• Journal of Biomedical Engineering Research
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• v.14 no.2
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• pp.169-175
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• 1993

Recently, interest in infra-red(IR) telemetry has increased because of the entirely different propagation and reflection properties of IR light as compared to radiowaves. IR hardly penetrates most materials and is reflected from obstacles. An biotelemetry system using these characteristics of indirect transmitted IR lights was developed, in which 3 ECG's are multiplexed and modulated in PDM/PIM pulse sequence. This proto-type system enables us to realize the non-restraint measurement of biological signals. Compared with conventional radio telemetry, this technique has some merits such as no electromagnetic interference, no frequency allocation problem, no government control over transmission power.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.7 no.3
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• pp.176-181
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• 2007

This paper presents evolvable neural networks based on a developmental model for navigation control of autonomous mobile robots in dynamic operating environments. Bio-inspired mechanisms have been applied to autonomous design of artificial neural networks for solving practical problems. The proposed neural network architecture is grown from an initial developmental model by a set of production rules of the L-system that are represented by the DNA coding. The L-system is based on parallel rewriting mechanism motivated by the growth models of plants. DNA coding gives an effective method of expressing general production rules. Experiments show that the evolvable neural network designed by the production rules of the L-system develops into a controller for mobile robot navigation to avoid collisions with the obstacles.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.30.5-30
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• 2001

This paper describes a new design of blimp having wheeled vehicle part. This system can work both on the ground using wheeled vehicle and in the air using the floating capability of the blimp part. The passive wheeled mechanism in the vehicle part enables the stable taking off, landing on as well as it is greatly helpful to keep a stationary position on the floor. On the other hand, the floating capability enables the wheeled blimp to fly freely regardless of the ground condition or obstacles. The wheeled blimp can be used as an agent robot for the tole-presence application. Using multimedia devices such as camera, speaker, LCD and microphone mounted on the blimp surface, this system can get necessary information at the local site and communicate with person from a distance. As a typical tele-presence application, the wheeled blimp is currently being developed to a tole-guidance robot working in public indoor areas such 35 exhibition halls, departments, hospitals, etc ...

• Journal of the Korea Safety Management & Science
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• v.22 no.2
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• pp.39-46
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• 2020

This paper recognizes the risk of ignition of air fryer (machine that can cook fried dishes with hot air without oil) that is far exceeding the sales rate of microwave ovens, which is necessary to modern household kitchen, and identifies fire risk through the operation principle of the process of heat transfer, and the main structure of the machine. The fire test that we conducted is to observe the risk of ignition of the machine due to the damage to the safety system and the possibility of igniting oil paper along with food, to experiment with the possibility of ignition due to blockage of the exhaust due to obstacles, and accumulation of oil stains on the hot wire, and to present the method of fire control and devise countermeasures.

• Journal of the Korea Society of Computer and Information
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• v.24 no.5
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• pp.67-72
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• 2019

The self-driving cars identify appropriate navigation paths and obstacles to arrive at their destinations without human control. The autonomous cars are capable of sensing driving environments to improve driver and pedestrian safety by sharing with neighbor traffic infrastructure. In this paper, we have focused on pedestrian protection and have designed an improved localization algorithm to track mobile users on roads by interacting with smart traffic lights in vehicle environments. We developed smart traffic lights with the RSSI sensor and built the proposed method by improving the Kalman filter algorithm to localize mobile users accurately. We successfully evaluated the proposed algorithm to improve the mobile user localization with deployed five smart traffic lights.

• Journal of Korea Multimedia Society
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• v.25 no.8
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• pp.1007-1021
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• 2022

Autonomous driving of unmanned aerial vehicles may have to pay expensive cost to create and switch new routes if unexpected obstacles exist or local map updates occured by the control system due to incorrect route information. Integrating digital twins into the path-following process requires more computing resources to quickly switch the wrong path to an alternative path, but it can quickly update the path during flight. In this study, we design a DEVS-based simulation environment which can modify optimized paths through short-term simulation of multi-virtual UAVs for applying digital twin concepts to path follow. Through simulation, we confirmed the possibility of increasing the mission stability of UAV.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.316-322
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• 2023

The increasing popularity of autonomous unmanned aerial vehicles (UAVs) can be attributed to their wide range of applications. 3D path planning is one of the crucial components enabling autonomous flight. In this paper, we present a novel 3D path planning algorithm that generates and utilizes curvature-based trajectories. Our approach leverages circular properties, offering notable advantages. First, circular trajectories make collision detection easier. Second, the planning procedure is streamlined by eliminating the need for the spline process to generate dynamically feasible trajectories. To validate our proposed algorithm, we conducted simulations in Gazebo Simulator. Within the simulation, we placed various obstacles such as pillars, nets, trees, and walls. The results demonstrate the efficacy and potential of our proposed algorithm in facilitating efficient and reliable 3D path planning for UAVs.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.389-394
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• 2006

Inaccurate localization exposes a robot to many dangerous conditions. It could make a robot be moved to wrong direction or damaged by collision with surrounding obstacles. There are numerous approaches to self-localization, and there are different modalities as well (vision, laser range finders, ultrasonic sonars). Since sensor information is generally uncertain and contains noise, there are many researches to reduce the noise. But, the correctness is limited because most researches are based on statistical approach. The goal of our research is to measure more exact robot location by matching between built VRML 3D model and real vision image. To determine the position of mobile robot, landmark-localization technique has been applied. Landmarks are any detectable structure in the physical environment. Some use vertical lines, others use specially designed markers, In this paper, specially designed markers are used as landmarks. Given known focal length and a single image of three landmarks it is possible to compute the angular separation between the lines of sight of the landmarks. The image-processing and neural network pattern matching techniques are employed to recognize landmarks placed in a robot working environment. After self-localization, the 2D scene of the vision is overlaid with the VRML scene.

• The Journal of Korean Physical Therapy
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• v.27 no.5
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• pp.364-368
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• 2015

Purpose: Walking in the dual-task condition is a critical skill for hemiplegic patients to live in real-life situations. The purpose of this study was to compare the effect of dual-task gait training and general gait training on gait parameters and cognitive function in patients with chronic stroke during dual-task walking. Methods: The study included 23 patients with chronic hemiparetic stroke who were randomly divided into experimental (dual-task gait training) and control (general walking training) groups. The 11 subjects in the experimental group and nine subjects in the control group received dual-task gait training (walking while handling a ball, crossing obstacles, picking up various objects, and problem solving simple cognitive tasks and general over-ground gait training, respectively, for 30 minutes per day 5 days per week for 4 weeks. Spatiotemporal parameters and cognitive tasks in the dual-task gait condition were measured. Statistical analysis of the changes between the pre- and post-intervention measurement variables was performed using ANCOVA. Results: In the gait condition under cognitive tasks, the changes pre- and post-intervention in gait velocity, stride length, double support limb, and step symmetry were significantly greater in the dual-task gait training group; however, the dual-task gait training group showed no significant improvement compared to the general gait training group in terms of the assessment of cognitive tasks. Conclusion: The findings suggest that dual-task gait training may be beneficial for walking ability in dual-task walking condition.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.3
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• pp.236-241
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• 2015

This paper presents a study on transformable multiple quadruped robots by docking between robots and waist joints. This robot is able to go on a variety of angles because of mecanum wheels. It is also a hybrid design which allows robot use legs to overcome obstacles on complex terrains and wheels to move on flat ground. The robot is applied kinematics of mecanum wheels and walking, and its walking is based on specific patterns. Docking module is located in front and backside of robot, docking algorithm is suggested and fulfilled for docking between 2 robots. A waist joint is at the center of robot body for transformation and after docking and transformation, robot can activate new functions that carry something.