• 제어로봇시스템학회논문지
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• 제22권11호
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• pp.904-911
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• 2016

This paper presents a novel driving system by the humanoid robot to drive a vehicle in disaster response situations. To enhance robot's capability for substituting human activities in responding to natural and man-made disaster, the one of prerequisite skills for the rescue robot is the mounted mobility to maneuver a vehicle safely in disaster site. Therefore, our driving system for the humanoid is developed in order to steer a vehicle through unknown obstacles even under poor communication conditions such as time-delay and black-out. Especially, the proposed system includes a tele-manipulation interface and stable navigation strategies. First, we propose a new type of path estimation method to overcome limited communication. Second, we establish navigation strategies when the operator cannot recognize obstacles based on Dynamic Window Approach. The effectiveness of the proposed developments is verified through simulation and experiments, which demonstrate suitable system for driving a vehicle in disaster response.

• Journal of Korean Neurosurgical Society
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• 제51권3호
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• pp.182-186
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• 2012

In conventional percutaneous disc surgery, introducing instruments into disc space starts by inserting a guide needle into the triangular working zone. However, landing the guide needle tip on the annular window is a challenging step in endoscopic discectomy. Surgeons tend to repeat the needling procedure to reach an optimal position on the annular target. Obturator guiding technique is a modification of standard endoscopic lumbar discectomy, in which, obturator is used to access triangular working zone instead of a guide needle. Obturator guiding technique provides more vivid feedback and easy manipulation. This technique decreases the steps of inserting instruments and takes safer route from the peritoneum.

• 한국정보통신학회논문지
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• 제14권2호
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• pp.485-492
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• 2010

본 연구는 모바일 기기 상에서 애플리케이션 작성 시 GUI를 지원하는 윈도우 기반의 컴포넌트 패키지 소프트웨어 모듈인 WFC에서, 보다 다양한 콘텐츠의 표현과 조작을 지원하기 위한 포커싱 가능한 테이블 컴포넌트를 제안한다. 모바일 기기의 특성상 작은 디스플레이에서 테이블 특성을 가지는 콘텐츠의 표현은 쉽지 않다. 자바와 같은 관련 연구들에서 몇 가지 방법들이 제안되었으나, 이들은 모바일 기기의 특성을 고려하여 제안된 것들은 아니다. 본 연구에서는 모바일 기기의 디스플레이상에서 테이블 특성을 가지는 콘텐츠의 알맞은 출력을 지원하고, 사용자가 지정하는 콘텐츠에 포커싱 조작이 가능하게 함으로써, 일반적인 테이블에 비해 보다 폭넓은 표현을 제공하는 확장된 테이블 컴포넌트를 설계하고 구현한다. 또한, GUI 관점에서 성능 평가를 위해 제안된 컴포넌트와 자바 Swing의 JTable과의 비교를 제시한다.

• 방송공학회논문지
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• 제7권3호
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• pp.248-261
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• 2002

본 논문에서는 스테레오 비젼 시스템의 3차원 정보에 의해 가변되는 윈도우 마스크와 광 BPEJTC(binary phase extraction joint transform correlator)를 이용하여 스테레오 카메라를 제어하는 새로운 3차원 물체추적 시스템을 제안하였다. 즉, 스테레오 비젼 시스템의 구성 요소에 의해 3차원 정보인 추적 물체까지의 거리 정보를 쉽게 구할 수 있고, 이 거리 정보로 윈도우 마스크를 가변 시켜 추적물체 영역을 추출할 수 있다. 이 추적물체 영역은 다음 기준영상으로 갱신하여 사용된다. 그리고 이 기준영상과 스테레오 입력 영상간에 광 BPEJTC를 실행하여 추적 물체의 위치 값을 구하고. 이 값으로 스테레오 카메라의 주시각과 팬/틸트를 제어하여 3차원 물체추적이 이루어진다. 실험 결과 제안한 알고리즘은 스테레오 입력 영상에서 배경잡음과 관계없이 추적 물체영역을 추출하여 3차원 물체추적이 가능하고, 이의 구현으로 3차원 원격작업 시스템이나 적응적인 3차원 물체 추적기 등의 구현 가능성을 제시하였다.

• BMB Reports
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• 제48권12호
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• pp.668-676
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• 2015

Pluripotent stem cells only exist in a narrow window during early embryonic development, whereas multipotent stem cells are abundant throughout embryonic development and are retainedin various adult tissues and organs. While pluripotent stem cell lines have been established from several species, including mouse, rat, and human, it is still challenging to establish stable multipotent stem cell lines from embryonic or adult tissues. Based on current knowledge, we anticipate that by manipulating extrinsic and intrinsic signaling pathways, most if not all types of stem cells can be maintained in a long-term culture. In this article, we summarize current culture conditions established for the long-term maintenance of authentic pluripotent and multipotent stem cells and the signaling pathways involved. We also discuss the general principles of stem cell maintenance and propose several strategies on the establishment of novel stem cell lines through manipulation of signaling pathways.

• 생물환경조절학회지
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• 제5권2호
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• pp.210-214
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• 1996

시설의 자동화시스템 중, 계측시스템을 개발하고, 토마토 수경재배에 적용 실험하였다. 본 시스템은 하드웨어, 소프트웨어, 계측 기기로 구성되었다. 계측프로그램은 편리한 GUI 환경을 제공하고 다른 프로그램과의 연계를 위하여 윈도우 환경에서 개발하였다. 초기화면에는 시스템설정, 센서보정, 온실상태, 제어, 파일관리 및 도움말 등의 메뉴바를 설정하였으며, 팝업메뉴, 툴바 및 상태바들을 사용하여 조작이 용이하게 하였다. 특히, 센서의 장착에 유연성을 부여하였으며, 계측자료는 일정 시간별로 여러 가지 형태의 파일로 자동 저장하여, 사용자가 통계나 그래프등 필요로 하는 작업을 용이하게 할 수 있게 하였다. 적용실험 결과, 본 계측시스템은 순환식 비순환식 및 여러 가지 수경재배 방식에 모두 적용 가능한 것으로 사료되었다.

• Journal of Korean Neurosurgical Society
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• 제40권4호
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• pp.296-299
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• 2006

Recently the trend of surgical procedure for treatment of lumbar benign disease is a minimally invasive surgery due to small incision, minimal blood loss, and a short hospital day. By using a microscope or an endoscope, and other surgical equipment, a delicate manipulation in a narrow space became feasible, consequently, to secure a wider view with small incision, appropriate retractors are required. But the various tubular retractor systems are expensive and have some problems. We modified Thoracoport [Auto Suture Co., Norwalk, CT] by making a window at the distal end of trocar and used it as a tubular retractor in surgical procedure for treatment of lumbar benign disease. This modified tubular retractor is docked closely on the curved lamina and provides a wider view. We used it as a tubular retractor also in lumbar bilateral decompression involving a unilateral approach. But this trocar has the limited sizes [diameter and length], and also it is difficult to fix the retractor or change the direction of retractor. And then, we propose a more modified Thoracoport with various sizes and attaching the settling holders to the head of tubular retractor to be able to fix the retractor.

• 대한기계학회논문집A
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• 제25권5호
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• pp.891-898
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• 2001

This paper develops a master manipulator which can reflect a force from a slave manipulator effectively. It many have a big workspace, can represent a human operators manipulation perfectly, and is composed of a position control part, an orientation control part and an end effector control part. This paper also develops a graphic simulator using the Visual C++ and OpenGL in the Window operating system. It can be used to make a virtual slave manipulator and set a virtual working environment, and provide a visual information from a desired view point. A virtual teleoperation system is developed by connecting the developed master manipulator to the graphic simulator using an interfacing hardware bilaterally. It is used for performing a virtual object exploration experiment. In the experiment, two virtual objects are used. They are virtual wall and virtual hexahedron which have 0.7N/mm and 2.2 N/mm stiffness respectively. The experiments are performed under six different working conditions. The experiment results will show the effectiveness of the reflected force from the slave manipulator for improving the efficiency and stability of the teleoperation task.

• 한국컴퓨터정보학회논문지
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• 제22권11호
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• pp.17-23
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• 2017

In this paper, we implemented a respiration measurement system consisting of piezoelectric sensor, respiration signal processing device, and a viewer on a notebook. We tried an experiment for measuring respiration and detecting sleep apnea syndrome when a subject lay on a bed. We applied the respiration measurement algorithm to sensor data obtained from four subjects. In order to get a good graph shape, data manipulation methods such as moving averages and maximum values were applied. The window size for moving average was chosen as N=70, and the threshold value for each subject was customized. In this case, the proposed system showed 96.0% accuracy. When the maximum value among 90 data was applied instead of moving average, our system achieved 95.1% accuracy. In an experiment for detecting sleep apnea syndrome, the system showed that sleep apnea occurred correctly and calculated the average interval of sleep apnea. While infants or the elderly as well as patients with sleep apnea syndrome are lying down on a bed, our results are also expected to be able to cope with some accidental emergency situation by observing their respiration and detecting sleep apnea.

• 한국태양에너지학회 논문집
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• 제31권6호
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• pp.132-138
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• 2011

Inducing the natural lighting into building has been commonly applied to the spaces where artistic objects are displayed to create better visual environment for the appreciation. The direct natural lighting, especially through top lighting system may, however, bring forth discoloing of highly light-sensitive materials such as paintings or demanding additional cooling load. In addition, it causes to create glare against appreciators or to yield in visual distraction due to the extreme contrast on the inner surfaces of the spaces. Shading device such as louver is capable of preventing such voidable cases with careful manipulation. This study aims to provide basic design guide-line when the flat-form louver has to be applied to top lighting system. Interaction between the daylight and louver was simulated by Reluxpro program with variation of the attachment location, the angle of the lover, surface reflectivity, to obtain the illumination of the floor surface. This study yields the louver just under the top lighting window with 90 degree angle gives the most desirable way of employment when the uniform illumination on the floor surface is required.