• Progress in Medical Physics
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• v.32 no.4
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• pp.153-158
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• 2021

Purpose: This study evaluated the features of a pressure mapping system for patient motion monitoring in radiation therapy. Methods: The pressure mapping system includes an MS 9802 force sensing resistor (FSR) sensor with 2,304 force sensing nodes using 48 columns and 48 rows, controller, and control PC (personal computer). Radiation beam attenuation caused by pressure mapping sensor and signal perturbation by 6 and 10 mega voltage (MV) photon beam was evaluated. The maximum relative pressure value (mRPV), average relative pressure value (aRPV), the center of pressure (COP), and area of pressure distribution were obtained with/without radiation using the upper body of an anthropomorphic phantom for 30 minutes with 15 MV. Results: It was confirmed that the differences in attenuation induced by the FSR sensor for 6 and 10 MV photon beams were small. The differences in mRPV, aRPV, area of pressure distribution with/without radiation are about 0.6%, 1.2%, and 0.5%, respectively. The COP values with/without radiation were also similar. Conclusions: The characteristics of a pressure mapping system during radiation treatment were evaluated on the basis of attenuation and signal perturbation using radiation. The pressure distribution measured using the FSR sensor with little attenuation and signal perturbation by the MV photon beam would be helpful for patient motion monitoring.

• The Journal of Korean Physical Therapy
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• v.29 no.4
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• pp.164-168
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• 2017

Purpose: Functional electrical stimulation (FES) is a device that activates the sensorimotor cortex through electrodes attached to the surface of the skin. However, it is difficult to expect positive changes if the recipient is not attentive to the motion. To complement the perceived cognitive limitations of FES, we attempted to investigate the changes of sensorimotor cortex activity by simultaneously providing action observation with FES. Methods: Electroencephalogram was measured in 28 healthy volunteers. Relative band power over the sensorimotor cortex was analyzed and compared in three conditions: during rest, during FES alone, during action observation with FES. Results: The results showed significant differences in each relative band power. Relative alpha power and relative beta power were the lowest by application of FES combined with action observation, while the relative gamma power was the highest. Conclusion: These results suggest that combining FES with observation could be more effective than FES alone in neurorehabilitation.

• International Journal of Aeronautical and Space Sciences
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• v.12 no.1
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• pp.24-36
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• 2011

A new approach for spacecraft absolute attitude estimation based on the unscented Kalman filter (UKF) is extended to relative attitude estimation and navigation. This approach for nonlinear systems has faster convergence than the approach based on the standard extended Kalman filter (EKF) even with inaccurate initial conditions in attitude estimation and navigation problems. The filter formulation employs measurements obtained from a vision sensor to provide multiple line(-) of(-) sight vectors from the spacecraft to another spacecraft. The line-of-sight measurements are coupled with gyro measurements and dynamic models in an UKF to determine relative attitude, position and gyro biases. A vector of generalized Rodrigues parameters is used to represent the local error-quaternion between two spacecraft. A multiplicative quaternion-error approach is derived from the local error-quaternion, which guarantees the maintenance of quaternion unit constraint in the filter. The scenario for bounded relative motion is selected to verify this extended application of the UKF. Simulation results show that the UKF is more robust than the EKF under realistic initial attitude and navigation error conditions.

• Journal of Sensor Science and Technology
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• v.31 no.3
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• pp.156-162
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• 2022

This study estimates the relative position between body segments using segment orientation and segment-to-joint center (S2J) vectors. In many wearable motion tracking technologies, the S2J vector is treated as a constant based on the assumption that rigid body segments are connected by a mechanical ball joint. However, human body segments are deformable non-rigid bodies, and they are connected via ligaments and tendons; therefore, the S2J vector should be determined as a time-varying vector, instead of a constant. In this regard, our previous study (2021) proposed a method for determining the time-varying S2J vector from the learning dataset using a regression method. Because that method uses a deformation-related variable to consider the deformation of S2J vectors, the optimal variable must be determined in terms of estimation accuracy by motion and segment. In this study, we investigated the effects of deformation-related variables on the estimation accuracy of the relative position. The experimental results showed that the estimation accuracy was the highest when the flexion and adduction angles of the shoulder and the flexion angles of the shoulder and elbow were selected as deformation-related variables for the sternum-to-upper arm and upper arm-to-forearm, respectively. Furthermore, the case with multiple deformation-related variables was superior by an average of 2.19 mm compared to the case with a single variable.

• Journal of Astronomy and Space Sciences
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• v.29 no.4
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• pp.351-362
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• 2012

We made a study on real-time determination method for relative position using the laser-measured distance data between satellites. We numerically performed the determination of relative position in accordance with extended Kalman filter algorithm using the vectors obtained through nonlinear equation of relative motion, laser simulator for distance measurement, and attitude determination of chief satellite. Because the spherical parameters of relative distance and direction are used, there occur some changes in precision depending on changes in relative distance when determining the relative position. As a result of simulation, it was possible to determine the relative position with several millimeter-level errors at a distance of 10 km, and sub-millimeter level errors at a distance of 1 km. In addition, we performed the determination of relative position assuming the case that global positioning system data was not received for long hours to see the impact of determination of chief satellite orbit on the determination of relative position. The determination of precise relative position at a long distance carried out in this study can be used for scientific mission using the satellite formation flying.

• Journal of the Ergonomics Society of Korea
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• v.26 no.1
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• pp.39-46
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• 2007

The purpose of this study was to develop a comprehensive posture classification scheme considering the effects of external load and motion repetition as well as those of working posture. The scheme was developed based on a series of existing empirical studies dealing with postural classification scheme, effects of external load and motion repetition. Ranges of joint motions, external load and motion repetition were divided into the groups with the same degree of discomforts. Each group was assigned a numerical relative discomfort score of code on the basis of discomfort values for the neutral position of elbow flexion. The criteria for evaluating stress of working postures were proposed based on the four distinct action categories, in order to enable practitioners to apply appropriate corrective actions. The proposed scheme was compared with OWAS, RULA and REBA. The comparison revealed that while the proposed scheme and RULA showed similar results for the working postures with light external load and non-repetitive postures, the former overestimated postural load for postures with moderate or heavy external load and repetitive postures than the latter.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.212-217
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• 1993

In this paper, characteristics of the motions of a human arm are investigated experimentally. When the conditions of the target point are restricted, human adjusts its trajectory and velocity pattern of the arm to fit the conditions skillfully. The purpose of this work is to examine the characteristics of the trajectory, velocity pattern, and the size of the duration in the following cases. First, we examine the case of point-to-point motion. The results are consistent with the minimum jerk theory. However, individual differences in the length of the duration can be observed in the experiment. Second, we examine the case which requires accuracy of positioning at the target point. It is found that the velocity pattern differs from the bell shaped pattern explained by the minimum jerk theory, and has its peak in the first half of the duration. When higher accuracy of the positioning is required, learning effects can be observed. Finally, to examine the case which requires constraint of the arm posture at the target point, we conduct experiments of a human trying to grasp a cup. It is considered that this motion consists of two steps : one is the positioning motion of the person in order to start the grasping motion, the other is the grasping motion of the human's hand approaching toward the cup and grasping it. In addition, two representative velocity patterns are observed : one is the similar velocity pattern explained in the above experiment, the other is the velocity pattern which has its relative maximum in the latter half of the duration.

• Korean Journal of Applied Biomechanics
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• v.15 no.1
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• pp.111-125
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• 2005

This study was intended to assist athletes in having a technical understanding of the Yega motion and provide basic material for improving their competitive ability by analyzing the kinematic variable of the Yega motion during the competition of the uneven parallel bar of female gymnastics. For this purpose, the game of female gymnastics participating in the uneven parallel bar game was personally videotaped using the DLT(direct linear transformation) method. An attempt was made to make a comparative analysis of the Yega motion by dividing the final first to third places into the upper group('A' group) and the sixth to eighth places into the lower group('B' group). Based on the results of actual analysis on the scenes of actual game, the following conclusion was concluded: 1. Athletes in the 'A' group showed the shorter required time on the flight phase(P3) than counterparts in the 'B' group. 2. Athletes in the 'A' group showed the little width in the horizontal displacement of the center of gravity than counterparts in the 'B' group. But athletes in the 'A' group exhibited the somewhat greater relative vertical height of the center of the body. 3. Athletes in the 'A' group showed the greater resultant velocity at the lowest point of the center of the body(E2) and at the point in time of release(E3) compared to counterparts in the 'B' group.

• Korean Journal of Computational Design and Engineering
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• v.2 no.1
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• pp.60-67
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• 1997

CAD systems offer a variety of techniques for designing and rendering models of static 3D objects and even of mechanisms, but relatively few tools exist for interactively specifying arbitrary movements of rigid bodies through space. Such tools are essential, not only for artistic animation, but also, for planning and demonstrating assembly and disassembly procedure of manufactured products. A rigid body motion is a continuous mapping from the time domain to a set of positions. To relieve the designers from the burden of specifying this mapping in abstract mathematical terms, combinations of simple rigid motion primitives, such as linear translations or constant axis rotations, are often used. These simple motions are planar and thus ill-suited for approximating arbitrary motions in 3D-space. Instead, we propose the screw motion primitive, a special combination of linear translations and constant axis rotations, which has a simple geometric representation that can be automatically and unambiguously computed from the starting and ending positions of the moving body. Although, any two positions may be interpolated by an infinity of motions, we chose the screw motion for its relative generality and its computational advantages. The paper covers original algorithms for computing the screw motions from interpolated positions and envelopes of swept regions to predict collisions.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.10
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• pp.1551-1560
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• 1997

This study is devoted to the detection of the 3-dimensional point obstacles on the plane by using accumulated scan line images. The proposed accumulating only one scan line allow to process image at real time. And the change of motion of the feature in image is small because of the short time between image frames, so it does not take much time to track features. To obtain recursive optimal obstacles position and robot motion along to the motion of camera, Kalman filter algorithm is used. After using Kalman filter in case of the fixed environment, 3-dimensional obstacles point map is obtained. The position and motion of moving obstacles can also be obtained by pre-segmentation. Finally, to solve the stereo ambiguity problem from multiple matches, the camera motion is actively used to discard mis-matched features. To get relative distance of obstacles from camera, parallel stereo camera setup is used. In order to evaluate the proposed algorithm, experiments are carried out by a small test vehicle.