• Journal of Biosystems Engineering
• /
• v.32 no.5
• /
• pp.339-347
• /
• 2007

A hexapod walking robot had been developed for gathering information in the field. The developed robot was $260{\times}260{\times}130$ ($W{\times}L{\times}H$, mm) in size and 14.7 N in weight. The legs had nineteen degrees of freedom. A leg has three rotational joints actuated by small servomotors. Two servomotors placed at ankle and knee played the roles of vertical joint for up and down motions of the leg and the other one placed at coxa played the role of horizontal joint for forward and backward motions. In addition, a servomotor placed at thorax between the front legs and the middle legs played the role of vertical joint for pumping the two front legs to climb stair or inclination. Walking motion of the robot was executed by tripod gait. The robot was controlled by manual remote-controller communicated by an infrared ray. Two controllers were equipped to control the walking of the robot. The sub-controller using PIC microcomputer (Microchips, PIC16F84A) received the 16 bit command signal from the manual remote controller, decoded it to 8bit and transmitted it to the main microcomputer (RENESAS, SH2/7045), which controlled the 19 servomotors using the PWM command signals. Walking speeds were controlled by adjusting the period of command cycle and the stride. Forward walking speed were within 100 cm/min to 300 cm/min. However, experimental walking speed had the error of 4-40 cm/min to compare with the theoretical one, because of slippage of the leg and the circular arc motion of servomotor of coxa.

• Journal of IKEEE
• /
• v.17 no.4
• /
• pp.459-468
• /
• 2013

Under nonlinear characteristics of frames, we propose the frame interpolation using GRNN to enhance the visual picture quality. By full search with block size of 128x128~1x1 to reduce blocky artifact and image overlay, we select the frame having block of minimum error and re-estimate the nonlinear moving vector using GRNN. We compare our scheme with forward(backward) motion compensation, bidirectional motion compensation when the object movement is large or the object image includes zoom-in and zoom-out or camera focus has changed. Experimental results show that the proposed method provides better performance in subjective image quality compared to conventional MCFI methods.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.29 no.2A
• /
• pp.202-213
• /
• 2004

In this paper, we propose a preamble structure and synchronization/channel estimation methods for OFDM-based multiple antenna WLAN systems that have 200Mbps transmit rate. With the proposed preamble structure, multiple antenna WLAN systems are backward-compatible with IEEE 802.11a systems which use the same 5㎓ band and synchronization performance is better than that of single antenna OFDM systems. For channel estimation, the preamble overhead is small and performance degradation by timing synchronization error that causes the critical problem of conventional comb-type multiple antenna channel estimation method also can be minimized by frequency domain phase recovery. Synchronizer and channel estimator for proposed preamble structure are implemented and verified using Verilog HDL. For the system with 4 transmit antennas and 4 receive antennas, about 150K gates are needed for synchronizer and 12K gates for channel estimator.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
• /
• v.19 no.10
• /
• pp.1065-1074
• /
• 2008

T-DMB(Terrestrial Digital Multimedia Broadcasting) system, is based on the Eureka-147 standard, provides various multimedia data services. However T-DMB system needs upgrades for more various services and better services. Therefore, we proposed advanced T-DMB system using unequal error protection system and hierarchical modulation in this paper while maintaing backward compatibility. And we simulated various bit split methods and double binary turbo code of DVB-RCS standard as method of LP data stream for additional service of advanced T-DMB. As the simulation results, double binary turbo code of proposed advanced T-DMB system have each coding gain of over 2 dB compared to conventional T-DMB.

• Journal of Korean Academy of Nursing Administration
• /
• v.21 no.5
• /
• pp.542-551
• /
• 2015

Purpose: This study was done to evaluate validity and reliability of the Korean version of the expanded nursing stress scale (ENSS). Methods: Forward-backward translation of ENSS from English to Korean was conducted. The translated instrument was pilot-tested and administrated to 285 nurses who worked in five general hospitals in Korea. Internal consistency reliability was assessed using Cronbach's ${\alpha}$ and composite reliability. Validity was evaluated through construct validity with confirmatory factor analysis, convergent and discriminant validity. Results: The Korean version of ENSS showed a reliable internal consistency with Cronbach's ${\alpha}$ .95 and composite reliability .99. Model fit indexes for 46 items were validated by confirmatory factor analysis(goodness of fit index .82, Tucker-Lewis index .92, root mean square error of approximation .04), indicating suitable construct validity. Factor loading of the 48 items (.47~.88) and average variance extracted out of nine factors (.52~.71.) indicated satisfactory convergent validity. Some values of square of the correlation coefficient between factors (.12~.89) were higher than average variance extracted values of each factor (.52~.71) so that it partly satisfied discriminant validity. Conclusion: Findings show that the Korean version ENSS has good reliability and suitable validity; therefore, can be used to assess and identify Korean nurses' job stress.

• Journal of the Ergonomics Society of Korea
• /
• v.34 no.1
• /
• pp.75-83
• /
• 2015

Objective: The aim of this study is to suggest the standard of the direction sign on the pendant switch of overhead cranes which can reduce human errors in control. Background: A great number of crane accidents occur in industries. One of the major causes of the accidents is the mistake in the control of cranes by confusing the orientation of crane movements. Nevertheless, three different direction sign styles, 'East, West, South, North (EWSN)', 'Forward, Backward, Left, Right (FBLR)', and arrows for four directions are used without standardization. Method: An overhead crane simulator was installed for a laboratory experiment. It could move along six directions by the control of a pendant switch. 90 participants were evenly assigned to the three different conditions of direction sign styles. The participants were asked to control the pendant switch according to the continuously appearing 16 direction signs on a monitor ahead. The participants were allowed to refer an orientation sign board on the ceiling representing correct movement directions of the overhead crane simulator. Results: The direction sign style, 'EWSN', showed statistically significant better performance in task completion time and number of errors than the other sign styles. The direction sign style, 'EWSN', adopting the cardinal direction system, made the participants clear in direction controls after customizing to the crane movements. However, the direction sign styles, 'FBLR' and the arrows adopting the relative direction system made conflicts in direction controls due to the egocentric view of human. Conclusion: The direction sign style, 'EWSN', is the most appropriate for the standardization of the direction sign on the pendant switch of overhead cranes. Application: The results of this study can be applied to the standardization of direction sign in the legal notification on the safety certifications of crane manufacturing.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.60 no.7
• /
• pp.1417-1426
• /
• 2011

Radiofrequency ablation through cardiac catheterization is one of minimally invasive intervention procedures used in drug resistant arrhythmia treatment. To facilitate more accurate and precise catheter navigation, systems for robotic cardiac catheter navigation have been developed and commercialized. The authors have been developing a novel robotic catheter navigation system. The system is a network-based master-slave configuration 3-DOF (Degree-Of-Freedom) robotic manipulator for operation with conventional cardiac ablation catheter. The catheter manipulation motion is composed of the translation (forward/backward) and the roll movements of the catheter and knob rotation for the catheter tip articulation. The master manipulator comprises an operator handle compartment for the knob and the roll movement input, and a base platform for the translation movement input. The slave manipulator implements a robotic catheter platform in which conventional cardiac catheter is mounted and the 3-DOF motions of the catheter are controlled. The system software that runs on a realtime OS based PC, implements the master-slave motion synchronization control in the robot system. The master-slave motion synchronization performance tested with step, sinusoidal and arbitrarily varying motion commands showed satisfactory results with acceptable level of steady state error. The developed system will be further improved through evaluation of safety and performance in in vitro and in vivo tests.

• Journal of Korean Academy of Nursing
• /
• v.51 no.3
• /
• pp.363-379
• /
• 2021

Purpose: The purpose of this study was to evaluate the validity and reliability of the Korean version of Person-Centered Practice Inventory-Staff (PCPI-S) for nurses. Methods: The English PCPI-S was translated into Korean with forward and backward translation. Data were collected from 338 nurses at one general hospital in Korea. Construct validity was evaluated with confirmatory factor analysis, convergent validity, and discriminant validity. Known-group validity was also evaluated. Cronbach's α was used to assess the reliability. Results: The PCPI-S Korean version consisted of 51 items in three areas: prerequisites, the care environment, and person-centered process. The comparative fit index (CFI) and values of person-centered care process were improved after engagement and having sympathetic presence items were combined as one component. The construct validity of PCPI-S Korean version was verified using four-factor structures (.05 < RMSEA < .10, AGFI > .70, CFI > .70, and AIC). The convergent validity and discriminant validity of the entire PCPI-S question were verified using a two-factor structures (AVE > .50, construct reliability > .70). There was an acceptable known-group validity with a significant correlation between the PCPI-S level and the degree of person-centered care awareness and education. Internal consistency was reliable with Cronbach's α .95. Conclusion: The Korean version of PCPI-S is valid and reliable. It can be used as a standardized Korean version of person-centered care measurement tool. Abbreviation: RMSEA = root mean square error of approximation; AGFI = adjusted goodness of fit index; AIC = Akaike information criterion; AVE = average variance extracted.

• Journal of Information Processing Systems
• /
• v.18 no.4
• /
• pp.549-561
• /
• 2022

In the Khmer writing system, the Khmer script is the official letter of Cambodia, written from left to right without a space separator; it is complicated and requires more analysis studies. Without clear standard guidelines, a space separator in the Khmer language is used inconsistently and informally to separate words in sentences. Therefore, a segmented method should be discussed with the combination of the future Khmer natural language processing (NLP) to define the appropriate rule for Khmer sentences. The critical process in NLP with the capability of extensive data language analysis necessitates applying in this scenario. One of the essential components in Khmer language processing is how to split the word into a series of sentences and count the words used in the sentences. Currently, Microsoft Word cannot count Khmer words correctly. So, this study presents a systematic library to segment Khmer phrases using the bi-directional maximal matching (BiMM) method to address these problematic constraints. In the BiMM algorithm, the paper focuses on the Bidirectional implementation of forward maximal matching (FMM) and backward maximal matching (BMM) to improve word segmentation accuracy. A digital or prefix tree of data structure algorithm, also known as a trie, enhances the segmentation accuracy procedure by finding the children of each word parent node. The accuracy of BiMM is higher than using FMM or BMM independently; moreover, the proposed approach improves dictionary structures and reduces the number of errors. The result of this study can reduce the error by 8.57% compared to FMM and BFF algorithms with 94,807 Khmer words.

• Korean Journal of Soil Science and Fertilizer
• /
• v.50 no.5
• /
• pp.422-433
• /
• 2017

Unmanned Aerial Vehicle (UAV) has several advantages over conventional remote sensing techniques. They can acquire high-resolution images quickly and repeatedly. And with a comparatively lower flight altitude, they can obtain good quality images even in cloudy weather. In this paper, we developed for estimating garlic growth at field scale model in major cultivation regions. We used the $NDVI_{UAV}$ that reflects the crop conditions, and seven meteorological elements for 3 major cultivation regions from 2015 to 2017. For this study, UAV imagery was taken at Taean, Changnyeong, and Hapcheon regions nine times from early February to late June during the garlic growing season. Four plant growth parameters, plant height (P.H.), leaf number (L.N.), plant diameter (P.D.), and fresh weight (F.W.) were measured for twenty plants per plot for each field campaign. The multiple linear regression models were suggested by using backward elimination and stepwise selection in the extraction of independent variables. As a result, model of cold type explain 82.1%, 65.9%, 64.5%, and 61.7% of the P.H., F.W., L.N., P.D. with a root mean square error (RMSE) of 7.98 cm, 5.91 g, 1.05, and 3.43 cm. Especially, model of warm type explain 92.9%, 88.6%, 62.8%, 54.6% of the P.H., P.D., L.N., F.W. with a root mean square error (RMSE) of 16.41 cm, 9.08 cm, 1.12, 19.51 g. The spatial distribution map of garlic growth was in strong agreement with the field measurements in terms of field variation and relative numerical values when $NDVI_{UAV}$ was applied to multiple linear regression models. These results will also be useful for determining the UAV multi-spectral imagery necessary to estimate growth parameters of garlic.