• Journal of Korean Society of Environmental Engineers
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• v.36 no.8
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• pp.570-578
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• 2014

A three-dimensional ocean circulation model was applied to a shallow estuary, Mobile Bay, to study local wind setup and setdown. Tides started from the northern Gulf of Mexico propagates up to the Mobile River system which is located in the north of the Mobile Bay. However, the tides started in the south of Mobile Bay were distorted when travelling upstream while affected by river discharge and local winds. The water surface elevation was less/over predicted responding north/south winds, respectively, when winds only at the Dauphin Island station (DPI) were used. However, the model predicted water surface elevation better when using two local winds from DPI and Mobile Downtown Airport (MDA). Wind speeds were greatly reduced (~ 88%) in about 43 km distance between DPI and MDA, and the canopy effects may be the reason for this. For this reason, the local winds are greatly responsible for local surface elevation setup and setdown especially at the shallow estuary like Mobile Bay.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.8
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• pp.5132-5142
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• 2015

The purpose of this study was to find effect of upper extremities exercises using two different supporting surface, mobile surface and fixed surface in sitting on the function of upper extremities for the patients with stroke. The study period was between July 5, 2012 and August 1 2012. The subjects were 20 subjects who were randomly divided into two groups : (1) mobile surface group, (2) fixed surface group. The mobile surface group performed bilateral upper extremities exercise sitting on balance disc, and the fixed surface group was provided fixed surface chair. Both groups performed 30 minutes 5 times per a week for 4weeks. The Manual Functional Test(MFT) and Fugl-Meyer Motor Function Assessment(FMA) was used to measure the differences of upper extremity functions before and after interventions. The results of this study were as follows. First, Both groups, mobile surface group and fixed surface group showed the significant increase(p<.05) in upper extremity function. Second, the improvements of the hand function in mobile surface group showed significant difference comparing with the group with fixed surface. Therefore, the results of this study showed the bilateral hand exercise program on mobile surface is more effective than the fixed surface bilateral hand exercise program for the patients with stroke.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.8
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• pp.842-847
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• 2008

This paper proposes a new sliding-surface-based tracking control system for nonholonomic mobile robots with disturbance. To design a robust controller, we consider the kinematic model and the dynamic model of mobile robots with disturbance. We also propose a new sliding surface to solve the problem of previous study. That is, since the new sliding surface is composed of differentiable functions unlike the previous study, we can obtain the control law for arbitrary trajectories without any constraints. From the Lyapunov stability theory, we prove that the position tracking errors and the heading direction error converge to zero. Finally, we perform the computer simulations to demonstrate the performance of the proposed control system.

• Journal of the Korean institute of surface engineering
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• v.43 no.3
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• pp.142-147
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• 2010

We evaluated characteristics of ENEPIG (Electroless Nickel Electroless Palladium Immersion Gold) surface treatment for mobile equipment that requires high reliability, in addition to investigating surface treatment processes for semiconductor boards that require high reliability such as regular PCB-package systems, board-on-chip, chip-scaled package (CSP), etc and application for semiconductor package board of SIP, BOC. As a result, it appeared that ENEPIG has superior properties compared to ENIG surface treatment in corrosion resistance, solder junction, wetting, etc. We anticipate that these results will be able to lend credibility to ENEPIG as a low-cost alternative for producing mobile devices such as the cell phones, especially when applied to mass production.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2852-2854
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• 2005

In this paper, we propose a method to a synchronization of chaotic mobile robots that have unstable limit cycles in a chaos trajectory surface. We assume all obstacles in the chaos trajectory surface have a VDP (Van der Pol) equation with an unstable limit cycle. The proposed methods are assumed that if one of two chaotic mobile robot receives the synchronization command, the other robot also follows the same trajectory during the chaotic robot search on the arbitrary surface.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.7
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• pp.543-551
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• 2016

This paper presents the analysis and implementation of traveling surface characteristics test equipment using optical mice in connection with the velocity estimation of a mobile robot equipped with optical mice. In the traveling surface characteristics test equipment, a traveling surface sample is made to rotate toward stationary optical mice instead of a mobile robot equipped with optical mice moving over a traveling surface. First, the conceptual design and operational principle of the traveling surface characteristics test equipment is explained. Second, the velocity kinematics of the traveling surface characteristics test equipment is formulated; based on this, the parameter setting of the traveling surface characteristics test equipment is described. Third, the implementation of the traveling surface characteristics test equipment is described in detail, including the mechanical design and construction and the hardware and software development. Fourth, using the prototype of the traveling surface characteristics test equipment, the experimental results of the statistical parameter extraction for different traveling surface samples are given. Finally, some potential usages of the traveling surface characteristics test equipment are discussed.

• Journal of the Semiconductor & Display Technology
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• v.10 no.3
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• pp.7-13
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• 2011

In Korea, the car mobile phone service had started in 1961 and with this Korea Mobile Telecommunications Services was established in 1984. Its service was mainly focused on the mobile phone service for the car which led the popularity of the full-scale mobile phone service. There are many kinds of materials, colors and patterns which are the elements of surface coating techniques. In light of that, we are focused on the UV coating that is ranked as an important part of the techniques in this study. In the first, the use of various materials for the cellular phone and surface processing techniques for the cellular phone were searched. On the basis of the results, the experiments of actual consumer experience with the exfoliation of the surface were done and through that we proposed the best way of processing the surface for the cellular phone and the materials. The result of the Wear Test showed that thick coating was detached more slowly and each company differed in their results with UV paints despite the same thickness of UV coating. The seal (UV) exfoliation of cellular phone is deeply related with the film thickness and the film formation when the users use the cellular phones and the exfoliation of the cellular phone surface will be decreased if the manufacturers meet the best conditions for the cellular phone.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.243-250
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• 2012

This paper proposes a 3D map-building algorithm using one LRF (Laser Range Finder) while a mobile robot is navigating on the slanted surface. There are several researches on 3D map buildings using the LRF. However most of them are performing the map building only on the flat surface. While a mobile robot is moving on the slanted surface, the view angle of LRF is dynamically changing, which makes it very difficult to build the 3D map using encoder data. To cope with this dynamic change of the view angle in build 3D map, IMU and balance filters are fused to correct the unstable encoder data in this research. Through the real navigation experiments, it is verified that the fusion of multiple sensors are properly performed to correct the slope angle of the slanted surface. The effectiveness of the balance filter are also checked through the hill climbing navigations.

• ETRI Journal
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• v.38 no.6
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• pp.1085-1094
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• 2016

In this work, we present interactive automultiscopic content with mobile surface haptics for multimodal interaction. Our system consists of a 40-view automultiscopic display and a tablet supporting surface haptics in an immersive room. Animated graphics are projected onto the walls of the room. The 40-view automultiscopic display is placed at the center of the front wall. The haptic tablet is installed at the mobile station to enable the user to interact with the tablet. The 40-view real-time rendering and multiplexing technology is applied by establishing virtual cameras in the convergence layout. Surface haptics rendering is synchronized with three-dimensional (3D) objects on the display for real-time haptic interaction. We conduct an experiment to evaluate user experiences of the proposed system. The results demonstrate that the system's multimodal interaction provides positive user experiences of immersion, control, user interface intuitiveness, and 3D effects.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.58-69
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• 2014

This paper proposes a method for predicting maximum friction coefficients and optimal slip ratios as optimal control parameters for traction control or slip control of autonomous mobile robots on rough terrain. This paper focuses on strength of ground surface which indicates different characteristics depending on material types on surface. Strength of various material types can be estimated by Willoughby sinkage model and by a developed testbed which can measure forces, velocities, and displacements generated by wheel-terrain interaction. Estimated strength is collaborated on building improved Brixius model with friction-slip data from experiments with the testbed over sand and grass material. Improved Brixius model covers widespread material types in outdoor environments on predicting friction-slip characteristics depending on strength of ground surface. Thus, a prediction model for obtaining optimal control parameters is derived by partial differentiation of the improved Brixius model with respect to slip. This prediction model can be applied to autonomous mobile robots and finally gives secure maneuverability on rough terrain. Proposed method is verified by various experiments under similar conditions with the ones for real outdoor robots.