• The Transactions of the Korean Institute of Electrical Engineers
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• v.45 no.1
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• pp.100-112
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• 1996

This paper presents a design experience of a control language for coordination of a multi-robot system. To effectively program job commands, a Petrinet-type Graphical Robot Language(PGRL) is proposed, where some functions, such as concurrency and synchronization, for coordination among tasks can be easily programmed.In our system, the proposed task commands of PGRL are implemented by employing formal model languages, which are composed of three modules, sensory, data handling, and action module. It is expected that by using our proposed PGRL and formal languages, one can easily describe a job or task, and hence can effectively operate a complex real-time and concurrent system. The control system is being implemented by using VME-based 32-bit microprocessor boards for supervisory, each module controller(arm, hand, leg, sensor data processing module) and a real time multi-tasking operating system(VxWorks). (author). 17 refs., 16 figs., 2 tabs.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.5
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• pp.837-844
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• 2013

This study performs erection of a pendulum hanging at a free end of an arm by rotating the arm to the upright position. A mathematical model of a rotary inverted pendulum system (RIPS) is derived. A brain emotional learning based intelligent controller (BELBIC) is designed and used as a controller for swinging up and balancing the pendulum of the RIPS. In simulations performed in the study, a pendulum is initially inclined at $45^{\circ}$ with respect to the upright position. A simulation is also performed for evaluating the adaptiveness of the designed BELBIC in the case of system variation. In addition, a simulation is performed for evaluating the robustness of the designed BELBIC against a disturbance in the control input.

• International Journal of Advanced Culture Technology
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• v.1 no.1
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• pp.1-5
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• 2013

This network system for home care realized communication by the bio-physical signal, to convey physical rhythm. Four function of displacement had point of a Vision, Somatosensory, Vestibular and CNS. Bio-physical signal was decided to design a maximum points and minimum points with 0.01unit in reference level. Bio-physical signal was checked to compound physical condition of body posture for sensory organ. There detected a measurement of Vision, Somatosensory, Vestibular, CNS and BMI. The service of network system of home can be used to support a health care system for health assistant in health care center. It will expect to manage a physical parameter for network communication.

• The Journal of Korean Academy of Sensory Integration
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• v.7 no.1
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• pp.27-36
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• 2009

Introduction : Occupational therapists commonly use clinical observation to assess neuromuscular function witch is a fundamental component of sensory integration function. Clinical Observation of Motor and Postural Skills (COMPS) is a standardized assessment with seven items and used to screen if a child's problem is due to neuromuscular and sensory integration system. However, developmental standard of the test need to be validated with Korean children. Objective : This study is purposed to propose developmental standard of the COMPS for Korean children. Method : Seven to nine years old students (76 male and 70 female) participated in this study. In order to find out any difference by gender and age, the data was analyzed using t-test and ANOVA. Results : There is no significant difference by gender for all other items except Prone Extension Position (PEP). There is significant difference between children who are 7 years old and those who are 9 years old for Slow Motion(SM), Finger-Nose Touching (FNT), Asymmetrical Tonic Neck Reflex (ATNR), Supine Flexion(SF). There is also significant difference between those who are 8 years old and 9 years old for SM, FNT, ATNR. However, there is no significant difference between those who are 7 years and 8 years old. Conclusions : This study examines any difference in neuromuscular characteristics by age among school-aged children, based on the COMPS. The result of this study will provide a good evidence to establish developmental standard of COMPS for Korean children. It issuggested to continue further standardization work of the COMPS in order to establish a developmental standard for Korean children.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.12
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• pp.3124-3134
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• 1993

Diagnosis is composed of two different but interrelated steps ; retrieving the sensory responses f the system and reasoning the state of the system through the given sensor data. This paper explains the probabilistic nature of reasoning involved in the diagnosis when the uncertainties are inevitably included in experts' diagnostic decision making. Uncertainties in decision making are experts' personal experiences, preferences, and system's coherent characteristics. In order to ensure a consistent decision based on the same responses from the system, expert system technology is adopted with the Bayesian reasoning scheme.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.241-245
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• 2003

In this paper, a microassembly system based on hybrid manipulation schemes is proposed and applied to the assembly of a photonic component. In order to achieve both high precision and dexterity in microassembly, we propose a hybrid microassembly system with sensory feedbacks of vision and force. This system consists of the distributed 6-DOF micromanipulation units, the stereo microscope, and haptic interface for the force feedback-based microassembly. A hybrid assembly method, which combines the vision-based microassembly and the scaled teleoperated microassembly with force feedback, is proposed. The feasibility of the proposed method is investigated via experimental studies for assembling micro opto-electrical components. Experimental results show that the hybrid microassembly system is feasible for applications to the assembly of photonic components in the commercial market with better flexibility and efficiency.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.493-496
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• 1990

Recently, the robot control systems are required to be more flexible and intelligent in order to execute more complex and delicate tasks. As an approach to such system, a PC-based robot control system is presented in this paper. The axis controllers are independently designed for each joint of robot manipulator and are supervised by a personal computer. Therefore, the almost system program including the control algorithm can be easily developed and modified in the PC's environment. This proposed control system was successfully applied to 4 axis SCARA-type robot and the associated S/W modules were developed. We can construct sensory robot systems by simply connecting the sensing devices to the PC and the study on this now being progressed.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.34 no.4
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• pp.355-364
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• 2010

Filiform hairs that respond to movements of the surrounding medium are the mechanoreceptors commonly found in arthropods and vertebrates. In these creatures, the filiform hairs function as a sensory system for raider detection. Parametric analyses of the motion response of filiform hairs are conducted by using a mathematical model of an artificial flow sensor to understand the possible operating ranges of a microfabricated device. It is found that the length and diameter of the sensory hair are the major parameters that determine the mechanical sensitivities and responses in a mean flow with an oscillating component. By changing the hair length, the angular displacement, velocity, and acceleration could be detected in a wide range of frequencies. Although the torques due to drag and virtual mass are very small, they are also very influential factors on the hair motion. The resonance frequency of the hair decreases as the length and diameter of the hair increase.

• Journal of KIISE
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• v.43 no.12
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• pp.1365-1375
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• 2016

One of the most important capabilities for autonomous service robots working in living environments is to recognize and understand the correct context in dynamically changing environment. To generate high-level context knowledge for decision-making from multiple sensory data streams, many technical problems such as multi-modal sensory data fusion, uncertainty handling, symbolic knowledge grounding, time dependency, dynamics, and time-constrained spatio-temporal reasoning should be solved. Considering these problems, this paper proposes an effective dynamic context management and spatio-temporal reasoning method for intelligent service robots. In order to guarantee efficient context management and reasoning, our algorithm was designed to generate low-level context knowledge reactively for every input sensory or perception data, while postponing high-level context knowledge generation until it was demanded by the decision-making module. When high-level context knowledge is demanded, it is derived through backward spatio-temporal reasoning. In experiments with Turtlebot using Kinect visual sensor, the dynamic context management and spatio-temporal reasoning system based on the proposed method showed high performance.

• The Journal of Korean Academy of Sensory Integration
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• v.3 no.1
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• pp.1-11
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• 2005

Objective : The purpose of this study was to get the mean of duration of post-rotatory nystagmus test in normal children and to differentiate the duration of post-rotatory nystagmus test between normal children and children with pervasive developmental disorder. Method : 84 subjects were between 3 and 5 years of age and consisted of 64 normal children and 20 children with the pervasive developmental disorder. Analysis of the data was done by using t-test and ANOVA. Results : The results were as follows: 1. Range of duration of post-rotatory nyatagmus test in normal children was $5{\sim}22$second on left and $7{\sim}21$ second on right and the mean was 12.63 second on left and 12.59 second on right. 2. Range of duration of post-rotatory nystagmus test in children with the pervasive developmental disorder was $3{\sim}11$ second on both and the mean was 5.65 second on left and 5.60 second on right. 3. There was no significant difference between males and females with normal children in duration of post-rotatory nystagmus test. However, there was a significant difference of the mean duration between 3 and 5 years old normal group. 4. Children with pervasive developmental disorder significantly have relatively lower duration than the duration of post-rotatory nystagmus test of normal children. Conclusions : The results of the study showed significant difference between normal children and children with pervasive developmental disorder in duration of post-rotatory nystagmus test and suggest that they could be applied to the baseline of clinical therapy.