable attention as a means of personal status check and monitoring. Among many, an implementation to recognize specific motion states of a human is promising in that allows active management of troops by immediately collecting the operational status and movement status of individual soldiers. In this study, as an extension of military wearable application research, a new ankle wearable device is proposed that can glean the information of a soldier on the battlefield on which action he/she takes in which environment. Presuming a virtual situation, the soldier's upper limbs are easily exposed to uncertainties about circumstances. Therefore, a sensing module is attached to the ankle of the soldier that may always interact with the ground. The obtained data comprises 3-axis accelerations and 3-axis rotational velocities, which cannot be interpreted by hand-made algorithms. In this study, to discern the behavioral characteristics of a human using these dynamic data, a data-driven model is introduced; four features extracted from sliced data (minimum, maximum, mean, and standard deviation) are utilized as an input of the model to learn and classify eight primary military movements (Sitting, Standing, Walking, Running, Ascending, Descending, Low Crawl, and High Crawl). As a result, the proposed device could recognize a movement status of a solider with 95.16% accuracy in an arbitrary test situation. This research is meaningful since an effective way of motion recognition has been introduced that can be furtherly extended to various military applications by incorporating wearable technology and artificial intelligence.

• Journal of the Korean Magnetics Society
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• v.16 no.3
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• pp.157-162
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• 2006

In this study, a high sensitive giant magnetoresistance-spin valve (GMR-SV) bio-sensing device with high linearity and very low hysteresis was fabricated by photolithography and ion beam deposition sputtering system. Detection of the Fe-hemoglobin inside in a red blood and magnetic nanoparticles using the GMR-SV bio-sensing device was investigated. Here a human's red blood includes hemoglobin, and the nanoparticles are the Co-ferrite magnetic particles coated with a shell of amorphous silica which the average size of the water-soluble bare cobalt nanoparticles was about 9 nm with total size of about 50 nm. When 1 mA sensing current was applied to the current electrode in the patterned active GMR-SV devices with areas of $5x10{\mu}m^2 $ and $2x6{\mu}m^2 $, the output signals of the GMRSV sensor were about 100 mV and 14 mV, respectively. In addition, the maximum sensitivity of the fabricated GMR-SV sensor was about $0.1{\sim}0.8%/Oe$. The magnitude of output voltage signals was obtained from four-probe magnetoresistive measured system, and the picture of real-time motion images was monitored by an optical microscope. Even one drop of human blood and nanopartices in distilled water were found to be enough for detecting and analyzing their signals clearly.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.5
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• pp.398-406
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• 2003

In modular fixturing systems, a given part or a subassembly is fixed by placing fixture elements such as locators and clamps adequately on a plate with a lattice of holes. It is known that the minimal number of point contacts to restrict translational and rotational motions on a plane is four and the type of three locators and a clamp(3L/1C) is the minimal future. Brost and Goldberg developed the complete algorithm to automatically synthesize 3L/1C types of fixtures which satisfy the condition of form closure. Due to the nature of the fixture, the clearance between the fixture and the part is extremely small. It is hard to load the part repeatedly and accurately for human as well as for robot. However the condition of loadability has not been taken into account in the B&G algorithm. In this paper, a new method to decide a given fixture to be loadable by using configuration space is proposed. A method to plan for a part to be loaded by using compliance safely even in the presence of control and sensing uncertainty is proposed is well.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1071-1076
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• 2003

In this work, we propose a new framework of robot control for a variety of applications to our unstructured everyday environments. Programming robots can be a very time-consuming process and seems almost impossible for ordinary end users. To cope with this, this work is to provide a software framework for building robot application programs automatically, where we have robots learn how to accomplish a commanded task from the object. An integrated sensing and computing tag is embedded into every single object in the environment. In the robot controller, only the basic software libraries for low-level robot motion control are provided from the robot manufacturer. The main contributions of this work is to develop a server platform that we call Omniscient Server that generates the application programs and send them to the robot controller through the network. The object-related information from the object server merges into robot control software to generate a detailed application program based on the task commands from the human. We have built a test bed and demonstrated that a robot can perform a common household task within the proposed framework.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.628-632
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• 2003

An intelligent miniature humanoid robot system is designed and implemented as a platform for researching walking algorithm. The robot system consists of a mechanical robot body, a control system, a sensor system, and a human interface system. The robot has 6 dofs per leg, 3 dofs per arm, and 2 dofs for a neck, so it has total of 20 dofs to have dexterous motion capability. For the control system, a supervisory controller runs on a remote host computer to plan high level robot actions based on the vision sensor data, a main controller implemented with a DSP chip generates walking trajectories for the robot to perform the commanded action, and an auxiliary controller implemented with an FPGA chip controls 20 actuators. The robot has three types of sensors. A two-axis acceleration sensor and eight force sensing resistors for acquiring information on walking status of the robot, and a color CCD camera for acquiring information on the surroundings. As an example of an intelligent robot action, some experiments on playing soccer are performed.

• Journal of Electrical Engineering and Technology
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• v.11 no.3
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• pp.733-740
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• 2016

To achieve bipedal walking in real human environments, a bipedal robot should be capable of modifiable walking both on uneven terrain with different heights and on flat terrain. In this paper, a novel walking pattern generator based on a 3-D linear inverted pendulum model (LIPM) is proposed to achieve this objective. By adopting a zero moment point (ZMP) variation scheme in real time, it is possible to change the center-of-mass (COM) position and the velocity of the 3-D LIPM throughout the single support phase. Consequently, the proposed method offers the ability to generate a modifiable pattern for walking on uneven terrain without the necessity for any extra footsteps to adjust the COM motion. In addition, a control strategy for bipedal walking on uneven terrain with unknown height is developed. The torques and ground reaction force are measured through force-sensing resisters (FSRs) on each foot and the foot of the robot is modeled as three virtual spring-damper models for the disturbance compensation. The methods for generating the foot and vertical COM of 3-D LIPM trajectories are proposed to achieve modifiable bipedal walking on uneven terrain without any information regarding the height of the terrain. The effectiveness of the proposed method is confirmed through dynamic simulations.

• Journal of the Microelectronics and Packaging Society
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• v.29 no.3
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• pp.1-12
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• 2022

With the rapid development of artificial intelligence technology that gives existing sensors functions similar to human intelligence is drawing attention. Previously, researches were mainly focused on an improvement of fundamental performance indicators as sensors. However, recently, attempts to combine artificial intelligence such as classification and prediction with sensors have been explored. Based on this, intelligent sensor research has been actively reported in almost all kinds of sensing fields such as disease detection, motion detection, and gas sensor. In this paper, we introduce the basic concepts, types, and driving mechanisms of artificial intelligence and review some examples of its use.

• The Journal of the Korea institute of electronic communication sciences
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• v.14 no.3
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• pp.619-626
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• 2019

The advances of semiconductor and circuitry technology dovetailed with nano processing techniques have further enhanced micro-miniaturization, sensitivity, longevity and reliability in MID(Medical Implant Device). Nevertheless, one of the remaining challenges is whether power can sufficiently and continuously be supplied for the operation of the MID. Self-powered MID that harvest biomechanical energy from human motion, respiratory and muscle movement are part of a paradigm shift. In this paper, we developed a rechargeable pacemaker through self-power generation with the triboelectric nanogenerator. We demonstrate a fully implanted pacemaker based on an implantable triboelectric nanogenerator, which act as a storage as well as active movement on a large-animal(dog) scale. The self-power pacemaker harvested from animal motion is 2.47V, which is higher than the required pacemaker device sensing voltage(1.35V).

• Journal of KIISE:Computing Practices and Letters
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• v.13 no.4
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• pp.226-230
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• 2007

In the conventional desktop PC environment, keyboard and mouse are used to process the user input and monitor displays the visual information as an output device. In order to manipulate the digital information, we move the virtual cursor to select the desired graphical icon on the monitor The cursor represents the relative motion of the physical mouse on the desk. This desktop metaphor does not provide intuitive interface through human sensation. In this paper, we introduce a novel tangible interface which allows the user to interact with computers using a physical tool called "Smartpuck". SmartPuck system bridges the gap between analog perception and response in human being and digital information on the computer. The system consists of table display based on a PDP, SmartPuck equipped with rotational part and button for the user's intuitive and tactile input, and a sensing system to track the position of SmartPuck. Finally, we will show examples working with the system.

• The Journal of the Korea Contents Association
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• v.6 no.6
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• pp.16-25
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• 2006

Most water tanks operating have been managed by people's five senses. A human material resource have been wasted awfully at this. In the present study, we suggest the wireless integrated system for managing water tank of reducing the wastage human resources and on-line real time managing efforts of water tanks. Water level sensor works the pump sending the data from water tank control to the wireless control on sensing water level. At this time, every kind data which happens in the water tank transmits the line transmission modem. Data to be received from the line transmission modem is stored at the database after we record the logs by each hour. We display the result to the web pages, after checking the pump motion, the pump error, the water level, the solar battery error, the chemicals, and the telephone line to the foundation data to be saved. Furthermore, this paper suggests empirical applications of the proposed wireless integrated system for managing water tank in order to verify its feasibility.