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엘보 인식에 의한 배관로봇의 실시간 위치 추정 및 후처리 위치 측정 알고리즘
이채혁(Chae Hyeuk Lee),김광호(Gwang Ho Kim),김재준(Jae Jun Kim),김병수(Byung Soo Kim),이순걸(Soon Geul Lee) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.10
Robots used for pipe inspection have been studied for a long time and many mobile mechanisms have been proposed to achieve inspection tasks within pipelines. Localization is an important factor for an inpipe robot to perform successful autonomous operation. However, sensors such as GPS and beacons cannot be used because of the unique characteristics of inpipe conditions. In this paper, an inpipe localization algorithm based on elbow detection is presented. By processing the projected marker images of laser pointers and the attitude and heading data from an IMU, the odometer module of the robot determines whether the robot is within a straight pipe or an elbow and minimizes the integration error in the orientation. In addition, an off-line positioning algorithm has been performed with forward and backward estimation and Procrustes analysis. The experimental environment has consisted of several straight pipes and elbows, and a map of the pipeline has been constructed as the result.
Natural enemy utilization technology for environment-friendly strawberry production in greenhouse
Chae Hoon Paik,Hong Hyun Park,Jeong Hwan Kim,Meeja Seo,Dagyeong Jeong,In Hong Jeong,Min Hyeuk Lee,Gwan Seok Lee 한국응용곤충학회 2023 한국응용곤충학회 학술대회논문집 Vol.2023 No.10
2022년 10월부터 2023년 5월까지 친환경 딸기재배 농가에서 점박이응애는 칠레이리애응애와 사막이리응애, 진딧물은 콜레마니진디벌을 대상으로 하는 천적처리구와 유기농자재를 사용하는 관행방제구에서 천적의 해 충 밀도억제 효과를 조사하였다. 천적처리구에서 점박이응애 성충 밀도는 잎당 1.5마리 이하, 알은 4개 이하로 관리되었고, 사막이리응애는 잎당 최대 0.4마리까지 증가하여 점박이응애 밀도억제에 많은 영향을 미친것으로 보인다. 반면, 관행방제구에서 점박이응애 밀도는 천적 방사구에 비하여 오히려 많은 발생량을 보였지만, 3월 9일부터는 사막이리응애의 증가와 유기농자재의 효과로 점박이응애 밀도는 급격하게 감소하였다. 진딧물 천적 처리구에서 진딧물 밀도는 1월부터 발생하였으며 3월 상순에 잎당 0.3마리까지 증가하였으나 이후 감소하였고, 콜레마니진디벌은 진딧물 발생이 많지 않아 3.9마리/㎡(2회) 방사하는 데 그쳤다. 한편, 관행방제구 포장의 진딧 물은 유기농자재의 영향으로 거의 발생하지 않았다.
Study of Knee Brace Locking Timing and Walking Pattern Detected from an FSR and Knee Joint Angle
Sang-Chan Moon,Chae-Hyeuk Lee,Soon-Geul Lee 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
Many factors affect biomechanics of lower limbs during walking, including the gate state and the according pressure distribution of feet. However, such relationship between the pressure distribution and the gate status has not been taken into account in detail to analyze lower-limb kinematics and kinetics during walking. In this study, a sensor system with force sensing resistors (FSR) was developed to measure plantar pressure of feet and impulse acting on each joint to do characteristic analysis of plantar pressure of feet and lower-limb kinematics. Comparing to force plates and a motion capture system, the FSR sensing system can give the detail trace of the ground reaction and the pressure distribution of feet. The system is designed to be used for online monitoring and control of a lower-limb biomechanical device like a knee brace. Several target points of plantar are decided as characteristic ones with pilot tests. Then pattern matching between the pressure distribution and the lower-limb kinematics is investigated. Also, plantar pressure patterns are compared knee joint angle for analyzing precious walking patterns. In the paper, to reduce impact value during walking suggests knee brace locking timing detection through the FSR sensing and knee joint angle.
Carlos Reyes,Soon Geul Lee,Chae hyeuk Lee 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
A knee brace with a locking mechanism has been designed and tested for leg muscles to reduce the applied load to the knee during walking on a flat surface. The system function consists of locking leg movement at the “heel strike” phase of walking cycle. The user can not bend his knee more than the locking angle from this phase and the brace supports excessive load applied to his knee so as to minimize the muscles strength. The mechanism is designed to be unlocked at beginning of the “toe off” phase and the user is allowed to bend his knee freely and continues a new walking cycle. The locking control depends on two signals, one is from the four foot pressure sensors attached to the bottom of the foot and the other is from a high precision potentiometer attached to the knee joint to measure the knee angle. EMG sensors are attached to six different muscles of the user’s leg to measure the effort during the walking cycle. The EMG data of the user’s leg muscles with activating the locking knee brace are measured and compared with those without locking by walking experiments.
Ko, Jung Min,Park, Kyung Sun,Kang, Yeeok,Nam, Seong-Hyeuk,Kim, Yoonjung,Park, Inho,Chae, Hyun Wook,Lee, Soon Min,Lee, Kyung-A,Kim, Jong-Won Yonsei University, College of Medicine 2018 Yonsei medical journal Vol.59 No.5
<P><B>Purpose</B></P><P>We developed a new workflow design which included results from both biochemical and targeted gene sequencing analysis interpreted comprehensively. We then conducted a pilot study to evaluate the benefit of this new approach in newborn screening (NBS) and demonstrated the efficiency of this workflow in detecting causative genetic variants.</P><P><B>Materials and Methods</B></P><P>Ten patients in Group 1 were diagnosed clinically using biochemical assays only, and 10 newborns in Group 2 were diagnosed with suspected inherited metabolic disease (IMD) in NBS. We applied NewbornDiscovery (SD Genomics), an integrated workflow design that encompasses analyte-phenotype-gene, single nucleotide variant/small insertion and deletion/copy number variation analyses along with clinical interpretation of genetic variants related to each participant's condition.</P><P><B>Results</B></P><P>A molecular genetic diagnosis was established in 95% (19/20) of individuals. In Group 1, 13 and 7 of 20 alleles were classified as pathogenic and likely pathogenic, respectively. In Group 2, 11 and 6 of 17 alleles with identified causative variants were pathogenic and likely pathogenic, respectively. There were no variants of uncertain significance. For each individual, the NewbornDiscovery and biochemical analysis results reached 100% concordance, since the single newborn testing negative for causative genetic variant in Group 2 showed a benign clinical course.</P><P><B>Conclusion</B></P><P>This integrated diagnostic workflow resulted in a high yield. This approach not only enabled early confirmation of specific IMD, but also detected conditions not included in the current NBS.</P>
Major chimpanzee-specific structural changes in sperm development-associated genes
Kim, Ryong Nam,Kim, Dae-Won,Choi, Sang-Haeng,Chae, Sung-Hwa,Nam, Seong-Hyeuk,Kim, Dong-Wook,Kim, Aeri,Kang, Aram,Park, Kun-Hyang,Lee, Yong Seok,Hirai, Momoki,Suzuki, Yutaka,Sugano, Sumio,Hashimoto, Ka Springer-Verlag 2011 Functional & integrative genomics Vol.11 No.3