• Journal of Sensor Science and Technology
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• v.27 no.3
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• pp.192-198
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• 2018

Pulse oximetry is a non-invasive method for monitoring how much oxygenated hemoglobin is present in the blood. The principle of pulse oximetry is based on the red infrared light adsorption characteristics of oxygenated and deoxygenated hemoglobin. Even through the convenience of a pulse oximeter, its weak signal-to-noise ratio against motion artifacts and low perfusion makes it difficult to be accepted by execs devices. Several researchers have suggested the use of an adaptive noise cancellation (ANC) algorithm. They have demonstrated that ANC is feasible for reducing the effects of motion artifacts. Masimo Corporation developed a discrete saturation transformation (DST) algorithm that uses a reference signal and ANC. In commercial devices, it is very hard to escape it because Masimo's patents are very powerful and a better method is yet to be developed. This study proposes a new method that can measure noise saturation as well as accurate oxygen saturation from signals with high motion artifacts without using ANC and DST. The proposed algorithm can extract a normal signal without noise from a signal with motion artifacts. The reference signal from a pulse oximeter simulator was used for the evaluation of our proposed algorithm and achieved good results.

• Journal of Industrial Convergence
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• v.20 no.4
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• pp.15-21
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• 2022

With the spread of COVID-19 and restrictions on outdoor exercise, the number of users using motion sensing games indoors is increasing. An avatar-type character design customization system on behalf of gamers is one of the important research topics for developers in that it can increase the game's appeal to gamers. In this paper, a motion sensing game with high sales volume and character customization is selected as a game analysis case. Through the analysis of the character customization system of the three selected games, important elements of the customization system were extracted. Finally, the shortcomings of the motion sensing game character customization system were derived, and improvement plans were presented for the selection system, transformation system, and partial system. It is expected that this proposal will serve as a reference for designing a motion sensing game character customization system in the future.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11b
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• pp.799-804
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• 2001

Nonlinear normal mode (NNM) vibration, in a nonlinear dual mass Hamiltonian system, which has 6th order homogeneous polynomial as a nonlinear term, is studied in this paper. The existence, bifurcation, and the orbital stability of periodic motions are to be studied in the phase space. In order to find the analytic expression of the invariant curves in the Poincare Map, which is a mapping of a phase trajectory onto 2 dimensional surface in 4 dimensional phase space, Whittaker's Adelphic Integral, instead of the direct integration of the equations of motion or the Birkhotf-Gustavson (B-G) canonical transformation, is derived for small value of energy. It is revealed that the integral of motion by Adelphic Integral is essentially consistent with the one obtained from the B-G transformation method. The resulting expression of the invariant curves can be used for analyzing the behavior of NNM vibration in the Poincare Map.

• Journal of Electrical Engineering and Technology
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• v.1 no.2
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• pp.200-210
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• 2006

This paper proposes the motion generation method in which the movement of the 3-links leg subsystem in constrained to slider-link and a singular posture can be easily avoided. This method is the realization of jumping control moving in a vertical direction, which mimics a cat's behavior. To consider the movement from the point of the constraint mechanical system, a robotics system for realizing the motion will change its configuration according to the position. The effectiveness of the proposed scheme is illustrated by simulation and experimental results.

• Journal of Ocean Engineering and Technology
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• v.6 no.1
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• pp.87-95
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• 1992

Recently, the robot actuator worked by the driving recovery-force of the thermo elastic martensitic transformation of shape memory alloys(SMA) has been studied. In general, such a SMA actuator necessitates a number of cyclic repeated motion, so that the investigation of gradual decrease of recovery force with repeated motion cycle as well as the prevention of such a degradation of shape memory effect(SME) are very important for the actual use of a robot actuator. However, such research and discussions about the degradation of SME are very few up to the present. Therefore, in this study, the characteristics of the cyclic deformation and degradation of SME of Ti-Ni alloy would be investigated and discussed in detail by current heat type fatigue tester, which is a newly designed fatigue tester by author. In addition, we will establish a new design concept for robot actuator from these result.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.12
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• pp.1966-1973
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• 2001

The Jacobian matrix of the equations of motion of a system using velocity transformation technique is derived via variation methods to apply the implicit integration algorithm, DASSL. The concept of generalized coordinate partitioning is used to parameterize the constraint set with independent generalized coordinates. DASSL is applied to determine independent generalized coordinates and velocities. Dependent generalized coordinates, velocities, accelerations and Lagrange multipliers are explicitly retained in the formulation to satisfy all of the governing kinematic and dynamic equations. The derived Jacobian matrix of a system is proved to be valid and accurate both analytically and through solution of numerical examples.

• Transactions of the Korean Society of Mechanical Engineers
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• v.8 no.6
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• pp.584-590
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• 1984

This study is to develop a program, with which the motion of the system can be simulated in view of kinematics and dynamics, and then evaluate functional capabilities of many robots in order to select the most suitable one for any given working conditions. According to the theory of Denavit & Hartenberg, rectangular coordinate is set at each joint in the robot of six joints, as this one is the major concern, and transformation matrices are derived between any two coordinates. The necessary displacement of each joint for executing a given a work is obtained from the position and posture transformation and the in-stantaneous velocity of the joint is got from given velocity distribution of the path. The necessary torque of each joint is finally calculated by Newton-Euler Method. This simulation program is applied to a robot with six rotational joints, Rotational angle and torque to time which has a given motion trajectory are figured and also torque to r.p.m.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.534-537
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• 1995

In this paper, we propose a control strategy for a class of nonholonomic systems. A system with nonholonomic constraint is called a nonholonomic system, and as Brockett showed, the equilibrium of such systems can not be stabilized with any continuous static state feedbacks even though the system is controllable in the sense of nonlinear. A control strategy we propose is transforming this system into time-state control form by coordinate transformation and input transformation. We will apply this control strategy to the motion control of a rigid ball that is held between two parallel plates.

• Wind and Structures
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• v.3 no.4
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• pp.221-241
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• 2000

Structural dynamics usually applies modal transformation rules aimed at de-coupling and/or minimizing the equations of motion. Proper orthogonal decomposition provides mathematical and conceptual tools to define suitable transformed spaces where a multi-variate and/or multi-dimensional random process is represented as a linear combination of one-variate and one-dimensional uncorrelated processes. Double modal transformation is the joint application of modal analysis and proper orthogonal decomposition applied to the loading process. By adopting this method the structural response is expressed as a double series expansion in which structural and loading mode contributions are superimposed. The simultaneous use of the structural modal truncation, the loading modal truncation and the cross-modal orthogonality property leads to efficient solutions that take into account only a few structural and loading modes. In addition the physical mechanisms of the dynamic response are clarified and interpreted.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.4
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• pp.120-131
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• 2004

In this paper, we propose the method of a motion planning generation in which the movement of the 3-link leg subsystem is constrained to a slider-link and a singular posture can be easily avoided. The proposed method is the jumping control moving in vertical direction which mimics a cat's behavior. That is, it is jumping toward wall and kicking it to get a higher-place. Considering the movement from the point of constraint mechanical system, the robotic system which realizes the motion changes its configuration according to the position and it has several phases such as; ⅰ) an one-leg phase, ⅱ) in an air-phase. In other words, the system is under nonholonomic constraint due to the reservation of its momentum. Especially, in an air-phase, we will use a control method using state transformation and linearization in order to control the landing posture. Also, an iterative learning control algorithm is applied in order to improve the robustness of the control. The simulation results for jumping control will illustrate the effectiveness of the proposed control method.