• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.62-65
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• 2003

We propose the Distance Communication System that is not only Making Distance Learning Contents but also controlling intellectual moving object. In order to make Distance Learning Contents (Video Contents), we must follow the motion of lecturer. In the former Systems and a person operates Video-Camera because it's not enough to follow the motion, In this research and we make the systems that can match the motion of lecturer naturally. The systems use Intelligent Space software and so the systems recognize lecturer's motion automatically and order Pan/Tilt-Type Camera to follow the motion. And we made possible to operate an intellectual moving object with application of this system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.2C
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• pp.166-174
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• 2006

In this paper, a new stereo object tracking system using the disparity motion vector is proposed. In the proposed method, the time-sequential disparity motion vector can be estimated from the disparity vectors which are extracted from the sequence of the stereo input image pair and then using these disparity motion vectors, the area where the target object is located and its location coordinate are detected from the input stereo image. Being based on this location data of the target object, the pan/tilt embedded in the stereo camera system can be controlled and as a result, stereo tracking of the target object can be possible. From some experiments with the 2 frames of the stereo image pairs having 256$\times$256 pixels, it is shown that the proposed stereo tracking system can adaptively track the target object with a low error ratio of about 3.05$\%$ on average between the detected and actual location coordinates of the target object.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.4 s.316
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• pp.35-41
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• 2007

In this paper a single-wheeled robot called GYROBO is built and its hardware is implemented. The single-wheeled robot is similar to a rolling disk relying on gyroscopic motions to maintain its balance. The GYROBO consists of three actuators: a spin motor a tilt motor, and a drive motor. The spin motor spins a flywheel at a high rate so that it provides the balancing stability to upright the robot. The tilt motor controls steering of the robot by gyroscopic effect. The drive motor makes forward accelerated motion to the robot. Several models are designed. Experimental works of the GYROBO to turn and move forward have been presented.

• Journal of Drive and Control
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• v.11 no.3
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• pp.31-40
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• 2014

This paper proposes a multi absorbing wave energy converter design, in which a hydrostatic transmission is used to transfer wave energy to electric energy. The most important feature of this system is its combination of the pressure coupling principle with the use of a hydraulic accumulator to eliminate the effects of wave power fluctuation; this maintains a constant speed of the hydraulic motor. Tilt motion of a floating buoy was employed as the power take-off mechanism. Furthermore, a PID controller was designed to carry out the speed control of the hydraulic motor. The design offers some advantages such as extending the life of the hydraulic components, increasing the amount of energy harvested, and stabilizing the output speed.

• Physical Therapy Korea
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• v.26 no.4
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• pp.10-19
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• 2019

Background: In patients with lumbar spinal stenosis (LSS), lumbar flexion exercise (LFE) is considered a standard therapeutic exercise that widens the space between the spinal canal and intervertebral foramen. However, some researchers have reported that lumbar extension exercise (LEE) may improve lumbar pain and functional ability in patients with LSS. Although exercise intervention methods for patients with LSS have been widely applied in clinical settings, few studies have conducted comparative analysis of these exercise methods. Objects: This study aimed to compare the effects of LFE, LEE, and lumbar flexion combined with lumbar flexion-extension exercise (LFEE) on pain, range of motion (ROM), pelvic tilt angle, and functional gait ability in patients with LSS. Methods: A total of 30 patients with LSS, LFE (n1=10), LEE (n2=10), and LFEE (n3=10) were assigned to each of the three exercise groups. The numerical pain rating scale (NPRS), modified-modified schober test (MMST)-flexion, MMST-extension, pelvic tilt inclinometer, and 6-minute walking test (6MWT) were measured. Results: After the intervention, statistically significant differences were observed in the NPRS (p=.043), MMST-flexion (p<.001), MMST-extension (p<.001), and 6MWT (p=.005) between groups. According to the post hoc test, the NPRS was statistically significant difference between the LFEE and LEE groups (p=.034). The MMST-flexion was statistically significantly different between the LFE and LEE (p=.000), LFE and LFEE (p=.001), and LEE and LFEE (p=.001) groups. The MMST-extension was statistically significantly different between the LFE and LEE (p<.001), LFE and LFEE (p=.002), and LEE and LFEE (p=.008) groups. The 6MWT was statistically significantly different between the LFE and LFEE (p=.042) and the LEE and LFEE (p=.004) groups. Conclusion: This study suggested that LFEE was the most effective exercise for pain and functional gait ability in patients with LSS, LFE was the most effective exercise for lumbar flexion ROM, and LEE was the most effective exercise for lumbar extension ROM.

• Journal of Electrical Engineering and Technology
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• v.7 no.6
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• pp.926-931
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• 2012

Since robot industry growing, the machine that could move with multi-DOF has been studied in many industrial fields. Spherical motor is one of the multi-DOF machine that doesn't need gear for multi-DOF motion. Unlike conventional motor, spherical motor can not only rotate on the shaft axis (rotating motion), but tilt the shaft with 2-DOF motion (positioning motion). In the typical type of spherical motor, one coil took part in positioning motion and rotating motion at the same time. As the result, the control algorithm was complex. To solve this problem, this study proposed a novel type of coil on the stator. The coils were separated for positioning motion and rotating motion. Thus the linkage flux of rotating coil didn't be affected the positioning angle. In this paper, comparing the back-EMF of typical and novel type was conducted and the driving experiment was carried out as the positioning angle. From the experiment result, the performance of proposed spherical motor could be verified.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.1203-1204
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• 2008

In this paper, a new stereo object tracking system using the disparity motion vector is proposed. In the proposed method, the time-sequential disparity motion vector can be estimated from the disparity vectors which are extracted from the sequence of the stereo input image pair and then using these disparity motion vectors, the area where the target object is located and its location coordinate are detected from the input stereo image. Basing on this location data of the target object, the pan/tilt embedded in the stereo camera system can be controlled and as a result, 3D tracking of the target object can be possible.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2006.08a
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• pp.86-86
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• 2006

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2370-2372
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• 1998

Recently we have developed an active stereo head-eye system with vergence, name it KIST HECter(Head-Eye System with Colored Stero Vision), based on the analysis of human's neck and eye motion at visual behavior. Our HECter is a five degree-of-freedom system composed of pan and tilt motion in neck part and independent vergence motion of binocular cameras and commonly shared elevation axis in eye part. And stereo vision Provides two color image, which are processed by powerful each TMS32080 vision board. The shape and size are designed to be almost same as human face. The ability to vergence has significant importance and gives many beneficial merits. On its mechanical implementation we adapt a non-parallelogram 4-bar linkage mechanism since it provides high accuracy in transfering motion and enables compact and flexible design.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.6
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• pp.546-551
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• 2011

Tilt sensor is required to control the attitude of the biped robot when it walks on an uneven terrain. Vision sensor, which is used for recognizing human or detecting obstacles, can be used as a tilt angle sensor by comparing current image and reference image. However, vision sensor alone has a lot of technological limitations to control biped robot such as low sampling frequency and estimation time delay. In order to verify limitations of vision sensor, experimental setup of an inverted pendulum, which represents pitch motion of the walking or running robot, is used and it is proved that only vision sensor cannot control an inverted pendulum mainly because of the time delay. In this paper, to overcome limitations of vision sensor, Kalman filter for the multi-rate sensor fusion algorithm is applied with low-quality gyro sensor. It solves limitations of the vision sensor as well as eliminates drift of gyro sensor. Through the experiment of an inverted pendulum control, it is found that the tilt estimation performance of fusion sensor is greatly improved enough to control the attitude of an inverted pendulum.