• 융합신호처리학회논문지
• /
• 제23권2호
• /
• pp.76-83
• /
• 2022

최근 IT기술이 발달함에 따라 다양한 생체신호 측정 기기에 대한 연구 및 관심이 높아지고 있는 이유 중 하나로 고령사회가 본격화됨에 따라 IT 관련 기술을 이용한 고령 인구에 대한 연구가 지속해서 발전되고 있다. 본 논문은 초고령사회에 접어들면서 빠르게 발전하고 있는 노인층을 대상으로 한 의료서비스 영역 중 하나인 생활 패턴 감지와 낙상 감지 알고리즘 개발에 관한 것이다. 3축 가속도 센서와 심전도 센서를 이용한 시스템을 구성하여 데이터를 수집한 뒤 데이터를 분석하는 과정으로 진행하였고 실제 연구 결과로부터 행동 패턴의 분류가 가능함을 제안한다. 본 논문에 의해 구현된 인체 활동 모니터링 시스템의 유용성을 평가하기 위하여 자세 변화, 보행속도의 변화 등 다양한 조건에서 실험을 수행하여 인체의 중력 가속도와 인체 활동 정도를 반영하는 신호크기 범위 및 신호 벡터크기 파라미터를 추출하였다. 그리고 이들 파라미터값에 의해 피검자의 상태에 따라 판별이 가능하였다.

• 사물인터넷융복합논문지
• /
• 제10권3호
• /
• pp.57-64
• /
• 2024

본 논문에서는 수신환경에 따라 변화하는 인간 행동 인식 (Human Activity Recognition, HAR)의 정확도를 향상시키기 위해 채널 상태 정보 (Chanel State Information, CSI)를 활용한 Line-of-Sight (LoS)/Non-Line-of-Sight (NLoS) 식별 기반 HAR 시스템을 제안한다. 제안 시스템은 수신환경을 고려한 HAR 시스템을 위해 Preprocessing phase, Classification phase, Activity recognition phase의 세 동작 단계를 포함한다. Preprocessing phase에서는 CSI 원시 데이터로부터 진폭이 추출되고, 추출된 진폭 내 노이즈가 제거된다. Classification phase에서는 데이터 수신환경이 LoS 환경 또는 NLoS 환경으로 분류되고, 수신환경 분류 결과를 기반으로 HAR 모델이 결정된다. 마지막으로, Activity recognition phase에서는 결정된 HAR 모델을 활용하여 인간의 동작을 앉기, 걷기, 서 있기, 부재중으로 분류한다. 제안 시스템의 우수성을 입증하기 위해, 실험적 구현을 수행하였으며 제안 시스템의 정확도를 기존 HAR 시스템의 정확도와 비교하였다. 실험 결과, 제안 시스템은 대조군 대비 16.25% 더 높은 정확도를 달성하였다.

• 한국전문물리치료학회지
• /
• 제3권1호
• /
• pp.1-11
• /
• 1996

The purpose of this study was to analyse the subtalar joint movement characteristics in human stance phase. The data of subtalar joint movement patterns are collected by CTA(calcaneus to tibia angle) measurements. CTA is defined as a angle formed between the bisect of the posterior shank and bisect of the posterior heel, as determined by placement of the retroreflective markers. The angle measured in degrees. The participants are 74 healthy individuals (37 men and 37 women) who have no orthopedic and neurological impairment, aged from 19 to 29 years(mean 22.95). Prior to participation, each subjecct informed the procedures of experiment from researcher and assistant researcher. The equipments of this study are walking grid, marking tapes, goniometer, video camera, monitor and ink for foot print are used in the study. In order to determine the statistical significance of result, the paired t-test and Pearson correlation were applied at the 0.05 level of significance. The results were as follows : 1. The reliability of measured CTA value are showed a high correlation, ranged from .86 - .94. 2. The mean value of step width are 7.67cm in men and 6cm in women. So, significant difference between men and women in 0.05 level of significance. 3. There was significant difference between man and women's TOA(toe out angle)(p<0.05). 4. The CTA of female's is more higher than male's one, however not statistical difference between man and women(p>0.05). 5. The CTA is reduced according to increasing TOA(p<0.05).

• International Journal of Control, Automation, and Systems
• /
• 제4권2호
• /
• pp.204-216
• /
• 2006

Latest advances in hardware technology and state of the art of mobile robot and artificial intelligence research can be employed to develop autonomous and distributed monitoring systems. And mobile service robot requires the perception of its present position to coexist with humans and support humans effectively in populated environments. To realize these abilities, robot needs to keep track of relevant changes in the environment. This paper proposes a localization of mobile robot using the images by distributed intelligent networked devices (DINDs) in intelligent space (ISpace) is used in order to achieve these goals. This scheme combines data from the observed position using dead-reckoning sensors and the estimated position using images of moving object, such as those of a walking human, used to determine the moving location of a mobile robot. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Using the a priori known path of a moving object and a perspective camera model, the geometric constraint equations that represent the relation between image frame coordinates of a moving object and the estimated position of the robot are derived. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot, and the Kalman filtering scheme is used to estimate the location of moving robot. The proposed approach is applied for a mobile robot in ISpace to show the reduction of uncertainty in the determining of the location of the mobile robot. Its performance is verified by computer simulation and experiment.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.1121-1125
• /
• 2004

The RT(Robot Technology) has been developed as the next generation of a future technology. According to the 2002 technical report from Mitsubishi R&D center, IT(Information Technology) and RT(Robotic Technology) fusion system will grow five times larger than the current IT market at the year 2015. Moreover, a recent IEEE report predicts that most people will have a robot in the next ten years. RCP(Robotic Cellular Phone), CP(Cellular Phone) having personal robot services, will be an intermediate hi-tech personal machine between one CP a person and one robot a person generations. RCP infra consists of $RCP^{Mobility}$, $RCP^{Interaction}$, $RCP^{Integration}$ technologies. For $RCP^{Mobility}$, human-friendly motion automation and personal service with walking and arming ability are developed. $RCP^{Interaction}$ ability is achieved by modeling an emotion-generating engine and $RCP^{Integration}$ that recognizes environmental and self conditions is developed. By joining intelligent algorithms and CP communication network with the three base modules, a RCP system is constructed. Especially, the RCP interaction system is really focused in this paper. The $RCP^{interaction}$(Robotic Cellular Phone for Interaction) is to be developed as an emotional model CP as shown in figure 1. $RCP^{interaction}$ refers to the sensitivity expression and the link technology of communication of the CP. It is interface technology between human and CP through various emotional models. The interactive emotion functions are designed through differing patterns of vibrator beat frequencies and a feeling system created by a smell injection switching control. As the music influences a person, one can feel a variety of emotion from the vibrator's beats, by converting musical chord frequencies into vibrator beat frequencies. So, this paper presents the definition, the basic theory and experiment results of the RCP interaction system. We confirm a good performance of the RCP interaction system through the experiment results.

• 한국산업융합학회 논문집
• /
• 제19권1호
• /
• pp.1-9
• /
• 2016

In this paper, we propose a new learning control scheme for various walk motion control of biped robot with same learning-base by neural network. We show that learning control algorithm based on the neural network is significantly more attractive intelligent controller design than previous traditional forms of control systems. A multi layer back propagation neural network identification is simulated to obtain a dynamic model of biped robot. Once the neural network has learned, the other neural network control is designed for various trajectory tracking control with same learning-base. The biped robots have been received increased attention due to several properties such as its human like mobility and the high-order dynamic equation. These properties enable the biped robots to perform the dangerous works instead of human beings. Thus, the stable walking control of the biped robots is a fundamentally hot issue and has been studied by many researchers. However, legged locomotion, it is difficult to control the biped robots. Besides, unlike the robot manipulator, the biped robot has an uncontrollable degree of freedom playing a dominant role for the stability of their locomotion in the biped robot dynamics. From the simulation and experiments the reliability of iterative learning control was illustrated.

• Advances in biomechanics and applications
• /
• 제1권3호
• /
• pp.187-210
• /
• 2014

With the goal of increasing the survivorship of the prosthesis and anticipating primary stability problems of new prosthetic implants, finite element evaluation of the micromotion, at an early stage of the development, is mandatory. This allows assessing and optimizing different designs without manufacturing prostheses. This study aimed at investigating, using finite element analysis (FEA), the difference in the prediction of the primary stability of cementless hip prostheses implanted into a $Sawbones^{(R)}$ 4th generation, using the manufacturer's mechanical properties and using mechanical properties close to that of human bone provided by the literature (39 papers). FEA was carried out on the composite $Sawbones^{(R)}$ implanted with a straight taper femoral stem subjected to a loading condition simulating normal walking. Our results show that micromotion increases with a reduction of the bone material properties and decreases with the augmentation of the bone material properties at the stem-bone interface. Indeed, a decrease of the cancellous Young modulus from 155MPa to 50MPa increased the average micromotion from $29{\mu}m$ up to $41{\mu}m$ (+42%), whereas an increase of the cancellous Young modulus from 155MPa to 1000MPa decreased the average micromotion from $29{\mu}m$ to $5{\mu}m$ (-83%). A decrease of cortical Young modulus from 16.7GPa to 9GPa increase the average global micromotion from $29{\mu}m$ to $35{\mu}m$ (+33%), whereas an increase of the cortical Young modulus from 16.7GPa to 21GPa decreased the average global micromotion from $29{\mu}m$ to $27{\mu}m$ (-7%). It can also be seen that the material properties of the cancellous structure had a greater influence on the micromotion than the material properties of the cortical structure. The present study shows that micromotion predicted at the stem-bone interface with material properties of the $Sawbones^{(R)}$ 4th generation is close to that predicted with mechanical properties of human femur.

• 인터넷정보학회논문지
• /
• 제8권3호
• /
• pp.119-129
• /
• 2007

본 논문에서는 두 대의 카메라를 직각으로 배치하여 얻은 동영상에서 인체의 실루엣을 이용하여 동작을 인식하는 방법을 제안한다. 제안된 시스템은 실루엣에서 전역 특징과 지역 특징을 추출하며, 이 특징들은 정적인 프레임에만 있느냐에 따라 정적 특징과 동적 특징으로 다시 나뉜다. 추출된 특징들은 RBF 신경망을 훈련시키기 위해 사용된다. 제안된 신경망은 정적 특징을 입력층으로 보내고, 동적 특징은 인식을 위한 추가적인 특징으로 이용한다. 본 논문에서 제안된 신경망 동작 인식 시스템은 유아들의 동작 교육에 적용되었다. 동작 교육을 위해 제시되는 기본 동작은 걷기, 뛰기, 앙감질 등의 이동 동작과 구부리기, 뻗기, 균형 잡기, 회전하기 등 비 이동 동작으로 구분된다. 제안된 시스템은 동작교육을 위해 7가지 기본 동작을 학습시킨 신경망으로 성공적으로 동작 인식을 하였다. 제안된 시스템은 유아의 공간감각 계발을 위한 동작교육 시스템에 활용될 수 있다.

• 한국생활과학회지
• /
• 제18권4호
• /
• pp.971-984
• /
• 2009

The purpose of this study was to analyse the relations among the residents' characteristics, the policy of the facility, and the physical characteristics of activity areas, and to understand the elements for the lively use of activity areas in the elderly nursing facilities. The results of the study are as follows: First, there was a relationship between the characteristics of semi-public activity areas and the residents' management-control policy. The facilities having semi-public areas of living room type showed more flexibility in time and place and more respects for the residents. Second, the activity areas of connection type were much more used than the compartment type, especially in the facilities having more residents incapable of walking. On the other hand, the facilities having high control for the residents showed high using rate in public activity areas, and all those did not have semi-public areas or showed low using rate in there. Third, in the analysis of the relationship between the physical characteristics and the using rate of activity areas, the public activity areas having compartment type in the spatial composition and hall as a form were likely to have multiple usages. On the whole, the various form of activity areas, the area per residents, openness, accessibility and centrality were having interactions each other for high using rate in activity areas. Especially, many stimulations and the furniture arrangements that were good for the residents' interactions had a function of compensation for the poor physical characteristics of activity areas. This study investigated only the using rates to understand the lively use of the space. For the future study, it is suggested that the detail using behavior of the residents should be examined to understand the influential elements.

• 한국멀티미디어학회논문지
• /
• 제15권8호
• /
• pp.1059-1066
• /
• 2012

오늘날 스마트폰의 발전으로 스마트폰 내장 센서를 통해 사용자의 개인 정보를 쉽게 파악 할 수 있고 원한다면 사용자의 위치를 실시간으로 알아낼 수 있다. 그리하여 센서를 통해 추출된 데이터를 통해 동작인식과 생활 패턴 인식에 관한 연구가 급증하고 있다. 본 논문에서는 기존의 동작 인식 연구에서 추출되는 데이터를 정형화하기 위해 동작 데이터를 모델링하였다. 본 논문의 일상 동작 모델링은 이론적 분석이다. 동작을 크게 두 가지로 분류시켜 가속도 센서만으로 인식 가능한 기본 동작을 물리적 동작으로 정의하고 그 외 목적과 대상, 장소를 포함하는 모든 동작을 논리적 동작으로 분류시켰다. 모델링 된 데이터를 기반으로 각 동작의 특성에 맞게 가시화 하는 방안을 제안하였다. 본 연구를 통해 인간의 일상생활을 동작별로 간편하게 표준화 할 수 있고 기존의 동작 인식 연구에서 추출되는 동작 데이터를 사용자의 요구에 따라 가시화 할 수 있다.