• Journal of rehabilitation welfare engineering & assistive technology
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• v.7 no.2
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• pp.55-62
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• 2013

The exoskeleton robot to assist walking of hemiplegia patients or disabled persons has been studied in this paper. The exoskeleton robot with degrees of freedom of 2 axis has been developed and tested for joint motion. The obtained EMG signal from normal person was analyzed and the control signal was extracted from it for convenient and automotive performance of assistance robot to help hemiplegia patient walks as normal person does. the purpose of using FES(Functional Electrical Stimulation) for hemiplegia patient's walk is to restore damaged body function by this, but this could give fatal electrical shock to patients by wrong use or cause quick fatigue in muscle by continuous stimulation. The convenient movement of hemiplegia patients with minimum muscle fatigue was looked possibly by operation of assistance robot exoskeleton using control signal. and the walking assistance exoskeleton robot seemed works more efficiently than using FES stimulator. The experiment in this study was performed based on usual motion in our life like walking, standing-up, sitting-down, and particularly feedback control system using Piezo sensor along with button switch was applied for smooth swing motion in walking. The experiment also shows that hemiplegia patients can move conveniently by using electromyogram signal of healthy leg for the operation signal of assistance robot system attached at damaged symmetrical leg.

• Journal of the Korean Institute of Gas
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• v.16 no.6
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• pp.102-106
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• 2012

The purpose of this paper is to study the failure cases in relation to system of Air Bag in vehicle happened in the field. In the first example, it was separated the soldering parts connected the wire pin between air bag module and clock spring of air bag. Whenever the pin shake by the car's vibration, the driver verified the malfunction phenomenon appeared air bag warning lamp on instrument panel in front of driver's seat. in car inside room. The second example, it verified the warning lamp lighting phenomenon of air bag by produced the circuit plate non-contacting of single an element in air bag electronic control unit. The third example, it verified the light of air bag warning indicator lamp by separated with soldering parts connecting inner pin and resistance terminal of seat belt pretensioner using passenger seat. The fourth example, when the passenger car crash a back of truck, the former bumper get jammed under the latter as the roof height of car low less than that. Therefore, the impact of Car's collision verified that don't transfer with body frame of vehicle because of no attachment impact sensor in it.

• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.355-361
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• 2006

In large scale environments like airport, museum, large warehouse and department store, autonomous mobile robots will play an important role in security and surveillance tasks. Robotic security guards will give the surveyed information of large scale environments and communicate with human operator with that kind of data such as if there is an object or not and a window is open. Both for visualization of information and as human machine interface for remote control, a 3D model can give much more useful information than the typical 2D maps used in many robotic applications today. It is easier to understandable and makes user feel like being in a location of robot so that user could interact with robot more naturally in a remote circumstance and see structures such as windows and doors that cannot be seen in a 2D model. In this paper we present our simple and easy to use method to obtain a 3D textured model. For expression of reality, we need to integrate the 3D models and real scenes. Most of other cases of 3D modeling method consist of two data acquisition devices. One for getting a 3D model and another for obtaining realistic textures. In this case, the former device would be 2D laser range-finder and the latter device would be common camera. Our algorithm consists of building a measurement-based 2D metric map which is acquired by laser range-finder, texture acquisition/stitching and texture-mapping to corresponding 3D model. The algorithm is implemented with laser sensor for obtaining 2D/3D metric map and two cameras for gathering texture. Our geometric 3D model consists of planes that model the floor and walls. The geometry of the planes is extracted from the 2D metric map data. Textures for the floor and walls are generated from the images captured by two 1394 cameras which have wide Field of View angle. Image stitching and image cutting process is used to generate textured images for corresponding with a 3D model. The algorithm is applied to 2 cases which are corridor and space that has the four wall like room of building. The generated 3D map model of indoor environment is shown with VRML format and can be viewed in a web browser with a VRML plug-in. The proposed algorithm can be applied to 3D model-based remote surveillance system through WWW.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.5
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• pp.92-105
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• 2015

WBAN (Wireless Body Area Network) is a network which is to consistently monitor body signals with implanted or attached sensor nodes. Especially, nodes that are used in medical services have to operate with low power consumption since they are hard to replace, and have to guarantee high data rate and low transmission delay for consistent signal monitor. In this paper, we propose an algorithm that aims to reduce transmission delay and power consumption, and guarantees stable throughput, by assuming the number of active nodes, and followed by dynamically adjusting the random access period and transmission possibilities in a superframe. The assumed number of active nodes may be incorrect since it only relies on the channel status of a previous superframe. Therefore, we assume the number of active nodes and define a pattern. And revise the number of the active nodes with the defined pattern. To evaluate the performance of the proposed algorithm, we have implemented a WBAN environment with the MATLAB. The simulation results show that the proposed algorithm provides better throughput, low power consumption, and low transmission delay when compared to the slotted ALOHA of the IEEE 802.15.6.

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.9
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• pp.307-313
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• 2012

This paper proposes a hand-eye laser range finder (LRF) based welding plane recognition method for autonomous robotic welding. The robot welding is the process of joining a metal piece and the welding plane along the welding path predefined by the shape of the metal piece. Thus, for successful robotic welding, the position and direction of the welding plane should be exactly detected. If the detected position and direction of the plane is not accurate, the autonomous robotic welding should fail. For precise recognition of the welding plane, a line on the plane is detected by the LRF. For obtaining the line on the plane, the Hough transform is applied to the obtained data from the LRF. Since the Hough transform is based on the voting method, the sensor noise can be reduced. Two lines on the plane are obtained before and after rotation of the robot joint, and then the direction of the plane is calculated by the cross product of two direction vectors of two lines. For verifying the feasibility of the proposed method, the simulation with the robot simulator, RoboticsLab developed by Simlab Co. Ltd., is carried out.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.47 no.6
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• pp.107-116
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• 2010

Smear is a phenomenon that occurs when an extremely strong light source appears in the imaging system with CCD sensor. It occurs due to the signal charge transfer of CCD and appears as bright lines of noise emanating vertically (or horizontally) from the light source. For still images, smear can be reduced by using a mechanical shutter or special drive methods, but these techniques cannot be applied to image sequences. In this paper, we propose a smear removal method that can be applied to imaging systems for not only still images but also image sequences. The proposed method uses the optical black region(OBR) which is a group of pixels located in the boundary of CCD imaging sensors. Although the OBR is not exposed to light, it contains smear information caused by the charge transport. First, noise and the smear signal in the OBR is separated, and noise is removed to correctly estimate smear effect. Then, corrected OBR signal is uniformly subtracted to eliminate smear effect. Also, if saturation is occurred, the current pixel is substituted by weighted summation of neighboring pixels to improve the visual degradation. Experimental results show that the proposed algorithm outperforms the conventional methods.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.4
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• pp.137-143
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• 2013

The high resolution satellite images are used in many fields such as weather observation, remote sensing, military facilities monitoring, cultural properties protection etc. Although satellite images are obtained in same satellite imaging system, the satellite images are degraded depending on the condition of hardware(optical device, satellite operation altitude, image sensor, etc.). Due to the fact that changing the hardware of satellite imaging system is impossible for resolution enhancement of these degraded satellite after launching a satellite, therefore the method of resolution enhancement with satellite images is necessary. In this paper the resolution is enhances by using a Super Resolution(SR) algorithm. The SR algorithm is an algorithm to enhance the resolution of an image by uniting many low resolution images, so an output image has higher resolution than using other interpolation methods. But It is difficult to obtain many images of the same area. Therefore, to solve this problem, we applied SR after by applying the affine and projection transform. As a results, we found that the images applied SR after affine and projection transform have higher resolution than the images only applied SR.

• Journal of IKEEE
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• v.13 no.4
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• pp.116-124
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• 2009

Recently the CPU performance of modem chipsets or multimedia processors of mobile phone is as high as notebook PC. That is why mobile phone has been emerged as a leading ICON on the convergence of consumer electronics. The various applications of mobile phone such as DMB, digital camera, video telephony and internet full browsing are servicing to consumers. To meet all the demands the image quality has been increasingly important. Mobile phone is a portable device which is widely using in both the indoor and outside environments, so it is needed to be overcome to deteriorate image quality depending on environmental light source. Furthermore touch window is popular on the mobile display panel and it makes contrast loss because of low transmittance of ITO film. This paper presents the image enhancement algorithm to be embedded on image enhancement SoC. In contrast enhancement, we propose Clipped histogram stretching method to make it adaptive with the input images, while S-shape curve and gain/offset method for the static application And CIELCh color space is used to sunlight readability enhancement by controlling the lightness and chroma components which is depended on the sensing value of light sensor. Finally the performance of proposed algorithm is evaluated by using histogram, RGB pixel distribution, entropy and dynamic range of resultant images. We expect that the proposed algorithm is suitable for image enhancement of embedded SoC system which is applicable for the small-sized mobile display.

• Journal of the Korean Geosynthetics Society
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• v.18 no.4
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• pp.107-114
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• 2019

In this paper, the P-wave multiple detection system for the fast and accurate earthquake early warning nearby the epicenter was developed. The developed systems were installed in five selected public buildings for the validation. During the monitoring, a magnitude 2.3 earthquake occurred in Pohang on 26 September 2019. P-wave initial detection algorithms were operated in three out of four systems installed in Pohang area and recorded as seismic events. At the nearest station, 5.5 km from the epicenter, P-wave signal was detected 1.2 seconds after the earthquake, and S-wave was reached 1.02 seconds after the P-wave reached, providing some alarm time. The maximum accelerations recorded in three different stations were 6.28 gal, 6.1 gal, and 5.3 gal, respectively. The alarm algorithm did not work, due to the high threshold of the maximum ground acceleration (25.1 gal) to operate it. If continuous monitoring and analysis are to be carried out in the future, the developed system could use a highly effective earthquake warning system suitable for the domestic situation.

• Journal of the Korea Society of Computer and Information
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• v.25 no.3
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• pp.243-250
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• 2020

In this paper, we propose an effective software education scheme for universities. The key idea of this software education scheme is to analyze software curriculum of QS world university rankings Top 10, SW-oriented university, and regional main national university. And based on the results, we propose five improvements for the effective SW education method of universities. The first is to enhance the adaptability of the industry by developing courses based on the SW developer's job analysis in the curriculum development process. Second, it is necessary to strengthen the curriculum of the 4th industrial revolution core technologies(cloud computing, big data, virtual/augmented reality, Internet of things, etc.) and integrate them with various fields such as medical, bio, sensor, human, and cognitive science. Third, programming language education should be included in software convergence course after basic syntax education to implement projects in various fields. In addition, the curriculum for developing system programming developers and back-end developers should be strengthened rather than application program developers. Fourth, it offers opportunities to participate in industrial projects by reinforcing courses such as capstone design and comprehensive design, which enables product-based self-directed learning. Fifth, it is necessary to develop university-specific curriculum based on local industry by reinforcing internship or industry-academic program that can acquire skills in local industry field.