• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.9
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• pp.5440-5445
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• 2014

Many studies have examined robot control using human bio signals but complicated signal processing and expensive hardware are necessary. This study proposes a method to recognize a human's hand motion using a low-cost EMG sensor and Flex sensor. The method to classify movement of the hand and finger is determined from the change in output voltage measured through MCU. The analog reference voltage is determined to be 3.3V to increase the resolution of movement identification through experiment. The robotic hand is designed to realize the identified movement. The hand has four fingers and a wrist that are controlled using pneumatic cylinders and a DC servo motor, respectively. The results show that the proposed simple method can realize human hand motion in a remote environment using the fabricated robotic hand.

• Journal of Aerospace System Engineering
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• v.17 no.1
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• pp.97-105
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• 2023

For aviation sensor pod, structural integrity should be verified through static structural tests for flight loads induced in various maneuvering conditions of the aircraft. For this, it is necessary to develop a test system for full-scale static load test of sensor pod. Based on test requirements, this paper introduced a test system configuration of the static test and the development of test structure frame, restraints equipment, loading equipment, control, and measurement equipment. In addition, methods and procedures for verifying the developed test system were explained. In conclusion, the static load test and data acquisition were successfully performed. Reliability of the test equipment was also verified in the process.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.38 no.8
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• pp.62-71
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• 2001

This paper presents a design of the real-time digital image enhancement preprocessor for CMOS image sensor. CMOS image sensor offers various advantages while it provides lower-quality images than CCD does. In order to compensate for the physical limitation of CMOS sensor, the spatially adaptive contrast enhancement algorithm was incorporated into the preprocessor with color interpolation, gamma correction, and automatic exposure control. The efficient hardware architecture for the preprocessor is proposed and was simulated in VHDL. It is composed of about 19K logic gates, which is suitable for low-cost one-chip PC camera. The test system was implemented on Altera Flex EPF10KGC503-3 FPGA chip in real-time mode, and performed successfully.

• Annual Conference of KIPS
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• 2009.11a
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• pp.21-22
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• 2009

유비쿼터스 사회(Ubiquitous Society)로의 진입에 발맞추어 USN(Ubiquitous Sensor Network) 기반의 인간 중심적 편의 시스템에 관한 연구가 활발하게 진행되고 있다. 그 중 대형 시장을 갖는 차량 편의시설에 관한 연구는 지능형 차량 시스템(Intelligent Car System)을 중심으로 활발히 이루어지고 있다. 지능형 차량 시스템의 주요 연구는 자동 항법 장치, 사고 예방 장치, 자가 진단 시스템 등 탑승자의 편의성과 안전성을 중심으로 진행되었다. 그러나 탑승자의 사고 발생 시 응급 상황 처리를 위한 지원 시스템은 미미하다. 탑승자 부상으로 사고 신고를 하지 못할 경우, 사고지점 확인, 탑승자의 위급(현재) 상황, 부상 정보와 같은 정보를 얻을 수 없어 응급 상황 대처에 신속하지 못할 수 있다. 따라서 본 논문은 다양한 센서를 이용하여 차량의 정보를 수집하고, 사고 판단 시 차량 위치 정보, 탑승자 상황 정보를 응급 기관에 전달할 수 있는 차량용 스마트 안전장치를 설계 및 구현하였다. 테스트를 위해 Intel PXA255 MCU와 AM-3AXIS(3축 가속 센서), MDSM-1000A(지자기 센서), RX-M800S CDMA, GPS520, Alpha cam, Flex Sensor로 시스템을 제작하였으며 모의 도로 모형에서 테스트 하였다.

• The Journal of the Convergence on Culture Technology
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• v.9 no.3
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• pp.677-682
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• 2023

A large number of motors and sensors are used to drive a humanoid robot. In order to solve the wiring problem that occurs when connecting multiple actuators, a controller based on a communication network has been used, and CAN, which is advantageous in terms of cost and a highly reliable communication protocol, was mainly used. In terms of the structure of the controller, a torque control type structure that is easy to implement an advanced algorithm into the upper controller is preferred. In this case, the low communication bandwidth of CAN becomes a problem, and in order to obtain sufficient communication bandwidth, a communication network is configured by separating into a plurality of CAN networks. In this study, a stability analysis on transmission time delay is performed for a multi-motor control system in which high-speed FlexRay and low-speed CAN communication networks are hierarchically connected in order to obtain a high communication bandwidth, and sensor information and driving signals are delivered within the allowed transmission time. The proposed hierarchical network-based control system is expected to improve control performance because it can implement multiple motor control systems with a single network.

• Annual Conference of KIPS
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• 2017.04a
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• pp.1086-1087
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• 2017

최근 HMD 디바이스의 발달 및 그래픽 소프트웨어의 발달로 인해 현실과 유사한 느낌을 주는 가상현실 플랫폼 및 컨텐츠 개발이 활발히 이루어지고 있는 추세이다. 하지만, 현재 가상현실 플랫폼은 가상현실 환경과 사용자를 이어주는 UI가 불확실하고 사용법이 직관적이지 않다는 단점을 가지고 있다. 또한, 가상현실을 위한 컨트롤러들은 다양한 형태와 각각 다른 소프트웨어를 사용하고 있어 가상현실 컨텐츠를 이용하는데 제한적이라는 단점이 있다. 본 논문에서는 이러한 단점들을 보완하기 위해 플렉스 센서를 이용한 컨트롤러를 제작하고 이를 가상현실 내에서 출력한 모습에 대한 방법에 대해 설명하며, 추후 이를 활용하여 체감이 가능한 가상현실 컨텐츠로 발전시킬 수 있을 것을 기대한다.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1791-1792
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• 2007

본 논문에서는 착용 가능한 모션 캡쳐 시스템을 설계하고 구현한다. 이 장치는 사람의 두 관절의 움직임을 각도로 표현하도록 디자인 되었다. 이를 위해 flex sensor를 사용했으며 센서의 히스테리시스를 확인하고 3차 다항식을 사용하여 근사적인 모델을 만들었다. 이 모델을 통해서 센서에서 가져온 전압을 각도로 표현하였으며 이 각도로 손목과 팔꿈치의 움직임을 시뮬레이션 했다. 시뮬레이션의 결과를 바탕으로 인간형 로봇과 통신을 통해서 움직임을 확인하였다.

• Annual Conference of KIPS
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• 2009.11a
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• pp.83-84
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• 2009

최근 다양한 센싱장치와 HCI 디바이스를 결합하여 로봇이나 기계장치를 구동하려는 연구가 활발하게 진행되고 있다. 또한 기존의 RC방식의 무인비행체 조작은 관련분야의 전문성을 필요로 할 만큼 접근하기 어려운 면이 있었다. 이에 본 논문에서는 소형 무인비행체(UAV)의 움직임 제어를 위해 데이터 글로브의 손가락 구부러짐을 인식하여 이를 통해 무인비행체를 조작하는 원격조종장치에 관한 시스템 구조 및 프로토콜을 제안한다. 이 시스템을 통해 비전문가로 하여금 무인비행체의 접근성을 높이며 다양한 분야에 활용 할 수 있는 가능성을 제시하고자 한다. 이를 위해 데이터 글로브의 센싱 데이터에 대한 조합 및 해석방식을 정의하고, 이를 데이터 글로브의 손가락 구부러짐 해석에 적용하였다. 또한 조합된 명령신호를 전송하는 무인비행체의 구동 제어를 위한 비동기 Uplink 프로토콜을 제안하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.12
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• pp.5842-5861
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• 2019

A current autonomous vehicle determines its driving strategy by considering only external factors (Pedestrians, road conditions, etc.) without considering the interior condition of the vehicle. To solve the problem, this paper proposes "An Optimal Driving Support Strategy(ODSS) based on an Genetic Algorithm for Autonomous Vehicles" which determines the optimal strategy of an autonomous vehicle by analyzing not only the external factors, but also the internal factors of the vehicle(consumable conditions, RPM levels etc.). The proposed ODSS consists of 4 modules. The first module is a Data Communication Module (DCM) which converts CAN, FlexRay, and HSCAN messages of vehicles into WAVE messages and sends the converted messages to the Cloud and receives the analyzed result from the Cloud using V2X. The second module is a Data Management Module (DMM) that classifies the converted WAVE messages and stores the classified messages in a road state table, a sensor message table, and a vehicle state table. The third module is a Data Analysis Module (DAM) which learns a genetic algorithm using sensor data from vehicles stored in the cloud and determines the optimal driving strategy of an autonomous vehicle. The fourth module is a Data Visualization Module (DVM) which displays the optimal driving strategy and the current driving conditions on a vehicle monitor. This paper compared the DCM with existing vehicle gateways and the DAM with the MLP and RF neural network models to validate the ODSS. In the experiment, the DCM improved a loss rate approximately by 5%, compared with existing vehicle gateways. In addition, because the DAM improved computation time by 40% and 20% separately, compared with the MLP and RF, it determined RPM, speed, steering angle and lane changes faster than them.

• Archives of Plastic Surgery
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• v.40 no.5
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• pp.505-509
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• 2013

Background The aim of this study was to collect important data on the time of oxygen saturation change in relation to skin flap color alteration using non-invasive pulse oximetry to evaluate its ability to provide continuous monitoring of skin flap perfusion. Methods An experimental study on the monitoring of blood perfusion of 20 tube-island groin flaps of 10 male New Zealand rabbits was performed using pulse oximetry. The animals were randomly assigned to one of two groups representing a blockage of either arterial or venous blood flow. The oxygen saturation change and clinical color alteration were monitored from the beginning of vessel clamping until the saturation became undetectable. The result was analyzed by the t-test using SSPS ver. 10.0. Results The mean times from the vessel clamping until the saturation became undetectable were $20.19{\pm}2.13$ seconds and $74.91{\pm}10.57$ seconds for the artery and vein clamping groups, respectively. The mean time of the clinical alteration from the beginning of vein clamping was $34.5{\pm}11.72$ minutes, while the alteration in flaps with artery clamping could not be detected until 2.5 hours after clamping. Conclusions The use of neonate-type reusable flex sensor-pulse oximetry is objective and effective in early detection of arterial and vein blockage. It provides real-time data on vessel occlusion, which in turn will allow for early salvaging. The detection periods of both arterial occlusion and venous congestion are much earlier than the color alteration one may encounter clinically.