• 제목/요약/키워드: basic motion trajectory

검색결과 21건 처리시간 0.023초

A study on the modeling of a hexacopter

  • Le, Dang-Khanh;Nam, Taek-Kun
    • Journal of Advanced Marine Engineering and Technology
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    • 제39권10호
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    • pp.1023-1030
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    • 2015
  • The purpose of this paper is to present the basic mathematical modeling of a hexacopter, which could be used to develop proper methods for stabilization and trajectory control. A hexacopter consists of six rotors with three pairs of counter-rotating fixed-pitch blades. This mechanism is an under-actuated, dynamically unstable, six-degrees-of-freedom system. The whole motion of this object consists of translational and rotational motion in three dimensions, where the translational motion is created by changing the direction and magnitude of the upward propeller thrust. The hexacopter is controlled by adjusting the angular velocities of the rotors, which are spun by electric motors. It is assumed to be a rigid body; thus, the differential equation of the hexacopter dynamics can be derived from the Newton-Euler equation. The Euler-angle parametrization of the three-dimensional rotations contains singular points in the coordinate space that can cause failure of both the dynamical model and control. In order to avoid singularities, the rotations of the hexacopter are parametrized in terms of quaternions. This choice has been made considering the linearity of the quaternion formulation and their stability and efficiency. Further, control simulation of a hexacopter applying cascaded-PID control is also presented in this paper.

AHRS를 이용한 피겨스케이팅 기본 동작 인식 (Recognition of Basic Motions for Figure Skating using AHRS)

  • 권기현;이형봉
    • 한국컴퓨터정보학회논문지
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    • 제20권3호
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    • pp.89-96
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    • 2015
  • IT 기술이 생체역학 분야와 폭넓게 접목되고 있으며 AHRS 센서가 스포츠 모션분석 분야에 소형화 및 가격 경쟁력 측면에서 조명을 받고 있다. 본 논문에서는 피겨스케이트화에 소형의 AHRS 센서를 부착하고, 스핀(spin), 점프, 전/후진, 인/아웃 에지, 토(toe) 등의 기본 동작을 AHRS를 통해 측정한다. AHRS 센서의 측정 오차를 줄이기 위해 Madgwick의 상보필터를 적용하였으며, 짐벌락 현상(Gimbal Lock)을 줄이기 위해 쿼터니언(Quaternion)을 이용하였다. 취득한 9축 궤적 정보에 대해 PCA, ICA, LDA, SVM의 패턴인식 알고리즘을 적용하여 인식정확도 및 실행시간을 구하고, 여러 패턴인식 알고리즘 중에서 어떤 알고리즘이 인식정확도 및 실행시간 측면에서 적용이 가능한지 제시한다. 실험결과, PCA, ICA는 인식정확도가 낮아 사용하기에 부적합하며 LDA, SVM은 인식정확도가 우수하여 피겨스케이팅 기본 동작 인식에 사용이 적합함을 보인다.

Social Pedestrian Group Detection Based on Spatiotemporal-oriented Energy for Crowd Video Understanding

  • Huang, Shaonian;Huang, Dongjun;Khuhroa, Mansoor Ahmed
    • KSII Transactions on Internet and Information Systems (TIIS)
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    • 제12권8호
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    • pp.3769-3789
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    • 2018
  • Social pedestrian groups are the basic elements that constitute a crowd; therefore, detection of such groups is scientifically important for modeling social behavior, as well as practically useful for crowd video understanding. A social group refers to a cluster of members who tend to keep similar motion state for a sustained period of time. One of the main challenges of social group detection arises from the complex dynamic variations of crowd patterns. Therefore, most works model dynamic groups to analysis the crowd behavior, ignoring the existence of stationary groups in crowd scene. However, in this paper, we propose a novel unified framework for detecting social pedestrian groups in crowd videos, including dynamic and stationary pedestrian groups, based on spatiotemporal-oriented energy measurements. Dynamic pedestrian groups are hierarchically clustered based on energy flow similarities and trajectory motion correlations between the atomic groups extracted from principal spatiotemporal-oriented energies. Furthermore, the probability distribution of static spatiotemporal-oriented energies is modeled to detect stationary pedestrian groups. Extensive experiments on challenging datasets demonstrate that our method can achieve superior results for social pedestrian group detection and crowd video classification.

쟈코비안 행렬의 마이너(Minor)에 기초한 여유자유도 로봇의 동력학적 제어 (Dynamic Control of Redundant Manipulators based on the Minors of Jacobian Matrix)

  • 정원지;정완균;염영일
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1991년도 하계학술대회 논문집
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    • pp.767-770
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    • 1991
  • For the control of redundant manipulators, conventional dynamic control methods of local torque optimization showed the instability which resulted in physically unrealizable torque requirements. In this paper, a new dynamic control method which is based on the concept of aspects is proposed. The proposed method starts with the basic understanding of the minors in the Jacobian matrix. It was shown by computer simulations that the proposed method demonstrates a drastic reduction of torque loadings at the joints in the tracking motion of a long trajectory, and thus guarantees the stability of joint torque.

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천체력 및 궤도 계산법 (NUMERICAL METHOD FOR THE ASTRONOMICAL ALMANAC AND ORBIT CALCULATIONS)

  • 김갑성
    • 천문학논총
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    • 제8권1호
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    • pp.137-151
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    • 1993
  • We have calculated the astronomical almanac 1994 and simulated the trajectory of a satellite orbit considering all perturbative forces with various initial conditions. In this work, Gauss Jackson multistep integration method has been used to calculate our basic equation of motion with high numerical accuracy. It has beer. found that our results agree well with the Astronomical Almanac Data distributed by JPL of NASA and the orbit simulations have been carried out with fast speed, stability and excellent round-off error accumulation, comparing with other numerical methods. In order to be carried out our works on almanac and orbit calculations easily by anyone who uses a personal computer, we have made a computer program on graphical user interface to provide various menus for detail works selected by a mouse.

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LOS 알고리듬과 미지 입력 관측기에 기초한 선도-추종 대형 제어 (LOS (Line of Sight) Algorithm and Unknown Input Observer Based Leader-Follower Formation Control)

  • 윤석민;여태경;박성재;홍섭;김상봉
    • 제어로봇시스템학회논문지
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    • 제16권3호
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    • pp.207-214
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    • 2010
  • This paper proposes about decentralized control approach based Leader-Follower formation control using LOS (Line of Sight) algorithm and unknown input observer. The position of robots which is a basic information in multi-robot or single robot motion control is determined by localization algorithm fusing UPS (Ultrasonic Position System) and kinematics model. For formation control, a decentralized control approach individually installing a local controller in leader and follower robot is adopted. Leader robot is controlled to track a specified trajectory by LOS algorithm, and the other robots follow the leader by local controller based on tracking platoon level function, self-sensing data and estimated information from unknown input observer. The performance of proposed method is proven through the formation experiment of two vehicle models.

Preliminary numerical study of single bubble dynamics in swirl flow using volume of fluid method

  • Li, Zhongchun;Qiu, Zhifang;Du, Sijia;Ding, Shuhua;Bao, Hui;Song, Xiaoming;Deng, Jian
    • Nuclear Engineering and Technology
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    • 제53권4호
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    • pp.1119-1126
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    • 2021
  • Spacer grid with mixing vane had been widely used in nuclear reactor core. One of the main feather of spacer grid with mixing vane was that strong swirl flow was formed after the spacer grid. The swirl flow not only changed the bubble generation in the near wall field, but also affected the bubble behaviors in the center region of the subchannel. The interaction between bubble and the swirl flow was one of the basic phenomena for the two phase flow modeling in fuel assembly. To obatin better understanding on the bubble behaviors in swirl flow, full three dimension numerical simulations were conducted in the present paper. The swirl flow was assumed in the cylindral calculation domain. The bubble interface was captured by Volume Of Fluid (VOF) method. The properties of saturated water and steam at different pressure were applied in the simulation. The bubble trajectory, motion, shape and force were obtained based on the bubble parameters captured by VOF. The simulation cases in the present study included single bubble with different size, at different angular velocity conditions and at different pressure conditions. The results indicated that bubble migrated to the center in swirl flow with spiral motion type. The lateral migration was mainly related to shear stress magnitude and bubble size. The bubble moved toward the center with high velocity when the swirl magnitude was high. The largest bubble had the highest lateral migration velocity in the present study range. The effect of pressure was small when bubble size was the same. The prelimenery simulation result would be beneficial for better understanding complex two phase flow phenomena in fuel assembly with spacer grid.

위성발사를 위한 지상국비행종단지령장비 설계 (The design of Ground Flight Termination System for Space Launch Application)

  • 이성희;배영조;오창열;이효근
    • 항공우주기술
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    • 제7권1호
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    • pp.229-235
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    • 2008
  • 지상국비행종단지령장비는 위성발사체(KSLV)발사 후 비행 중 일어날 수 있는 비상사태 (안전영역을 벗어나거나 지상에서 더 이상 추적이 불가능할 경우)에 대하여 지상통제장치에서 비행종단을 명령하여 비행을 강제로 종단시키는 역할을 한다. 본 글에서는 나로우주센터에서 위성발사체(KSLV) 발사를 위하여 설치 운용될 지상국비행종단지령장비의 설계에 관한 기본사항을 서술하고 있다. 국내 환경에 맞는 최적의 시스템 설계를 위하여 위성발사체의 비행궤적 및 특성을 고려한 운용개념을 먼저 정의하였고, 발사체에 탑재되는 수신부 특성을 고려하여 RF Link Budget 분석 및 송신시스템의 RF 요구 성능, 신뢰도 및 가용도 등을 분석하였다. 본 분석을 바탕으로 위성발사체(KSLV)에 비행종단명령을 안정적으로 생성, 처리하여 전송할 수 있는 각각의 장비를 설계하였다.

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저가격 관성 센서를 이용한 펜 형 입력 장치의 개발 (Design of a pen-shaped input device using the low-cost inertial measurement units)

  • 장욱;강경호;최은석;방원철;;김동윤
    • 한국지능시스템학회논문지
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    • 제13권2호
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    • pp.247-258
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    • 2003
  • 본 논문에서는 사용자가 2차원 또는 3차원 상에서 필기를 하는 경우의 관성치를 측정할 수 있는 가속도계와 각속도계를 장착한 펜형 입력 장치를 소개한다. 각속도계의 측정치를 한 번 적분해 시스템의 자세를 구하며 이는 가속도에 포함되어 있는 중력 가속도 성분을 제거하는 데 사용된다. 시스템의 위치는 보정된 가속도를 두 번 적분해 구한다. 이러한 원리는 관성 항법 시스템에서 보편적으로 사용되는 것이다. 그러나 필기 궤적을 복원하기 위해 사용되는 이중 적분 과정으로 인해 위치 측정치의 정확도는 시간이 지남에 따라 심각하게 떨어진다. 이러한 문제는 관성 항법 시스템에 있어 일반적인 경우이며 통상 외부의 기준 신호나 기타 정보를 이용한 주기적 또는 비주기적인 시스템의 교정을 통해 해결된다. 본 논문에서는 위치 및 속도의 보정은 온라인과 오프라인 교정 과정을 통해 이루어진다. 온라인 교정 과정에서는 칼만 필터를 이용한 보상 필터 기법을 사용한다. 오프라인 교정 과정에서는 최종적인 시스템의 항법 오차의 상수 성분을 속도 정보와 움직임 검지 알고리듬을 통해 제거한다. 실제 실험을 통해 제안된 시스템의 유용성과 효용성을 보인다.

Sensory Information Processing

  • Yoshimoto, Chiyoshi
    • 대한의용생체공학회:의공학회지
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    • 제6권2호
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    • pp.1-8
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    • 1985
  • The wall shear stress in the vicinity of end-to end anastomoses under steady flow conditions was measured using a flush-mounted hot-film anemometer(FMHFA) probe. The experimental measurements were in good agreement with numerical results except in flow with low Reynolds numbers. The wall shear stress increased proximal to the anastomosis in flow from the Penrose tubing (simulating an artery) to the PTFE: graft. In flow from the PTFE graft to the Penrose tubing, low wall shear stress was observed distal to the anastomosis. Abnormal distributions of wall shear stress in the vicinity of the anastomosis, resulting from the compliance mismatch between the graft and the host artery, might be an important factor of ANFH formation and the graft failure. The present study suggests a correlation between regions of the low wall shear stress and the development of anastomotic neointimal fibrous hyperplasia(ANPH) in end-to-end anastomoses. 30523 T00401030523 ^x Air pressure decay(APD) rate and ultrafiltration rate(UFR) tests were performed on new and saline rinsed dialyzers as well as those roused in patients several times. C-DAK 4000 (Cordis Dow) and CF IS-11 (Baxter Travenol) reused dialyzers obtained from the dialysis clinic were used in the present study. The new dialyzers exhibited a relatively flat APD, whereas saline rinsed and reused dialyzers showed considerable amount of decay. C-DAH dialyzers had a larger APD(11.70$\pm$1.32mmHg/min)compared to CF dialyzers(4.32$\pm$0.55mmHg/min)(p<0.05). However, there was no observable difference in the UFR between the two dialyzers. Neither APD nor UFR showed any significant increase with an increasing number of reuses for up to more than 20reuses. A substantial number of failures observed in APD(larger than 20mmHe/min)on the reused dialyzers(2 out of 40 CP and S out 26 C-DAK) were attributed to the Possible damage on the fibers. The CF 15-11 HFDs which failed APD test did not show changes in the UFR compared to normal dialyzers indicating that APD is a more sensitive test than UFR test to evaluate the integrity of the fibers. 30527 T00401030527 ^x For quantitative measurement of reflected light from a clinical diagnostic strip, a prototype old reflectance photometer was designed. The strip loader and cassette were made to obtain more accurate reflectance parameters. The strip was illuminated at 45˚c through optical fiber and the intensity of reflected light was determined at rectanguLat angle using a photodiode. The kubelka-munk coefficient and reflection optical density were determined ar four different wavelengths(500, 550, 570 and 610nm) for blood glucose strip. For higher concentration than 300mg/41 about glucose, a saturation state of abforbance was observed at 500, 550 and 570nm. The correlation between glucose concentration and parameters was the best at 610nm. 30535 T00401030535 ^x Radiation-induced fibrosarcoma tumors were grown on the flanks of C3H mice. The mice were divided into two groups. One group was injected with Photofrin II, intravenously (2.5mg/kg body weight). The other group received no Photofrin II. Mice from both groups were irradialed for approximately 15 minutes at 100, 300, or 500 mW/cm2 with the argon (488nm/514.5 nm), dye(628nm) and gold vapor (pulsed 628 nm) laser light. A photosensitizer behaved as an added absorber. Under our experimental conditions, the presence of Photolfrin II increased surface temperature by at least 40% and the temperature rise due to 300 mW/cm2 irradiation exceeded values for hyperthermia. Light and temperature distributions with depth were estimated by a computer model. The model demonstrated the influence of wavelength on the thermal process and proved to be a valuable tool to investigate internal temperature rise. 30536 T00401030536 ^x We investigated the structural geometry of thirty-eight Korean femurs. The purpose of this study is to identify major geometrical differences between Korean femurs 3nd others that we believe belong to Caucasians so that we would be able to get insights into the femoral component design that fits Asians including Koreans. We utilized computerized tomography (CT) images of femurs extracted from cadavers. The CT images were transformed into bitmap data by using a film scanner, and then analyzed by using a commercially available software called Image v.1.0 and a Macintosh IIci computer.The resulting data were compared with already published data. The major results show that the geometry of the Korean femurs is significantly different from that of Caucasians: (1) the anteversion angle and the canal flare index are greater by the amount of approximately 8˚ and 0.5, respectively, (2) the shape of the isthmus cross section is more round, and (3) the distance between the teaser trochanter and the proximal border of the isthmus is shelter by about 15 mm. The results suggested that the femoral component suitable for Asians should be different from the currently-used components designed and manufactured mostly by European or American companies. 30537 T00401030537 ^x It is well known that nonlinear propagation characteristics of the wave in the tissue may give very useful information for the medical diagnoisis. In this paper, a new method to detect nonlinear propagation characteristics of the internal vibration in the tissue for the low frequency mechanical vibration by using bispectral analysis is proposed. In the method, low frequency vibration of f0( = 100Hz) is applied on the surface of the object, and the waveform of the internal vibration x (t) is measured from Doppler frequency modulation of silmultaneously transmitted probing ultrasonic waves. Then, the bispectra of the signal x (t) at the frequencies (f0, f0) and (f0, 2f0) are calculated to estimate the nonlinear propagation characteristics as their magnitude ratio, w here since bispectrum is free from the gaussian additive noise we can get the value with high S/N. Basic experimental system is constructed by using 3.0 MHz probing ultrasonic waves and the several experiments are carried out for some phantoms. Results show the superiority of the proposed method to the conventional method using power spectrum and also its usefulness for the tissue characterization. 30541 T00401030541 ^x This paper describes the implementation of a computerized radial pulse diagnosis by aids of a clinical expert. On this base, we composed of the radial pulse diagnosis system in korean traditional medicine. The system composed of a radial pulse wave detection system and a radial pulse diagnosis system. With a detection system, we detected Inyoung and Cheongu radial pulse wave and processed it. Then, we have got the characteristic parameters of radial pulse wave and also quantified that according to the method of Inyoung-Cheongu Comparison Radial Pulse Diagnosis. We defined the jugement standard of radial pulse diagnosis system and then we confirmed the possibility for realization of automatic radial pulse diagnosis in korean traditional medicine. 30545 T00401030545 ^x Microspheres are expected to be applied to biomedical areas such as solid-phase immunoassays, drug delivery systems, immunomagnetic cell separation. To synthesize microspheres for biomedical application, "two stage shot growth method" was developed. The uniformity ratio of synthesized microspheres was always smaller than 1.05. And the surface charge density (or the number of ionizable functional groups) of the microspheres synthesized by "two stage shot growth method" was 6~13 times higher than that of the microspheres synthesized by conventional seeded batch copolymerization. As a previous step for biomedical application, adsorption experiments of bovine albumin on microspheres were carried out under various conditions. The maximum adsorbed amount was obtained in the neighborhood of pH 4.5. Isoelectric point of bovine albumin is pH 5.0, so experimental result shows that it shifted to acid area. The adsorption isotherm was obtained, the plateau region was always reached at 2.Og/L (bulk concentration of bovine albumin).The effect of the kind and the amount of surface functional group was also examined. 30575 T00401030575 ^x A medical image workstation was developed using multimedia technique. The system based on PC-486DX was designed to acquire medical images produced by medical imaging instruments and related audio information, that is, doctors' reporting results. Input information was processed and analyzed, then the results were presented in the form of graph and animation. All the informations of the system were hierarchically related with the image as the apex. Processing and analysis algorithms were implemented so that the diagnostic accuracy could be improved. The diagnosed information can be transferred for patient diagnosis through LAN(local area network). 30592 T00401030592 ^x In the conventional infrared imaging system, complex infrared lens systems are usually used for directing collimated narrow infrared beams into the high speed 2-dimensional optic scanner. In this paper, a simple reflective infrared optic system with a 2-dimensional optic scanner is proposed for the realization of medical infrared thermography system. It has been experimentally proven that the intfrared thermography system composed of the proposed optic system has the temperature resolution of 0.1˚c under the spatial resolution of lmrad, the image matrix size of 256 X 240, and tile imaging time of 4 seconds. 30593 T00401030593 ^x In this paper, MIIS (Medical Image Information System) has been designed and implemented using INGRES RDBMS, which is based on a client/server architecture. The implemented system allows users to register and retrieve patient information, medical images and diagnostic reports. It also provides the function to display these information on workstation windows simultaneously by using the designed menu-driven graphic user interface. The medical image compression/decompression techniques are implemented and integrated into the medical image database system for the efficient data storage and the fast access through the network. 30594 T00401030594 ^x In this paper, computerized BEAM was implemented for the space domain analysis of EEG. Trans-formation from temporal summation to two-dimensional mappings is formed by 4 nearest point inter-polaton method. Methods of representation of BEAM are two. One is dot density method which classify brain electrical potential 9 levels by dot density of gray levels and the other is colour method which classify brain electrical 12 levels by red-green colours. In this BEAM, instantaneous change and average energy distribution over any arbitrary time interval of brain electrical activity could be observed and analyzed easily. In the frequency domain, the distribution of energy spectrum of a special band can easily be distinguished normality and abnormality. 30608 T00401030608 ^x Laboratory information system (LIS) is a key tool to manage laboratory data in clinical pathology. Our department has developed an information system for routine hematology using down-sized computer system. We have used an IBM 486 compatible PC with 16MB main memory, 210 MB hard disk drive, 9 RS-232C port and 24 pin dot printer. The operating system and database management system were SCO UNIX and SCO foxbase, respectively. For program development, we used Xbase language provided by SCO foxbase. The C language was used for interface purpose. To make the system use friendly, pull-down menu was used. The system connected to our hospital information system via application program interface (API), so the information related to patient and request details is automatically transmitted to our computer. Our system interfaced with fwd complete blood count analyzers(Sysmex NE-8000 and Coulter STKS) for unidirectional data tansmission from analyzer to computer. The authors suggests that this system based on down-sized computer could provide a progressive approach to total LIS based on local area network, and the implemented system could serve as a model for other hospital's LIS for routine hematology. 30609 T00401030609 ^x To develop an artificial bone substitute that is gradually degraded and replaced by the regenerated natural bone, the authors designed a composite that is consisted of calcium phosphate and collagen. To use as the structural matrix of the composite, collagen was purified from human umbilical cord. The obtained collagen was treated by pepsin to remove telopeptides, and finally, the immune-free atelocollagen was produced: The cross linked atelocollagen was highly resistant to the collagenase induced collagenolysis. The cross linked collagen demonstrated an improved tensile strength. 30618 T00401030618 ^x This paper is a study on the design of adptive filter for QRS complex detection. We propose a simple adaptive algorithm to increase capability of noise cancelation in QRS complex detection with two stage adaptive filter. At the first stage, background noise is removed and at the next stage, only spectrum of QRS complex components is passed. Two adaptive filters can afford to keep track of the changes of both noise and QRS complex. Each adaptive filter consists of prediction error filter and FIR filter The impulse response of FIR filter uses coefficients of prediction error filter. The detection rates for 105 and 108 of MIT/BIH data base were 99.3% and 97.4% respectively. 30619 T00401030619 ^x To develop an artificial bone substitute that is gradually degraded and replaced by the regenerated natural bone, the authors designed and produced a composite that is consisted of calcium phosphate and collagen. Human umbilical cord origin pepsin treated type I atelocollagen was used as the structural matrix, by which sintered or non-sintered carbonate apatite was encapsulated to form an inorganic-organic composite. With cross linking atelocollagen by UV ray irradiation, the resistance to both compressive and tensile strength was increased. Collagen degradation by the collagenase induced collagenolysis was also decreased. 30620 T00401030620 ^x We have developed a monoleaflet polymer valve as an inexpensive and viable alternative, especially for short-term use in the ventricular assist device or total artificial heart. The frame and leaflet of the polymer valve were made from polyurethane, To evaluate the hemodynamic performance of the polymer valve a comparative study of flow dynamics past a polymer valve and a St. Jude Medical prosthetic valve under physiological pulsatile flow conditions in vitro was made. Comparisons between the valves were made on the transvalvular pressure drop, regurgitation volume and maximum valve opening area. The polymer valve showed smaller regurgitation volume and transvalvular pressure drop compared to the mechanical valve at higher heart rate. The results showed that the functional characteristics of the polymer valve compared favorably with those of the mechanical valve at higher heart rate. 30621 T00401030621 ^x Explosive evaporative removal process of biological tissue by absorption of a CW laser has been simulated by using gelatin and a multimode Nd:YAG laser. Because the point of maximun temperature of laser-irradiated gelatin exists below the surface due to surface cooling, evaporation at the boiling temperature is made explosively from below the surface. The important parameters of this process are the conduction loss to laser power absorption (defined as the conduction-to-laser power parameter, Nk), the convection heat transfer at the surface to conduction loss (defined as Bi), dimensionless extinction coefficient (defined as Br.), and dimensionless irradiation time (defined as Fo). Dependence of Fo on Nk and Bi has been observed by experiment, and the results have been compared with the numerical results obtained by solving a 2-dimensional conduction equation. Fo and explosion depth (from the surface to the point of maximun temperature) are increased when Nk and Bi are increased.To find out the minimum laser power for explosive evaporative removal process, steady state analysis has been also made. The limit of Nk to induce evaporative removal, which is proportional to the inverse of the laser power, has been obtained. 30622 T00401030622 ^x N1 and N2 gross neural action potentials were measured from the round window of the guinea pig cochlea at the onset of the acoustic stimuli. N1-N2 audiograms were made by means of regulating stimulant intensities in order to produce constant N1-N2 potentials as criteria for different input tone pip frequencies. The lowest threshold was measured with an input tone pip I5 dB SPL in intensity and 12 KHz in frequency when the animal was in normal physiological condition. The procedure of experimental measurements is explained in detail. This experimental approach is very useful for the investigation of the Cochlear function. Both noN1inear and active functions of the Cochlea can be monitored by N1-N2 audiograms. 30623 T00401030623 ^x In electrical impedance tomography(EIT), we use boundary current and voltage measurements toprovide the information about the cross-sectional distribution of electrical impedance or resistivity. One of the major problems in EIT has been the inaccessibility of internal voltage or current data in finding the internal impedance values. We propose a new image reconstruction method using internal current density data measured by NMR. We obtained a two-dimensional current density distribution within a phantom by processing the real and imaginary MR images from a 4.77 NMR machine. We implemented a resistivity mage reconstruction algorithm using the finite element method and sensitivity matrix. We presented computer simulation results of the mage reconstruction algorithm and furture direction of the research. 30624 T00401030624 ^x A new method of digital image analysis technique for discrimination of cancer cell was presented in this paper. The object image was the Thyroid eland cells image that was diagnosed as normal and abnormal (two types of abnormal: follicular neoplastic cell, and papillary neoplastic cell), respectively. By using the proposed region segmentation algorithm, the cells were segmented into nucleus. The 16 feature parameters were used to calculate the features of each nucleus. A9 a consequence of using dominant feature parameters method proposed in this paper, discrimination rate of 91.11% was obtained for Thyroid Gland cells. 30625 T00401030625 ^x An electrical stimulator was designed to induce locomotion for paraplegic patients caused by central nervous system injury. Optimal stimulus parameters, which can minimize muscle fatigue and can achieve effective muscle contraction were determined in slow and fast muscles in Sprague-Dawley rats. Stimulus patterns of our stimulator were designed to simulate electromyographic activity monitored during locomotion of normal subjects. Muscle types of the lower extremity were classified according to their mechanical property of contraction, which are slow muscle (msoleus m.) and fast muscle (medial gastrocneminus m., rectus femoris m., vastus lateralis m.). Optimal parameters of electrical stimulation for slow muscles were 20 Hz, 0.2 ms square pulse. For fast muscle, 40 Hz, 0.3 ms square pulse was optimal to produce repeated contraction. Higher stimulus intensity was required when synergistic muscles were stimulated simultaneously than when they were stimulated individually. Electrical stimulation for each muscle was designed to generate bipedal locomotion, so that individual muscles alternate contraction and relaxation to simulate stance and swing phases. Portable electrical stimulator with 16 channels built in microprocessor was constructed and applied to paraplegic patients due to lumbar cord injury. The electrical stimulator restored partially gait function in paraplegic patients. 30626 T00401030626 ^x Two-Dimensional modelling of the Cochlear biomechanics is presented in this paper. The Laplace partial differential equation which represents the fluid mechanics of the Cochlea has been transformed into two-dimensional electrical transmission line. The procedure of this transformation is explained in detail. The comparison between one and two dimensional models is also presented. This electrical modelling of the basilar membrane (BM) is clearly useful for the next approach to the further. Development of active elements which are essential in the producing of the sharp tuning of the BM. This paper shows that two-dimension model is qualitatively better than one-dimensional model both in amplitude and phase responses of the BM displacement. The present model is only for frequency response. However because the model is electrical, the two-dimensional transmission line model can be extended to time response without any difficult. 30627 T00401030627 ^x A method has been proposed for the fully automatic detection of left ventricular endocardial boundary in 2D short axis echocardiogram using geometric model. The procedure has the following three distinct stages. First, the initial center is estimated by the initial center estimation algorithm which is applied to decimated image. Second, the center estimation algorithm is applied to original image and then best-fit elliptic model estimation is processed. Third, best-fit boundary is detected by the cost function which is based on the best-fit elliptic model. The proposed method shows effective result without manual intervention by a human operator. 30628 T00401030628 ^x The intelligent trajectory control method that controls moving direction and average velocity for a prosthetic arm is proposed by pattern recognition and force estimations using EMG signals. Also, we propose the real time trajectory planning method which generates continuous accelleration paths using 3 stage linear filters to minimize the impact to human body induced by arm motions and to reduce the muscle fatigue. We use combination of MLP and fuzzy filter for pattern recognition to estimate the direction of a muscle and Hogan's method for the force estimation. EMG signals are acquired by using a amputation simulator and 2 dimensional joystick motion. The simulation results of proposed prosthetic arm control system using the EMf signals show that the arm is effectively followed the desired trajectory depended on estimated force and direction of muscle movements. 30638 T00401030638 ^x A new neural network architecture for the recognition of patterns from images is proposed, which is partially based on the results of physiological studies. The proposed network is composed of multi-layers and the nerve cells in each layer are connected by spatial filters which approximate receptive fields in optic nerve fields. In the proposed method, patterns recognition for complicated images is carried out using global features as well as local features such as lines and end-points. A new generating method of matched filers representing global features is proposed in this network. 30659 T00401030659 ^x An implementation scheme of the magnetic nerve stimulator using a switching mode power supply is proposed. By using a switching mode power supply rather than a conventional linear power supply for charging high voltage capacitors, the weight and size of the magnetic nerve stimulator can be considerably reduced. Maximum output voltage of the developed magnetic nerve stimulator using the switching mode power supply is 3, 000 volts and switching time is about 100 msec. Experimental results or human nerve stimulations using the developed stimulator are presented. 30768 T00401030768 ^x In this paper, we describe the design methodology and specifications of the developed module-based bedside monitors for patient monitoring. The bedside monitor consists of a main unit and module cases with various parameter modules. The main unit includes a 12.1" TFT color LCD, a main CPU board, and peripherals such as a module controller, Ethernet LAN card, video card, rotate/push button controller, etc. The main unit can connect at maximum three module cases each of which can accommodate up to 7 parameter modules. They include the modules for electrocardiograph, respiration, invasive blood pressure, noninvasive blood pressure, temperature, and SpO2 with Plethysmograph.SpO2 with Plethysmograph.

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