• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1589-1592
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• 1997

Among the prerequisite abilities (perception of environment, path planning and position estimation) of an autonomous mobile robot, position estimation has been seldom studied by mobile robot researchers. In most cases, conventional positioin estimation has been performed by placing landmarks or giving the entrire environmental information in advance. Unlikely to the conventional ones, the study addresses a new method that the robot itself can select distinctive features in the environment and save them as landmarks without any a priori knowledge, which can maximize the autonomous behavior of the robot. First, an orjentaion probaility model is applied to construct a lcoal map of robot's surrounding. The feature of the object in the map is then extracted and the map is saved as landmark. Also, presented is the position estimation method that utilizes the correspondence between landmarks and current local map. In dong this, the uncertainty of the robot's current positioin is estimated in order to select the corresponding landmark stored in the previous steps. The usefulness of all these approaches are illustrated with the results porduced by a real robot equipped with ultrasonic sensors.

• Journal of Microbiology and Biotechnology
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• 제13권5호
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• pp.789-793
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• 2003

This study focused on the optimization of the illumination method for efficient use of light energies in a photobioreactor. In order to investigate the effect of radiator position, a model simulation study was carried out using Synechococcus sp. PCC 6301 and an internally radiating photobioreactor as a model system. The efficiency of light transfer in a photobioreactor was analyzed by estimating the average light intensity in a photobioreactor. The simulation result, indicate that there exists an optimal position of internal radiators, and that the optimal position varies with radiator number and cell concentration. When light radiators are placed at the optimal position, the average light intensity is about 30% higher than that obtained by placing radiators at the circumstance or center of a photobioreactor. The method presented in this work may be useful for improving light transfer efficiency in a photobioreactor.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.638-641
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• 1992

In this paper, a hybrid position/force control scheme is proposed. The control scheme modifies the position command for force control against constraint surface of environment and is very simply designed and implemented. The merits of the control scheme are that it can cope with change of constraint conditions and small position inaccuracy of the environment. A constraint surface position observer is also proposed to reduce disturbances on controlled force.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 춘계학술대회
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• pp.762-767
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• 2004

In this study, a position synchronous control algorithm being applied to two-axes pneumatic cylinder driving apparatus is proposed. The position synchronous control algorithm is composed of position controller and synchronous controller. The position controller is designed to minimize the effect of several nonlinear characteristics of the driving apparatus. The synchronous controller is designed to reduce the synchronous error. The effectiveness of the proposed controller is proved by simulation results.

• 한국전문물리치료학회지
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• 제20권2호
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• pp.20-27
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• 2013

The purpose of this study was to compare the slouched and upright sitting positions on lumbar joint reposition error (LJRE). Twenty subjects without low back pain were recruited for this study and, using a random number table, were randomly assigned to two groups; the upright sitting position group (UP group) and the slouched sitting position group (SP group). UP group was first asked to sit in an upright position and the SP group to sit in a slouched position as an intervention, and then the LJRE of both groups was measured at the neutral sitting position (lumbar flexion $0^{\circ}$). The measurement of the LJRE was repeated after one day. The sitting positions were performed for five minutes each and the LJRE was measured using an electronic goniometer. An independent t-test was used to compare the LJRE of both groups after each sitting position and after one day. The results of this study showed that the LJRE after an intervention in the UP group was lower than in the SP group (p<.05) and the LJRE after one day in the UP group was lower than in the SP group (p<.05). The findings of this study indicate that the upright sitting position can be applied to decrease LJRE, compared with the slouched sitting position. These findings also support that the upright sitting position reduces the potential for proprioceptive loss.

• 전기학회논문지
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• 제65권11호
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• pp.1848-1853
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• 2016

Control Rod Position Indicator in nuclear reactor vessel has developed for small reactor in Korea. Because of severe environment in reactor vessel, target of this study is to develop the suitable position indicator. In this study, solenoid type position indicator made of Mineral Insulated Cable(MI Cable) was introduced to adapt in severe environment. And inductance of the solenoid was used to indicate the rod position for high precision. But problem of this concept is that a linear slope of inductance is changed by temperature effect. To resolve this problem, two sensing coils were introduced for temperature compensation. A role of the sensing coil is to make reference linear equation about certain temperature. To confirm this concept, also, inductance of solenoid and sensing coils were measured at room and high temperature (${\sim}300^{\circ}C$). The results of measurement show that the position error of sensing coil between room and high temperature was about 2%. But it was identified that this error was resulted from insufficient test environment (temperature error between solenoid and sensing coils was about 2% at high temperature condition). Therefore, solenoid type position indicator shows that it is very suitable in reactor vessel as a high precision rod position indicator.

• 한국지능시스템학회논문지
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• 제14권5호
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• pp.577-582
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• 2004

본 논문에서는 비전 기반 구륜이동로봇이 복도에 설치된 조명을 표식으로 사용하여 복도를 주행하기 위해 필요한 벽면으로부터의 거리와 방향각을 신경망을 이용하여 추정하는 알고리즘에 대해 기술하였다. 복도의 천정에 설치된 조명은 구륜이동로봇의 위치에 따라 조명 배열선의 기울기가 변하며, 구륜이동로봇의 방향각에 따라 정의된 소멸점의 위치가 변한다는 특징을 이용하였다. 획득된 영상에서 조명은 크기가 제한되어 있으며, 모양이 원에 가깝다는 특징을 이용하여 단순한 알고리즘에 의해 추출하였다. 기지의 구륜이동로봇의 위치와 방향각에서 복도 영상을 획득하여 조명 배열선의 기울기와 소멸점의 위치를 계산하여 이들 사이의 관계를 확인하였다. 주행 중 구륜이동로봇의 위치와 방향각을 추정하기 위해 신경망을 구성하고, 획득된 데이터를 이용하여 역 전파 알고리즘(back propagation algorithm)에 의해 학습을 수행하였다. 구륜이동로봇의 제작하고, 학습결과를 이용하여 실제 복도 주행 실험을 수행하였다.

• 한국전문물리치료학회지
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• 제10권1호
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• pp.63-76
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• 2003

This research was performed to compare spinal segment motion angle between low back pain (LBP) group and painless group during trunk flexion-extension and to investigate the effect of transversus abdominis strengthening exercise on spinal segment motion angle in LBP group. Nine subjects with LBP and ten subjects without LBP participated. Transversus abdominis strengthening exercise was performed in LBP group for three weeks, and spinal segment motion angles were compared before and after the exercise performance. Spinal segment motion angles were measured both in sitting and standing position. Results were as followed: 1) Subjects' average age was 24.79 years, height was 167.84 cm, and weight was 59.95 kg. 2) Spinal segment motion angle of T10/l1 was significantly higher in LBP group compared with painless group (p<.05) in sitting position during trunk flexion-extension. 3) In sitting position, whereas entire lumbar segment motion angles were lower in LBP group compared with painless group (p<.05), angle of L4/5 was higher in LBP group compared with painless group (p<.05). 4) There was no significant difference in thoracic segment motion angle in standing position. 5) After three weeks of transversus abdominis strengthening exercise, thoracic segment motion angle increased both in sitting and standing position (p<.05). 6) In painless group, there was no significant difference in entire spinal segment motion angles in sitting and standing position (p>.05). When spinal segment motion angles were compared between sitting and standing position, there were slight differences. In sitting position, there was no difference in spinal segment motion angle between LBP group and painless group while hip joint motion angle and sacral inclination angle of LBP group was lower than those of painless group (p<.05). In standing position, lumbar segment motion angle was significantly lower in LBP group than that of painless group. Transversus abdominis strengthening exercise influenced thoracic segment motion angle more significantly than lumbar segment motion angle.

• Tuberculosis and Respiratory Diseases
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• 제44권5호
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• pp.1105-1113
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• 1997

배 경 : 급성호흡부전증후군에서 배측 폐는 복측 폐에 비해 이환 정도가 심하여 기계호흡시 PEEP 사용에도 폐포 모집이 어려운 것이 알려져 있고 이러한 상태에서 prone position은 이환이 심한 배측 폐의 국소 환기를 향상시키고 동맥혈산소분압의 호전을 가져온다는 보고들이 있으나 아직 prone position 의 호흡생리학적 효과나 혈류역학적 효과가 완전히 정립되지 않았다. 방 법 : 급성폐손상 점수 평균 2.5 이상인 ARDS 환자 23명(남 : 여 =11 : 12, 연령 $62.1{\pm}20.8$세)을 대상으로 먼저 supine position에서 호흡 지표로 동맥혈가스분석, 총호흡기계 정적 탄성과 혈류역학적 지표로 평균 동맥압, 분당 심박수 등을 얻은 뒤 prone position으로 전환하였다. Prone position 5분에 동일한 혈류역학적 지표, 0.5 및 2시간에 호흡 지표를 얻었으며, 2시간까지의 $PaO_2/FIO_2$ 비가 supine position에 비해 20mmHg 이상 증가한 경우를 양성 호흡반응, prone 5분의 평균동맥압이 supine position에 비해 10mmHg이상 증가한 경우를 양성 혈류역학적반응으로 각각 정의하였다. 결과 : 1. 양성 호흡반응 대상 ARDS 환자 중 65%(15/23)가 양성 호흡반응을 보였고 양성 반응자는 비반응자에 비해 연령, 남녀비, ARDS 유발 원인, supine position에서의 $PaO_2/FIO_2$비, Cst, rs 등은 차이가 없었으나 평균동맥압이 더 높고($91.1{\pm}13.1mmHg$ vs. $76.0{\pm}18.7mmHg$, p=0.035), 생존율이 높은 경향을 보였다(9/15 vs. 2/8, p=0.074). 양성 호흡반응자의 supine, prone 0.5 및 2시간의 $PaO_2$는 각각 $69.8{\pm}17.6mmHg$, $83.2{\pm}22.6mmHg$, $96.8{\pm}22.7mmHg$(p<0.001), $PaO_2/FIO_2$비는 각각 $108.1{\pm}40.5mmHg$, $137.3{\pm}60.0mmHg$, $157.7{\pm}50.0mmHg$로 증가하였다(p=0.001). 2. 양성 혈류역학적반응 Prone position시 평균 동맥압이 10mmHg이상 증가한 경우는 22%(5/23)이었고 이 중 2명은 양성 호흡반응이 없는 환자였다. 양성 혈류역학적반응을 보인 환자와 보이지 않은 환자 사이에 기저 평균동맥압($77.1{\pm}11.1mmHg$, $89.8{\pm}16.6mmHg$, p=0.099)이나 supine position 에서의 PEEP 사용 수준 ($7.8{\pm}3.2cm$ $H_2O$, $8.6{\pm}3.5cm$ $H_2O$, p=0.188) 등은 유의한 차이가 없었다. 결 론 : ARDS 환자에서 prone position은 폐산소화지표를 호전시키거나 평균동맥압을 상승시키며 양성 호흡반응 여부는 ARDS 발생 후 조기에 결정되는 것으로 추정되었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.328-333
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• 1996

In this paper, we propose a new method to estimate robot position without landmark. At first, it is studied to estimate robot state using Markov decision rule. And, a matching method is discussed for estimating current position more accurately under the estimated current state. At second, we combine or fuse the matching method with the POMDP method in order to estimate the position under a dynamically changing environment. Finally we will show that our method can estimate the position precisely and robustly of which error are not cumulated through simulation results.