• The Korean Journal of Physiology
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• v.2 no.1
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• pp.53-58
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• 1968

In order to study the electrocardiogram of small animals authors deviced a fixing apparatus in the ventral resting position of rabbit and an attaching electrodes. Normal electrocardiograms of 8 adult rabbits were studied with author's improved fixing apparatus and electrodes. Leads taken were the standard limb lead, augmented unipolar leads and the unipolar precordial leads. The total numbers of various leads were eleven altogether. Results obtained in this study may be summarized as follows: 1. The details of the methods used to record and measure the six standard frontal plane leads and the five precordial leads of the rabbit electrocardiogram in the ventral resting position were described. The fixing apparatus of rabbits in ventral position are shown in Figure 1 and the attaching electrodes are shown in Figure 2. 2. The electrocardiographic changes in ventral position were more stable than in dorsal position in each lead. 3. The analysis of the amplitude, duration and other values of various waves are shown in Table 1 and Figure 3. 4. The electrocardiogram of rabbits showed decreased heart rate in ventral position than dorsal one. 5. The mean electrical axis of QRS complex in ventral position were +44.12 degrees and in dorsal position were +25.5 degrees.

• Journal of KIISE:Databases
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• v.34 no.4
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• pp.343-356
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• 2007

Due to advances in position monitoring technologies such as global positioning systems and sensor networks, recent position information of moving objects has the form of streaming data which are updated continuously and rapidly. In this paper we propose an efficient trajectory maintenance method that stores the streaming position data of moving objects in the limited size of storage space and estimates past positions based on the stored data. For this, we first propose a new concept of incremental extraction of position information. The incremental extraction means that, whenever a new position is added into the system, we incrementally re-compute the new version of past position data maintained in the system using the current version of past position data and the newly added position. Next, based on the incremental extraction, we present an overall framework that stores position information and estimates past positions in the stream environment. We then propose two polynomial-based methods, line-based and curve-based methods, as the method of estimating the past positions on the framework. We also propose three incremental extraction methods: equi-width, slope-based, and recent-emphasis extraction methods. Experimental results show that the proposed incremental extraction provides the relatively high accuracy (error rate is less than 3%) even though we maintain only a little portion (only 0.1%) of past position information. In particular, the curve-based incremental extraction provides very low error rate of 1.5% even storing 0.1% of total position data. These results indicate that our incremental extraction methods provide an efficient framework for storing the position information of moving objects and estimating the past positions in the stream environment.

• Journal of Korean Clinical Nursing Research
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• v.15 no.1
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• pp.19-28
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• 2009

Purpose: The purpose of this study was to examine the effect of position change on discomfort and bleeding in patients undergone coronary angiography with a vascular device and required bed-rest. Method: This study utilized nonequivalent control group non-synchronized design. Data were collected from 118 inpatients after coronary angiography and stayed in general ward at Y hospital in Seoul, from June 5 to August 12, 2008. After coronary angiography, position change was performed to the experimental group who consisted of 59 patients. They stayed in supine position just after angiography and then head-up position with 15 degrees was applied 1 hour later. After that, they could change the position alternatively into lateral position with leg down and supine position. The control group was positioned keeping the affected leg immobile with supine position for 4 hours. Results: The experimental group reported significantly more comfortable than control group after position change. There were no significant differences in the grades of bleeding or hematoma at puncture site between the two groups. Conclusion: The position change in patients undergone angiography could be applied without any harm such as bleeding or hematoma, but effective in reducing back pain and subjective patients' discomforts.

• Journal of Science of Art and Design
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• v.2
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• pp.239-293
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• 2000

The paper aims to study how to describe the rigorous position on which semantic elements are laid, within the visual space. This purpose is, first of all, for the construction of visual syntactical semantics of the visual space. For this aim, the preliminary research begins with some definitions on : 1) visual space, visual design, visual syntactical semantic meaning, 2) position, sequence of position, 2-dim. sequence of position, and 3) 2-dim. numerical series of position, harmonious dynamic values. Here, The main issue is to define the position in general. To solve this problem, the researcher surveyed the positions on which the sets of pixemes are set up. The results are as follows ; 1. As far as the positions in visual space are concerned, they are the possible locations permitted in the visual patches. They are not the factual but the possible positions. 2.The position value that the sequential point has is not arithmetical but harmonious-dynamic, for it is not permitted for its own sake, but for the person, that is to say, for the viewer's visual perception. 3. The harmonious-dynamic value of positional sequence can be composed of the 2-dimensional successive numerical series which is, in turn, composed of the primordial 3 values x0, $\mu0$, y0. Here, the $\mu0$ is the harmonious mean value of x0 and y0. The x0 and y0 are, therefore, of the mutual dynamic relationship. 4. From this, the 2-dim general $\Delta-TABLE$ of the numerical series of position in visual design could be acquired through development of the primordial 3 values into the $X_i,\;Y_i$, orbit values.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.16 no.2
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• pp.67-75
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• 2010

Purpose: The purpose of this is to identify the relationship among the age, body mass index(BMI) and exercise frequency(EF) with knee joint position sense in korean healthy women. Methods: Healthy women of 328 who participated in this study were tested knee joint position sense; reposition error was measured with a Myrin goniometer. Each reposition error was analyzed using descriptive statics, pearson correlation coefficients, and stepwise multiple regression. Results: The mean reposition error by age groups was significant decrease getting older. The mean reposition error by BMI groups was significant decrease getting higher. And the mean reposition error by EF groups was significant decrease getting lower. The knee joint position sense showed a significantly correlation with age(r=0.36, p=.00), BMI(r=0.34, p=.00) and EF(r=-0.50, p=.00). The most powerful predictor of knee joint position sense was EF. The reposition error according to stepwise multiple regression is $3.36+(-2.64){\times}EF+0.13{\times}age$, and account for 46%($R^2=0.46$) of the variance in the knee joint position sense. Conclusion: The older the women are, for prevent of knee injuries due to decreased joint position sense, regular exercise is essential factor.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.4
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• pp.341-348
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• 2013

A location estimation algorithm based on the sea-surface beacon is proposed in this paper. The beacon is utilized to provide ultrasonic signals to the underwater vehicles around the beacon to estimate precise position of underwater vehicles (ROV, AUV, Diver robot), which is named as USBL (Ultra Short Baseline) system. It utilizes GPS and INS data for estimating its position and adopts DWT (Discrete Wavelet Transform) de-noising filter and UKF (Unscented KALMAN Filter) elaborating the position estimation. The beacon system aims at estimating the precise position of underwater vehicle by using USBL to receive the tracking signals. The most important one for the precise position estimation of underwater vehicle is estimating the position of the beacon system precisely. Since the beacon is on the sea-waves, the received GPS signals are noisy and unstable most of times. Therefore, the INS data (gyroscope sensor, accelerometer, magnetic compass) are obtained at the beacon on the sea-surface to compensate for the inaccuracy of the GPS data. The noises in the acceleration data from INS data are reduced by using DWT de-noising filter in this research. Finally the UKF localization system is proposed in this paper and the system performance is verified by real experiments.

• Journal of the Korean Society of Industry Convergence
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• v.10 no.2
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• pp.105-113
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• 2007

Accurate and low-cost sensor localization is a critical requirement for the deployment of wireless sensor networks in a wide variety of application. Sensor position is used for its data to be meaningful and for energy efficient data routing algorithm especially geographic routing. The previous works for sensor localization utilize global positioning system(GPS) or estimate unknown-location nodes position with help of some small reference nodes which know their position previously. However, the traditional localization techniques are not well suited in the senor network for the cost of sensors is too high. In this paper, we propose the sensor localization method with a mobile robot, which knows its position, moves through the sensing field along pre-scheduled path and gives position information to the unknown-location nodes through wireless channel to estimate their position. We suggest using the sensor position estimation method and an efficient mobility path model. To validate our method, we carried out a computer simulation, and observed that our technique achieved sensor localization more accurately and efficiently than the conventional one.

• The Journal of Korea Robotics Society
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• v.11 no.3
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• pp.127-132
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• 2016

For a practical mobile robot team such as carrying out a search and rescue mission in a disaster area, the localization have to be guaranteed even in an environment where the network infrastructure is destroyed or a global positioning system (GPS) is unavailable. The proposed architecture supports localizing robots seamlessly by finding their relative locations while moving from a global outdoor environment to a local indoor position. The proposed schemes use a cooperative positioning system (CPS) based on the two-way ranging (TWR) technique. In the proposed TWR-based CPS, each non-localized mobile robot act as tag, and finds its position using bilateral range measurements of all localized mobile robots. The localized mobile robots act as anchors, and support the localization of mobile robots in the GPS-shadow region such as an indoor environment. As a tag localizes its position with anchors, the position error of the anchor propagates to the tag, and the position error of the tag accumulates the position errors of the anchor. To minimize the effect of error propagation, this paper suggests the new scheme of full-mesh based CPS for improving the position accuracy. The proposed schemes assuring localization were validated through experiment results.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.5
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• pp.398-405
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• 2005

The intelligent robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, robots need to recognize their position and posture in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for a robot to estimate of his position by solving uncertainty for mobile robot navigation, as one of the best important problems. In this paper, we describe a method for the localization of a mobile robot using image information of a moving object. This method combines the observed position from dead-reckoning sensors and the estimated position from the images captured by a fixed camera to localize a mobile robot. Using a priori known path of a moving object in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a moving object and the estimated robot's position. Also, the control method is proposed to estimate position and direction between the walking human and the mobile robot, and the Kalman filter scheme is used for the estimation of the mobile robot localization. And its performance is verified by the computer simulation and the experiment.

• The Transactions of the Korean Institute of Power Electronics
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• v.20 no.5
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• pp.402-409
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• 2015

This paper proposes a novel rotor position error calculation method for high-frequency signal-injected sensorless control. The rotor position error using the conventional modulation method can be only measured up to ${\pm}45^{\circ}$. In addition, when the rotor position estimation error is not sufficiently small, the small angle approximation in no longer valid. To overcome these problems, this study introduces a new rotor position error calculation method using the rotating matrix. In this study, the position error measurement range of the proposed method is extended from ${\pm}45^{\circ}$ to ${\pm}90^{\circ}$. The linearity between the real rotor position error and the estimated error is maintained by nearly $90^{\circ}$. These features of the proposed method improve the performance of the sensorless control. The validity of the proposed method is verified by simulations and experiments.