• Journal of Auto-vehicle Safety Association
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• v.13 no.4
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• pp.123-128
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• 2021

This paper present box feature estimation from LiDAR point cluster using maximum likelihood Method. Previous LiDAR tracking method for autonomous driving shows high accuracy about velocity and heading of point cluster. However, Assuming the average position of a point cluster as the vehicle position has a lower accuracy than ground truth. Therefore, the box feature estimation algorithm to improve position accuracy of autonomous driving perception consists of two procedures. Firstly, proposed algorithm calculates vehicle candidate position based on relative position of point cluster. Secondly, to reflect the features of the point cluster in estimation, the likelihood of the particle scattered around the candidate position is used. The proposed estimation method has been implemented in robot operating system (ROS) environment, and investigated via simulation and actual vehicle test. The test result show that proposed cluster position estimation enhances perception and path planning performance in autonomous driving.

• Journal of Biosystems Engineering
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• v.39 no.2
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• pp.134-141
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• 2014

Purposes: This study was to validate the Robotic Smart Work System that can provides better working conditions and high productivity in unstructured environments like bio-industry, based on a tele-operation system for fruit harvesting with low cost 3-D positioning system on the laboratory level. Methods: For the Robotic Smart Work System for fruit harvesting and cultivation management in agriculture, a vision based tele-operating system and 3-D position information are key elements. This study proposed Robotic Smart Farming, an agricultural version of Robotic Smart Work System, and validated a 3-D position information system with a low cost omni camera and a laser marker system in the lab environment in order to get a vision based tele-operating system and 3-D position information. Results: The tasks like harvesting of the fixed target and cultivation management were accomplished even if there was a short time delay (30 ms ~ 100 ms). Although automatic conveyor works requiring accurate timing and positioning yield high productivity, the tele-operation with user's intuition will be more efficient in unstructured environments which require target selection and judgment. Conclusions: This system increased work efficiency and stability by considering ancillary intelligence as well as user's experience and knowhow. In addition, senior and female workers will operate the system easily because it can reduce labor and minimized user fatigue.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1589-1592
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• 1997

Among the prerequisite abilities (perception of environment, path planning and position estimation) of an autonomous mobile robot, position estimation has been seldom studied by mobile robot researchers. In most cases, conventional positioin estimation has been performed by placing landmarks or giving the entrire environmental information in advance. Unlikely to the conventional ones, the study addresses a new method that the robot itself can select distinctive features in the environment and save them as landmarks without any a priori knowledge, which can maximize the autonomous behavior of the robot. First, an orjentaion probaility model is applied to construct a lcoal map of robot's surrounding. The feature of the object in the map is then extracted and the map is saved as landmark. Also, presented is the position estimation method that utilizes the correspondence between landmarks and current local map. In dong this, the uncertainty of the robot's current positioin is estimated in order to select the corresponding landmark stored in the previous steps. The usefulness of all these approaches are illustrated with the results porduced by a real robot equipped with ultrasonic sensors.

• The Journal of Korean Academy of Prosthodontics
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• v.49 no.1
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• pp.38-48
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• 2011

Purpose: Dentists suffer back, neck and shoulder pain during their careers due to bad operating posture. If dentists have a good operating posture ergonomically, there would be less pain and discomfort in the shoulder and back. Therefore, dentists should learn the Home position which enables dentists to approach a stable posture ergonomically. This study was to compare tooth preparation in the Home position and the Random position, and evaluate the clinical efficacy of the Home position. Materials and methods: Tooth preparation for fixed partial denture was performed on the maxillary left 2nd premolar and maxillary left 2nd molar at the two different operating positions were compared. The amount of occlusal reduction, marginal width, subgingival margin depth, and convergence angle were measured. A T-test was performed separately to compare the results of the Random position and the Home position. Results: 1. The amounts of average thickness of occlusal reduction on fossa were deficient to the ordered ones in the Random position and the Home position (P > .05). 2. The average subgingival margin depth of prepared margin on maxillary left 2nd premolar, maxillary left 2nd molar were excessive in the Random position than in the Home position. On the maxillary left 2nd premolar, there was no statistical difference in the Random position and the Home position except Distal midline, DL line angle, Lingual midline, ML line angle (P< .05). On the maxillary left 2nd molar, there was no statistical difference in the Random position and the Home position (P < .05). 3. Average convergence angle in the Random position and the Home position were excessive compared to the ordered angle. There was no statistical difference in the Random position and the Home position (P > .05). 4. Analysis of pearson correlation : In the Random position, the amounts of average thickness of occlusal reduction, the average subgingival margin depth of prepared margin, convergence angle were significantly associated with each other (P < .05). But in the Home position, they were not significantly associated with each other (P < .05). 5. The time needed for preparation in the Home position was faster or equal than that of the Random position as time went on. Conclusion: In conclusion, there were no significant differences between Home position and Random position in measures of occlusal reduction, marginal width, marginal depth, convergence angle. However, preparation time and incidence of damaging adjacent teeth were less in Home position than in Random position. Therefore, if trained properly, Home position which is more ergonomically stable can be adopted for clinical use.

• The Transactions of the Korean Institute of Power Electronics
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• v.24 no.6
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• pp.389-395
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• 2019

This paper presents the sensorless position control of an auxiliary scaffolding step system for vehicles using DC motors. The designed auxiliary scaffolding step has a mechanical protector at the stop position. At this position, the scaffolding is forcibly stopped by the mechanical protector, and the motor current is dramatically increased to the stall current of the DC motor, thereby increasing the electrical damage. In this study, the estimated back EMF- and current model-based observers are proposed to estimate the motor speed and stop position. A simple V/F acceleration voltage pattern is used to operate the auxiliary scaffolding system. The estimated moving position is adopted to determine the stop position of the DC motor with the load current state. The operating current of the DC motor can be reduced by the estimated moving position and V/F acceleration pattern. At the stop position, the proposed sensorless position controller can smoothly stop the DC motor with the estimated moving position and reduced load current without any mechanical and electrical stress from the stall current from the mechanical protector. The proposed control scheme is verified by the comparison of simulations and experiments.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.11
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• pp.635-644
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• 2018

This descriptive study examined the practical nursing guidelines for the prevention of pressure injuries (PI) in operating rooms and their application. Method: Four general hospitals and three specialized hospitals located in Seoul, Incheon, and Gyeonggido province were selected through an online randomization program and nurses at these hospitals who participated in operations and had at least six months work experience were surveyed. Data were collected from January to April 2018 through a survey distributed to 150 nurses, 129 of whom returned the survey (86% recovery rate). The results showed that 43 nurses provided PI prevention care for patients in a lateral position (33.3%), 37 for patients in a supine position (28.7%), and 36 for patients in a prone position (27.9%). Gel was most widely used as the supporting surface material (102 nurses; 79.1%), followed by sponge (62 nurses; 48.1%), and cotton (47 nurses; 36.4%). Skin was often inspected twice, before and after the use of a supporting surface (90nurses; 69.8%), but no designated tool was used to determine the risk of PI developing (76 nurses; 58.9%). Additionally, the patient's position during surgery (83 nurses; 64.3%) and the length of the operation (i.e., more than two hours, in this case) (49 nurses; 38.0%) were determining factors for whether to use a supporting surface. The operating room nurses used the gel, sponge, and cotton as the supporting surfaces for the prevention of PI and confirmed that the cutoff operation time for the use of a supporting surface was more than 2 hours.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.4
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• pp.351-357
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• 1999

This paper proposes the coordinated control of SVC and UTLC at the distribution substation to get larger operating margin of SVC for the voltage stability control by reactive power compensation. In the conventional method, ULTC doesn't respond to the variation of source voltage, so SVC has the entire responsibility for it. It could cause the lack of operating margin of SVC in some condition. It, however, is important to secure an operating margin for the dynamic stability control in emergancy. This paper proposes the coordinated control method that SVC controls the supply voltage and ULTC respond to the SVC compensation valve based on the relation between SVC compensation and ULTC tap position. The numerical simulation verifies that the proposed system could increase the operating margin of SVC compared with the conventional system.

• The Transactions of the Korean Institute of Power Electronics
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• v.23 no.2
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• pp.139-146
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• 2018

This work puts forward a theoretical analysis on position estimation performance of interior permanent magnet synchronous motor (IPMSM) according to the injection frequency in carrier-based sensorless operation. The effects of spatial harmonics on inductance and voltage distortion due to the nonideal characteristics of IPMSM and inverter are examined as factors influencing the position estimation performance. Furthermore, the position estimation performance is analyzed by calculating the current at the switching instant in several operating conditions. In summary, the half switching frequency injection is more robust to the nonideal characteristics of IPMSM, especially with light load condition. The validity of the analysis is verified by the simulation and experimental results.

• Journal of the Korean Institute of Navigation
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• v.24 no.4
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• pp.219-226
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• 2000

Ship's position data obtaining method is one of the very important factor in navigation. Nowadays, GPS(Global Positioning System) using the earth orbiting satellites are equipped and operated for the position finding. Because it provides more precise position information than other equipments and is very convenient for navigator. In this study, it is designed to develop the GPS simulator for everybody being able to practise the GPS operating skill like as navigation planning, navigation calculating etc. And also, it can be operated with personal computer without real GPS receiver. This simulation system is based on the real GPS receiver and built by the visual basic 5.0 program. And it displays the ship's position and navigating information and plots the ship's moving track on the screen in real time according as initial setup data-main engine's rpm, rudder angle, departure position and waypoint.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• v.2B no.3
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• pp.125-132
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• 2002

PMSMS (permanent magnet synchronous motors) are widely used in industrial applications and home appliances because of their high torque to inertia ratio, superior power density, and high efficiency. For high performance control, accurate informations about the rotor position is essential. Sensorless algorithms have lately been studied extensively due to the high cost of position sensors and their low reliability in harsh environments. A novel position sensorless speed control for PMSMs uses indirect flux estimation and is presented in this paper. Rotor position and angular velocity are estimated by the proposed indirect flux estimation. Linkage flux and magnetic field flux are calculated by the voltage equations and the measured phase current without any integration. Instead of linkage flux calculation with integral operation, indirect flux and differential magnetic field are used for the estimation of rotor position. A proper rejection technique fur current noise effect in the calculation of differential linkage flux is introduced. The proposed indirect flux detecting method is free from the integral rounding error and linkage flux drift problem, because differential linkage flux can be calculated without any integral operation. Furthermore, electrical parameters of the PMSM can be measured by the proposed TCM (time compression method) for soft starting and precise estimation of rotor position. The position estimator uses accurate electrical parameters that are obtained from the proposed TCM at starting strategy. In the operating region, a proper compensation method fur temperature effect can compensate fir the estimation error from the variation of electrical parameters. The proposed novel position sensorless speed control scheme is verified by the experimental results.