• Journal of the Korean Society for Precision Engineering
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• v.25 no.3
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• pp.141-146
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• 2008

The purpose of this study is to develop the algorithm which can control muscle power assist robot especially for elderly. Recently, wearable robots for power assistance are developed by many researchers, and its application fields are also variable such as for medical or military equipment. However, there are many technical barriers to develop the wearable robot. This study suggest a control method improving performance of a wearable robot system by using a EMG signal of major muscles and a force sensor signal as command signal of system. The result of the robot Prototype efficiency experiment, the case of Maximum Isometric motion it suggest 100% power of muscle, the man need only 66% of MVIC(Maximum Voluntary Isometric Contraction) to lift 5kg dumbbell without robot assist. However the man needs only 52% of MVIC to lift 5kg dumbbell with robot assist. Therefore 20% muscle power increased with robot assist. Also, we designed light weight robot mechanism that extract the command signal verified and drive the wanted motions.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.8 no.12
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• pp.4489-4501
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• 2014

We propose a novel lane detection method based on classification in image sequences. Both structural and statistical features of the extracted bright shape are applied to the neural network for finding correct lane marks. The features used in this paper are shown to have strong discriminating power to locate correct traffic lanes. The traffic lanes detected in the current frame is also used to estimate the traffic lane if the lane detection fails in the next frame. The proposed method is fast enough to apply for real-time systems; the average processing time is less than 2msec. Also the scheme of the local illumination compensation allows robust lane detection at nighttime. Therefore, this method can be widely used in intelligence transportation systems such as driver assistance, lane change assistance, lane departure warning and autonomous vehicles.

• Journal of Drive and Control
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• v.19 no.3
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• pp.47-52
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• 2022

The C-ITS (Cooperative-intelligent Transport System) is a driver assistance system that prevents car accidents and enhances traffic conditions, via sharing traffic information between vehicles and roadway infrastructures. A CLAS (changing lane assistance system) for unprotected left-turn, is a C-ITS that assists a driver with safely changing lanes. This system addresses a driver's critical gap, that enables the system to express a driver's uncertainty. A driver's critical gap is a time that can be used in a threshold, to change a lane or not. Unfortunately, a driver's critical gap is difficult to use in a CLAS directly. This paper addresses a driver's critical gap, and how it can be applied in a CLAS for an unprotected left-turn.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.1307-1308
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.41-42
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• 2010

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.10
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• pp.948-956
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• 2010

The purpose of this study was to test the effectiveness of a prototype KAFO (Knee-Ankle-Foot Orthosis) powered by two artificial pneumatic muscles during walking. We had previously built powered AFO (Ankle-Foot Orthosis) and KO (Knee Orthosis) and used it effectively in studies on assistance of plantaflexion and knee extension motion. Extending the previous study to a KAFO presented additional challenges related to the assistance of gait motion for rehabilitation training. Five healthy males were performed gait motion on treadmill wearing KAFO equipped with artificial pneumatic muscles to power ankle plantaflexion and knee extension. Subjects walked on treadmill at 1.5 km/h under four conditions without extensive practice: 1) without wearing KAFO, 2) wearing KAFO with artificial muscles turned off, 3) wearing KAFO powered only in plantaflexion under feedforward control, and 4) wearing KAFO powered both in plantaflexion and knee extension under feedforward control. We collected surface electromyography, foot pressure and kinematics of ankle and knee joint. The experimental result showed that a muscular strength of wearing KAFO powered plnatarfexion and knee extension under feedforward control was measured to be lower due to pneumatic assistance and foot pressure of wearing KAFO powered plnatarfexion and knee extension under feedforward control was measured to be greater due to power assistance. In the result of motion analysis, the ankle angle of powered KAFO in terminal stance phase was found a peak value toward plantaflexion and there were difference of maximum knee flexion range among condition 2, 3 and 4 in mid-swing phase. The current orthosis design provided plantaflexion torque of ankle jonit in terminal stance phase and knee extension torque of knee joint in mid-swing phase.

• Advances in Automotive Engineering
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• v.1 no.1
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• pp.143-152
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• 2018

In this study an economical image stitching algorithm for use in automotive industry is developed for retrofittable panoramic image assistance applications. The aim of this project is to develop a driving assistance system known as Panoramic Parking Assistance (PPA) which is cheap, retrofittable and compatible for every type of automobiles. PPA generates bird's eye view image using cameras installed on the automobiles. Image stitching requires to get bird's eye view position of the vehicle. Panoramic images are wide area images that cannot be available by taking one shot, attained by stitching the overlapping areas. To achieve correct stitching many algorithms are used. This study includes some type of these algorithms and presents a simple one that is economical and practical. Firstly, the mathematical model of a wide view of angle camera is provided. Then distorted image correction is performed. Stitching is implemented by using the SIFT and SURF algorithms. It has been seen that using such algorithms requires complex image processing knowledge and implementation of high quality digital processors, which would be impracticle and costly for automobile use. Thus a simpler algorithm has been developed to decrase the complexity. The proposed algorithm uses one matching point for every couple of images and has ease of use and does not need high power processors. To show the efficiency, images coming from four distinct cameras are stitched by using the algorithm developed for the study and usability for automotive application is analyzed.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.42 no.3 s.333
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• pp.1-8
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• 2005

In this paper, design and implement 60W Doherty power amplifiers for 3GPP repeater and base station transceiver system. Efficiency improvement and high power property of Doherty power amplifier is distinguishable; however implementation of assistance amplifer is difficult, though. To solve the problem, therefore, GCHD (Gate Control Hybrid Doherty) power amplifier is embodied to gate bias adjusament circuit of assistance amplifier to General Doherty power amplifier. Experiment result shows that $2.11\~2.17GHz$, 3GPP operating frequency band, with 62.55 dB gain, PEP output is 50,76 dBm, W-CDMA average power is 47.81 dBm, and -40.05 dBc ACLR characteristic in 5MHz offset frequency band. Each of the parameter satisfied amplifier specification which we want to design. Especially, GCHD power amplifier shows proper efficiency performance improvement in uniformity ACLR than general power amplifier.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.25 no.10
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• pp.102-108
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• 2011

The existing power flow has a single direction to the line end but the bidirectional power flow will possibly occur depending on the output capacity in the 22.9[kV] distribution power system connected with the dispersed generation(DG). So these characteristics would influence the power system management. The DG have many advantages such as assistance source, Load share etc. So the utility must apply the bidirectional protection system so as to maximize an advantage of DG. This paper describes the field test case of bidirectional protective device in order to investigate the device performance when applied to bidirectional power system. We have tested in the power system test site of KEPCO and these tests provide the basis for performance verification test of bidirectional protective device in the power system.

• New & Renewable Energy
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• v.2 no.3
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• pp.23-30
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• 2006

Need developments of substitute energy to solve problem of global warming by excess use of fossil energy, excess discharge of carbon dioxide. wind power generation system is all-important energy in next generation as clean energy. Environmental pollution of wind power generation system is not exhausted entirely. And, electric-power generation system cost is cheap than other energy. Wind Generation system that is supplied much present is most horizontality style blade structure. But, Horizontal style structure is serious noise and there is problem in stability of blade. We designed special blade solve to this problem. And, manufactured vertical axis wind power generation system because using blade. Also, developed assistance power generator to increase driving efficiency ago wind power generation. We expect this devices that is such cover shortcoming of wind power generation system.