• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2526-2531
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• 2005

A practical pinch torque estimator based on the Kalman filter is proposed for low-cost anti-pinch window control systems. To obtain the accurate angular velocity from Hall-effect sensor measurements, the angular velocity calculation algorithm is executed with additional procedures for removing the measurement noises. Apart from the previous works using the angular velocity estimates and torque estimates for detecting the pinched condition, the torque rate is augmented to the system model and the proposed pinch estimator is derived by applying the steady-state Kalman filter recursion to the model. The motivation of this approach comes from the idea that the bias errors in torque estimates due to the motor parameter uncertainties can be almost eliminated by introducing the torque rate state. For detecting the pinched condition, a systematic way to determine the threshold level of the torque rate estimates is also suggested via the deterministic estimation error analysis. Simulation results are given to certify the pinch detection performance of the proposed algorithm and its robustness against the motor parameter uncertainties.

• 전자공학회논문지B
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• 제32B권11호
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• pp.1445-1454
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• 1995

In this study, we have developed a prototype of the automatic defects detection system for capsule inspection using the computer vision techniques. The subjects for inspection are empty hard capsules of various sizes which are made of gelatine. To inspect both sides of a capsule, 2-stage recognition is performed. Features we have used are various lengths of a capsule, area, linearity, symmetricity, head curvature and so on. Decision making is performed based on average value which is computed from 20 good capsules in training and permission bounds in factories. Most of time-consuming process for feature extraction is computed by hardware to meet the inspection speed of more than 20 capsules/sec. The main logic for control and arithmetic computation is implemented using EPLD for the sake of easy change of design and reduction in time for developement. As a result of experiment, defects on size or contour of binary images are detected over 95%. Because of dead zone in imaging system, detection ratio of defects on surface, such as bad joint, chip, speck, etc, is lower than the former case. In this case, detection ratio is 50-85%. Defects such as collet pinch and mashed cap/body seldom appear in binary image, and detection ratio is very low. So we have to process the gray-level image directly in partial region.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2014년도 추계학술발표대회
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• pp.1018-1020
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• 2014

본 논문에서는 통학버스에서의 안전사고에 관련된 여러 사례 중 출입문의 끼임을 방지하기 위하여 통학버스에 영상장치와 전원센서를 부착, 사각지대를 없애고 운전자에게 경보음으로 사고를 미연에 방지하고자 하는 시스템을 제안하고자 한다. 출입문의 배경영상을 적용적으로 수집하고 실시간으로 수집되는 영상과 배경영상을 차 연산 하여 문의 끼임을 인식한다. 실험결과 문에 대해서 끼임이 검출되는 것을 확인할 수 있었다.

• PNF and Movement
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• 제20권2호
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• pp.147-156
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• 2022

Objective: Electrical stimulation is an assistive technology used to aid the recovery of upper limb use after stroke. The purpose of this systematic review was to determine the effects of electrical stimulation on upper extremity function in individuals with hemiparetic stroke and to develop an evidence base that supports the use of electrical stimulation for upper limb recovery after stroke. Design: A systematic review based on randomized controlled trials (RCTs). Methods: Studies published before April 20 2021 were collected for this review by searching PubMed, four other databases, and RCTs that reported the effects of electrical stimulation on upper extremity function in individuals with the characteristic stroke type. Information on the following parameters was extracted from each study: surname of first author, published year, country, participants, intervention, intervention's intensity, comparison, outcomes, additional therapy, and summary of results. This review also evaluated the bias within each study, including any selection bias, performance bias, detection bias, attrition bias, and reporting bias. Results: This review included five RCTs, and 208 stroke patients were included in the analysis. Stroke patients who underwent electrical stimulation showed significantly improved grip and pinch strengths, wrist range of motion, and basic daily living compared to those in the control group; however, there was no improvement in upper extremity function. Of the selected papers, 60% showed a "high risk" of performance bias, and 20% showed a "high risk" of detection bias. Conclusions: The results of this systematic review suggest that electrical stimulation provides some benefits to stroke patients, such as improved hand strength and range of motion. However, future studies are needed to provide clinical evidence of the effects of electrical stimulation on upper extremity function in stroke patients.