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윤명종,정구영,유기호 제어로봇시스템학회 2008 제어로봇시스템학회 합동학술대회 논문집 Vol.2008 No.12
In this paper, to apply a tactile display to a walking guide of the blind, its applicability is investigated. In walking guide robot, a guide vehicle detects an obstacle distribution in walking space using ultrasonic sensors, and generates a 3D grid map to mapping the obstacle information and the tactile display. And the obstacle information is transferred to a blind pedestrian using tactile feedback. Based on the obstacle information a user plans walking route and controls the guide vehicle. A tactile display device using vibration motors, the algorithm for 3D detection of an obstacle distribution, and the 3D grig map are proposed in this paper. The experiment for the recognition of an obstacle distribution by tactile display is performed and estimated. The applicability of a tactile display to a walking guide of the blind is verified through the experiment.
적층형 PZT 액추에이터를 이용한 촉각자극기의 제작 및 평가
윤명종(M. J. Yoon),권대규(T. K. Kwon),김남균(N. G. Kim),유기호(K. H. Yu) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
A tactile stimulator array using stacked PZT is fabricated and evaluated in this paper. The purpose of this research is the development of a tactile stimulator to represent the obstacle information for the visually disabled. As a first step of this research, we investigate the physiological characteristics of tactile stimuli and design a tactile stimulator based on the investigated results. Also we evaluated a fabricated tactile stimulator. The prototype of tactile stimulator which has 2×2 tactor elements with 3mm spacing is fabricated using stacked PZT actuator. In order to evaluate the characteristics of this tactile stimulator, physiological experiments are carried out. In the experiment, the threshold of tactile stimulus intensity within a frequency range of 5-500Hz at various stimulus amplitudes are investigated. According to the obtained experimental result, the input signal of tactile stimulator for the effective transfer of obstacle information is determined. Also physiological experiments of multi-stimuli recognition such as shift and rotation are carried out.
시각 장애인 보행안내를 위한 장애물 분포의 3차원 검출 및 맵핑
윤명종(Myoung-Jong Yoon),정구영(Gu-Young Jeong),유기호(Kee-Ho Yu) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.2
In walking guide robot, a guide vehicle detects an obstacle distribution in the walking space using range sensors, and generates a 3D grid map to map the obstacle information and the tactile display. And the obstacle information is transferred to a blind pedestrian using tactile feedback. Based on the obstacle information a user plans a walking route and controls the guide vehicle. The algorithm for 3D detection of an obstacle distribution and the method of mapping the generated obstacle map and the tactile display device are proposed in this paper. The experiment for the 3D detection of an obstacle distribution using ultrasonic sensors is performed and estimated. The experimental system consisted of ultrasonic sensors and control system. In the experiment, the detection of fixed obstacles on the ground, the moving obstacle, and the detection of down-step are performed. The performance for the 3D detection of an obstacle distribution and space mapping is verified through the experiment.
정구영,윤명종,유기호 제어로봇시스템학회 2008 제어로봇시스템학회 합동학술대회 논문집 Vol.2008 No.12
ECG is used on purpose to keep good health or monitor cardiac function of aged person as well as on purpose to diagnose the disease of heart patients. The ambulatory ECG monitoring system under guarantee of safety and accuracy is very efficient to prevent the progress of heart disease and sudden death. These systems can detect the temporary change of ECG that is very significant to diagnose heart disease such as myocardial ischemia, arrhythmia and cardiac infarction. In this paper, we describe the ECG signal analysis algorithm and measurement device for ECG monitoring and analyzing system. The author designed a smallㅡsize portable ECG device that consisted of instrumentation amplifier, micro-controller and filter. The device measures ECG with four electrodes in the body and detects QRS complex and ST level change in realtime. Also it transmits the measured signal to the PC. ECG analysis software is developed by using LabVIEW software. The developed software has the function to detect the feature points and ST level.