• 한국지능시스템학회논문지
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• 제23권5호
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• pp.460-465
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• 2013

본 논문은 실내외 공간에서 인간을 포한함 이동물체의 위치를 인식하고 출입금지 구역으로의 이동에 대해서 보안목적의 이동로봇이 센서를 이용하여 이동물체 및 인간의 행동 움직임을 인식하고 진입을 제한하는 주행기법을 제시하고 있다. 제시한 방법은 로봇자체의 DR센서 정보와 레이져스케너에서 얻은 환경정보로부터 로봇의 위치추정방법을 결합 한 것이다. 이동로봇은 인간의 속도벡터를 계산 및 주행할 경로를 계획하고 인간의 진행방향을 차단할 수 있도록 예측된 경로를 따라 주행을 하게 된다. 이때, 인간의 움직임은 포인터 물체로 간주하였으며 로봇의 기구학에 기반하여 인간의 위치를 추정하는 기본 방법을 제시하고 그 타당성을 검정하기위해 로봇을 이용한 위치추정 및 추적 실험결과를 제시하였다.

• 재활간호학회지
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• 제19권2호
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• pp.82-99
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• 2016

Purpose: The purpose of this study was to review systematically the effects of home based pulmonary rehabilitation in chronic obstructive pulmonary disease (COPD) patients using qualitative synthesis. Methods: Studies designed randomized controlled trials were identified to extract data and to assess the quality of studies in 8 domestic and 3 foreign search engines, and hand search reference reviews. Results: A total of 9 studies met the inclusion criteria. Overall, the methodological quality of the studies ranged from average to poor. Home based pulmonary rehabilitation consisted of exercise, education, and psychosocial interventions. Several exercises such as aerobic, strength, respiratory muscle training, and flexibility were used in home based pulmonary rehabilitation for COPD patients. Upper muscle exercise and walking were the most frequently used exercises. The most common topics for education were 'knowledge of the illness' and 'drug management'. Walking distance test (WDT) and quality of life (QoL) were the most frequently measured as the dependent variables to evaluate rehabilitation outcomes, followed by pulmonary function test (PFT) and dyspnea. WDT was the most effective outcome, followed by dyspnea, QoL and PFT. Conclusion: This study informed about the details of scientific and effective home based rehabilitation programs in COPD patients for future researchers and clinicians. These findings can help expand the recognition and accessibility of home based rehabilitation in COPD patients.

• 재활복지공학회논문지
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• 제11권4호
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• pp.315-321
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• 2017

이 연구는 시각장애인을 위한 길안내 서비스 시스템의 설계와 구현에 관한 연구이다. 시각장애인을 고려한 사용자 인터페이스로써 음성인식을 통한 스마트폰을 입력도구로 사용하였고, 출력도구는 방향 및 음성안내를 하면서도 주변 환경음을 인식할 수 있는 골전도 헤드셋을 사용하였다. 개발된 시스템은 기존의 길안내용 스마트폰 앱과 달리 보행해야할 방향 정보를 착용한 헤드셋의 좌우 스테레오 음의 크기로 전달하며, 갈림길이나 휘어진 길에 대한 음성안내는 수 미터 전에 안내하여 시각장애인의 보행 속도에 적합하게 안내가 이루어지며, 역방향 보행이나 경로이탈을 즉시 경고하는 장점이 있다. 방향센서로 진행방향에 대한 동적 정밀도가 1.5도인 모션 트랙커를 사용하여 안정적이고 신뢰성 있는 방향 정보를 취득할 수 있었다. GPS의 위치오차를 극복하기 위하여 위치오차에 견고한 경로계획 알고리즘을 제안하였다. 구현된 시스템을 실험한 결과 실험 경로에서 평균 방향각 오차가 6.82도(표준 편차 5.98)로 비교적 안정하게 방향을 유도하여 목적지에 도달하였다.

• 제어로봇시스템학회논문지
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• 제22권1호
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• pp.24-30
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• 2016

The accuracy of small and low-cost CCD cameras is insufficient to provide data for precisely tracking unmanned aerial vehicles (UAVs). This study shows how a quad rotor UAV can hover on a human targeted tracking object by using data from a CCD camera rather than imprecise GPS data. To realize this, quadcopter UAVs need to recognize their position and posture in known environments as well as unknown environments. Moreover, it is necessary for their localization to occur naturally. It is desirable for UAVs to estimate their position by solving uncertainty for quadcopter UAV hovering, as this is one of the most important problems. In this paper, we describe a method for determining the altitude of a quadcopter UAV using image information of a moving object like a walking human. This method combines the observed position from GPS sensors and the estimated position from images captured by a fixed camera to localize a UAV. Using the a priori known path of a quadcopter UAV in the world coordinates and a perspective camera model, we derive the geometric constraint equations that represent the relation between image frame coordinates for a moving object and the estimated quadcopter UAV's altitude. Since the equations are based on the geometric constraint equation, measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the quadcopter UAV. The Kalman filter scheme is applied for this method. Its performance is verified by a computer simulation and experiments.

• 지능정보연구
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• 제29권1호
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• pp.107-119
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• 2023

군인의 동작 및 운동 상태를 인식하는 기술은 웨어러블 테크놀로지와 인공지능의 결합으로 최근 대두되어 병력 관리의 패러다임을 바꿀 기술로 주목받고 있다. 이때 훈련 상황에서의 평가 및 솔루션 제공, 전투 상황에서의 효율적 모니터링 기능을 의도한대로 제공하기 위해서는 상태 판별의 정확도가 매우 높은 수준으로 유지되어야만 한다. 하지만 입력 데이터가 시계열 또는 시퀀스로 주어지는 경우, 기존의 피드포워드 신경망으로는 분류 성능을 극대화하는데 한계가 발생한다. 전장에서의 군사 동작 인식을 위해 다뤄지는 인간의 행동양식 데이터(3축 가속도 및 3축 각속도)는 시의존적 특성의 분석이 요구되기 때문에, 본 논문은 순환 신경망인 LSTM(Long-short Term Memory) 네트워크를 활용하여 취득 데이터의 이동 양상 및 순서 의존성을 파악하고 여덟 가지의 대표적 군사 동작(Sitting, Standing, Walking, Running, Ascending, Descending, Low Crawl, High Crawl)을 분류하는 고성능 인공지능 모델을 제안한다. 이때, 학습 조건 및 모델 변수는 그 정확도에 결정적인 영향을 끼치지만 인간의 수동적 조정이 필요해 비용 비효율적이고 최적의 값을 보장하지 못한다. 본 논문은 기계 스스로 일반화 성능이 극대화된 조건들을 취득할 수 있도록 베이지안 최적화를 활용해 하이퍼파라미터를 최적화한다. 그 결과, 최종 아키텍쳐는 학습 가능한 파라미터의 개수가 유사한 기존의 인공 신경망과 비교해서 오차율이 62.56% 감소할 수 있었으며, 최종적으로 98.39%의 정확도로 군사 동작 인식 기능을 구현할 수 있었다.

• 스마트미디어저널
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• 제1권2호
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• pp.12-22
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• 2012

최근 비디오 감시, 로봇 시각 휴대폰 등 무수히 많은 카메라가 생활 속에 파고들면서 휴먼 동작 인식은 컴퓨터 시각 분야의 새로운 붐을 일으키고 있다. 자체로 그다지 흥미 있는 동작은 아니지만 걸음걸이 또는 보행은 가장 보편적으로 많이 관찰되는, 의심할 여지없이 사람의 대표적인 동작이다. 그리 오래되지 않은 과거에 보행자 인식의 관점에서 반짝 연구가 있었지만 관심의 길이가 짧은 만큼 보행 동작에 관한 체계적인 분석과 이해 없이 이루어졌었다. 본 연구에서는 일련의 점진적인 모델을 이용하여 보행 동작의 구조를 체계적으로 분석하고자 한다. 입력 영상 신호의 다양한 변형과 불완전성을 극복할 수 있는 동적 베이스망 기반의 보행자 모델과 보행 모델을 제시한다. 그리고 이변량 폰 미제스 분포의 조건부 밀도 함수를 기반으로 마르코프 체인의 이산 상태 공간을 연속 공간으로 확장하는 방법을 제안한다. 제안된 모형화 프레임워크를 이용한 일련의 시험, 분석에서 보행자를 91.67% 인식하며 보행 동작을 보행 방향과 보행 자세의 두 가지 독립적인 성분으로 분리 해석할 수 있었다.

• 한국보건간호학회지
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• 제16권1호
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• pp.77-94
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• 2002

This study was a quasi-experimental study of nonequivalent control group pretest- posttest design to investigate the effect of home rehabilitation exercise program on the physical and psychological functions of home stayed chronic hemiplegic stroke patients. The data were collected during the period of May 20th to August 15th, 200l. The subjects for this study were 40 hemiplegic stroke patients with the experimental group consisting of 19 patients and the control group being composed of 21 patients. The patients selected for this study were: (a)living in J city who had been diagnosed with stroke and at home after being discharged from the hospital, (b) suffering from stroke for 6 months to 5 years, (c) without recognition disorder with the MMSE-K(Mini-Mental State Examination-K)score above 25, (d) below 2 on the modified Ashworth scale, (e)free from heart and pulmonary disease, (f)able to walk beyond 15 minutes for themselves, (g) not taking regular exercises. The program for the experimental group provided 8 weeks' home rehabilitation exercise, two times of group education during the first week and individual education and supportive care after the second week through home visiting and telephoning more than once a week. The amount of time spent on rehabilitation exercise by the experimental group was 35 to 50 minutes a day, three times a week. In order to understand the effects of experiment the two groups were compared and verified by measuring the physical and psychological functions of both groups. The data were analysed by $\chi^{2}-test$, paired t-test and unpaired t-test and ANCOVA through SAS/PC program. The results of the study were as follows: 1. In terms of physical variables: grip strength. lower extremity muscle strength, walking time, ADL and serum lipid levels 1) There was no significant difference in the unaffected and affected grip strength between the two groups, even though the unaffected and affected grip strength was more improved in the experimental group than in the control group. 2) There was no significant difference in the unaffected lower extremity muscle strength between the two groups, even though the unaffected lower extremity muscle strength was more improved in the experimental group than in the control group. There was no significant difference either in the affected lower extremity muscle strength between the two groups, even though the affected lower extremity muscle strength was more improved in the experimental group than in the control group. 3) There was significant difference in walking time between the two groups. Walking time was significantly reduced in the experimental group whereas it increased in the control group. 4) There was significant difference in ADL score between the two groups. ADL score was significantly increased in the experimental group, but it significantly decreased in the control group. 5) There was significant difference in serum total cholesterol level between the two groups. After experiment the serum T-C level became lower in the experimental group whereas it became sigficantly higher in the control group. 2. In terms of psychological variables: depression and self-esteem 1) There was no significant difference in the depression between the two groups, even though the depression showed constant in the experimental group, but it showed a significant increase in the control group. 2) There was no significant difference in the self-esteem between the two groups, even though the self-esteem showed some increase in the experimental group, but it significant decrease in the control group. As shown above, the results of 8 weeks' home rehabilitation exercise program for chronic hemiplegic stroke patients produced positive effects on walking time, ADL score and serum T-C level, shortening walking time, improving activities of daily living(ADL) and lowering serum total cholesterol level.

• Asian-Australasian Journal of Animal Sciences
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• 제8권1호
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• pp.59-66
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• 1995

Energy obtained by grazing cattle in oil palm plantations is usually used for maintenance of body functions, the construction of body tissues and pregnancy, the synthesis of milk and the conversion to mechanical energy used for activities such as walking, eating and others. In this study, attempt was made to estimate metabolizable energy (ME) requirement of grazing cattle. Models of ME requirement (MER) for maintenance, gain, pregnancy, lactation and activities were developed. ME system and units were used because of wide recognition. Estimation of ME intake in grazing cattle was expressed as MEVI = $14.58{\times}VI{\times}DMD$, and under grazing condition MEVI = $MER_i$. MER was expressed as a function of net energy(NER, MJ) required for the i'th body function. Coefficient of efficiency for conversion of ME into net energy(ki) was adopted from literatures. Quantifying of ME requirement for Kedah-Kelantan cattle under grazing condition was made by using equation MERM = NEM / kn. The estimated values of MER for Kedah-Kelantan cattle is quite reasonable if compared with other estimates as reported in literatures from stall-fed animals. Dynamic MER models for grazing herd was developed in order to estimate ME requirement for maintenance and productions. These ME requirement models can be used for prediction of energy utilization pattern of the herd in the grazing systems.

• 대한유전성대사질환학회지
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• 제14권1호
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• pp.29-36
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• 2014

Mucopolysaccharidoses (MPSs) are a group of rare inherited metabolic diseases caused by deficiency of lysosomal enzymes. MPSs are clinically heterogeneous and characterized by progressive deterioration in visceral, skeletal and neurological functions. The aim of this article is to review the treatment of MPSs, the unmet needs of current treatments and vision for the future including recent clinical trials. Until recently, supportive care was the only option available for the management of MPSs. Hematopoietic stem cell transplantation (HSCT), another potentially curative treatment, is not routinely advocated in clinical practice due to its high risk profile and lack of evidence for efficacy. From the early 2000s, enzyme replacement therapy (ERT) was approved and available for the treatment of MPS I, II and VI. ERT is effective for the treatment of many somatic symptoms, particularly walking ability and respiratory function, and remains the mainstay of MPS treatment. However, no benefit was found in the neurological symptoms because the enzymes do not readily cross the blood-brain barrier (BBB). In recent years, intrathecal (IT) ERT, substrate reduction therapy (SRT) and gene therapy have been rapidly gaining greater recognition as potential therapeutic avenues. Although still under investigation, IT ERT, SRT and gene therapy are promising MPS treatments that may prevent the neurodegeneration not improved by ERT.

• Asian-Australasian Journal of Animal Sciences
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• 제33권11호
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• pp.1848-1857
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• 2020

Objective: An experiment was designed to determine if behaviour traits expressed by twin- and triplet-bearing lambs and their dams at 3 to 18 hours of age (after the immediate ewe-lamb bonding had occurred) were associated with lamb survival to weaning. Methods: The behaviour of twin and triplet lambs and their dams was assessed in the paddock at 3 to 18 hours after birth. Observations were made of the number of high- and low-pitched bleats, time to stand, make contact with dam, suck from dam and follow dam were recorded for each lamb. The maternal behaviour score of each dam was assessed. A random sub-sample of lambs were assessed during a maternal-recognition test at 12 or 24 hours of age. Traits included time spent standing, sitting, walking, time taken to reach the ewes and time spent with the ewes as well as the number of high- and low-pitched bleats emitted by the lamb. Results: In the paddock, for each additional second required for twin-born lambs to follow their dam, lambs were 1.004 (95% confidence interval [CI] 1.000 to 1.008) times more likely to survive to weaning (p<0.05). The opposite relationship, however, was seen in triplet lambs. For each additional second required for triplet-born lambs to follow their dam, lambs were 0.996 (95% CI 0.993 to 0.999) times as likely to survive to weaning (p<0.05). During the maternal recognition test, twin-born lambs were 0.989 (95% CI 0.979 to 1.000) times as likely to survive to weaning for every additional second they took to reach the contact zone (p<0.05). Similarly, triplet-born lambs were 0.994 (95% CI 0.989 to 0.999) as likely to survive for every additional second they took to reach their dam (p<0.05). Conclusion: All ewe behaviours and the majority of lamb paddock and test behaviours were not associated with the survival of twin- or triplet-born lambs and, therefore, are of little use as indicators of lamb survival to weaning.