• 한국정밀공학회지
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• 제28권6호
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• pp.663-669
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• 2011

This paper examines methods to estimate torque and angle in shoulder flexion from surface electromyography(sEMG) signals for intuitive and delicate control of robotic assistance device. Five muscles on the upper arm, three for shoulder flexion and two for shoulder extension, were used to offer favorable sEMG recording conditions in the estimation. The methods tested were the mean absolute value (MAV) with linear regression and the artificial neural network (ANN) method. An optimal condition was sought by varying combination of muscles used and the parameters in each method. The estimation performance was evaluated using the correlation values and normalized root mean square error values. In addition, we discussed their possible use as an estimation of motion intent of a user or as a command input in a physical human-machine interaction system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.101.2-101
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• 2001

This paper proposes a novel face recognition algorithm to recognize human face robustly under various conditions, such as changes of pose, illumination, and expression, etc. at indoor environments. A conventional automatic face recognition system consists of the detection and the recognition part. Generally, the detection part is dominant over the other part in the estimating whole recognition rate. So, in this paper, we suggest the view-specific eigenface method as preprocessor to estimate various poses of the face in the input image. Then, we apply the Enhanced FLD Models (EFM) to the result of it, twice. Because, the EFM recognizes human face, and reduces the error of standardization effectively. To deal with view-varying problem, we build one basis vector set for each view individually. Finally, the dimensionalities of ...

• Nuclear Engineering and Technology
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• 제51권6호
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• pp.1554-1560
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• 2019

Development of digital main control rooms (MCRs) has greatly changed operating environments by altering operator tasks, and thus the unique characteristics of digital MCRs should be considered in terms of human reliability analysis. Digital MCR tasks can be divided into primary tasks that directly supply control input to the plant equipment, and secondary tasks that include interface management conducted via soft controls (SCs). Operator performance regarding these secondary tasks must be evaluated since such tasks did not exist in previous analog systems. In this paper, we analyzed SC-related tasks based on simulation data, and classified the error modes of the SCs following analysis of all operational tasks. Then, we defined the factors to be considered in human reliability analysis methods regarding the SCs; such factors are mainly related to interface management and computerized operator support systems. As these support systems function to reduce the number of secondary tasks required for SC, we conducted an assessment to evaluate the efficiency of one such support system. The results of this study may facilitate the development of training programs as well as help to optimize interface design to better reflect the interface management task characteristics of digitalized MCRs.

• 한국콘텐츠학회논문지
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• 제6권6호
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• pp.16-25
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• 2006

운영되고 있는 대부분의 저수조는 사람의 오감에 의해 관리되고 있다. 이에 인적 물적 자원은 낭비되고 있다. 본 연구에서는 인적 자원의 낭비를 줄이고, 저수조를 온라인 실시간으로 관리하기 위하여 저수조 무선 통합 관리 시스템을 제안한다. 저수조 수위 센서가 저수위 감지시 저수조 콘트롤에서 무선을 통해 데이터를 무선 콘트롤로 보내어 펌프를 가동한다. 이때 저수조에서 일어나는 각종 데이터를 라인전송 모뎀으로 송신한다. 라인전송 모뎀에서 수신된 데이터는 각 시간 단위로 로그를 기록한 후 데이터베이스에 저장된다. 저장된 데이터를 기반으로 펌프동작, 펌프고장, 수위, 태양전지고장, 약품, 전화회선을 감지한 후 실시간으로 결과를 가시화한다. 저수조 무선 통합 관리 시스템을 개발하여 시스템의 논리적 타당성과 유효성을 검증하기 위해 실험적인 적용을 시도하고자 한다.

• 제어로봇시스템학회논문지
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• 제13권11호
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• pp.1092-1098
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• 2007

A mobile robot localization problem can be classified into following three sub-problems as an observation likelihood model, a motion model and a filtering technique. So far, we have developed the range sensor based, integrated localization scheme, which can be used in human-coexisting real environment such as a science museum and office buildings. From those experiences, we found out that there are several significant issues to be solved. In this paper, we focus on three key issues, and then illustrate our solutions to the presented problems. Three issues are listed as follows: (1) Investigation of design requirements of a desirable observation likelihood model, and performance analysis of our design (2) Performance evaluation of the localization result by computing the matching error (3) The semi-global localization scheme to deal with localization failure due to abrupt wheel slippage In this paper, we show the significance of each concept, developed solutions and the experimental results. Experiments were carried out in a typical modern building environment, and the results clearly show that the proposed solutions are useful to develop practical and integrated localization schemes.

• 대한소아치과학회지
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• 제51권2호
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• pp.109-131
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• 2024

This review aims to examine safety concerns in pediatric dental care and underscore the need for comprehensive patient safety initiatives within the Korean Academy of Pediatric Dentistry. Drawing insights from the prevailing patient safety policies of the American Academy of Pediatric Dentistry, case reports, and systematic reviews, this review elucidates issues such as dental fires during sedation, ocular complications from local anesthesia, and surgical emphysema. This review highlights the significance of safety toolkits encompassing infection control, medical error reduction, dental unit waterline infection, and nitrous oxide safety in pediatric dental settings, underscoring the need to foster a safety culture. Furthermore, this study explores the curriculum for pediatric dentistry residency programs, emphasizing concepts such as high-reliability organizations and mortality and morbidity conferences. The study suggests the need for initiatives to enhance patient safety, including establishing safety committees, expanding reporting systems, policy development, and supporting research related to patient safety. In conclusion, this study underlines key messages, emphasizing the utmost priority of patient safety, acknowledging the inevitability of human error, promoting effective communication, and cultivating a patient safety culture. These principles are vital for advancing patient safety in pediatric dental care and improving outcomes among pediatric patients.

• International Journal of Control, Automation, and Systems
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• 제6권5호
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• pp.731-739
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• 2008

The docking and recharging system for a mobile robot must guarantee the ability to perform its tasks continuously without human intervention. This paper proposes two docking mechanisms with localization error-compensation capability for an auto recharging system. The mechanisms use friction forces or magnetic forces between the docking parts of the robot and those of the docking station. It is a structure to improve the allowance ranges of lateral and directional docking offsets, in which the robot is able to dock into the docking station. In this paper, auto-recharging system and the features of the proposed mechanisms are verified with experimental results using simple homing method.

• 동력기계공학회지
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• 제17권5호
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• pp.100-111
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• 2013

Indoor real-time positioning for multiple targets is required to realize human-robot symbiosis. This study firstly presents positioning accuracy on an autonomous mobile robot controlled by 3-D coordinates that is obtained by a real-time indoor positioning system with spread spectrum (SS) ultrasonic signals communicated by code-division multiple access. Although many positioning systems have been investigated, the positioning system with the SS ultrasonic signals can measure identified multiple 3-D positions in every 70 ms with noise tolerance and error within 100 mm. This system is also robust to occlusion and environmental changes. However, thus far, the positioning errors in an autonomous mobile robot, controlled by these systems using the SS ultrasonic signals, have not been evaluated as an experimental study. Therefore, a positioning experiment for trajectory control is conducted using an autonomous mobile robot and our positioning system. The effectiveness of this positioning method for robot self-localization is shown, from this experiment, because the average control error between the target position and the robot's position at 29 mm is obtained.

• 대한인간공학회:학술대회논문집
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• 대한인간공학회 1997년도 추계학술대회논문집
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• pp.303-309
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• 1997

This study is carried out to investigate performance differences between two alarm presentation methods from the viewpoint of human factors and to provide items to be improved. One of the alarm display methods considered in this study displays alarm lists on VDT combined with hardwired alarm panels. The other method displays alarms on plant mimic diagrams of VDT. This alarm display method has other features for operator aid with which operator can get detailed information on the activated alarm in the mimic diagrams, and the capability for alarm processing such as alarm reduction and prioritization. To compare the twodisplay methods, a human factor experiment was performed with a plant simulator in the ITF(Integrated Test Fcility) that plant operators run for 4 event scenarios. During the experiment, physiological measurements, system and operator action log, and audio/video recordings were collected. Operators' subjective opinion was collected as well after the experiment. Time, error rate and situation awareness were major human factor criteria used for the comparison during the analysis stage of the experiment. No statistical significance was found in the results of our statistical comparison analysis. Several findings were identified, however, through the analysis of subjective opinions.

• 한국시뮬레이션학회:학술대회논문집
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• 한국시뮬레이션학회 2005년도 춘계학술대회 논문집
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• pp.149-153
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• 2005

In the cardiovascular system, the waveform of the pulsatory blood pressure appears variously due to the cardiac impulse and compliance of blood vessels and arm tissue. We have constructed a blood pressure simulator to investigate effects of mechanical properties of artery walls and tissue on blood pressure measurements. The blood pressure simulator is designed to reproduce wave forms of blood pressure in human arteries. To minimize tracking error, we use a linear control valve, and adapt a hybrid control scheme which consists of a feedback controller and a feedforward controller. Any form of the pressure wave can be reproduced, changing function of the wave form in the computer connected to the simulator for control. From experiments, it has been shown that the simulator reproduces wave forms very well, and that the hybrid scheme adapted is superior to the feedback controller.