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관성 센서를 이용한 휴머노이드 로봇용 3축 자세 추정 알고리듬 개발
이아람(Ah-Lam Lee),김정한(Jung-Han Kim) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.2
In this paper, a small and effective attitude estimation system for a humanoid robot was developed. Four small inertial sensors were packed and used for inertial measurements(3D accelerometer and three 1D gyroscopes.) An effective 3D pose estimation algorithm for low cost DSP using an extended Kalman filter was developed and evaluated. The 3D pose estimation algorithm has a very simple structure composed by 3 modules of a linear acceleration estimator, an external acceleration detector and an pseudo-accelerometer output estimator. The algorithm also has an effective switching structure based on probability and simple feedback loop for the extended Kalman filter. A special test equipment using linear motor for the testing of the 3D pose sensor was developed and the experimental results showed its very fast convergence to real values and effective responses. Popular DSP of TMS320F2812 was used to calculate robot"s 3D attitude and translated acceleration, and the whole system were packed in a small size for humanoids robots. The output of the 3D sensors(pitch, roll, 3D linear acceleration, and 3D angular rate) can be transmitted to a humanoid robot at 200Hz frequency.
이아람 ( Ah Lam Lee ),남윤자 ( Yun Ja Nam ),홍유화 ( Yu Hwa Hong ),임소정 ( Sojung Im ),임채근 ( Chae Keun Lim ) 한국의류학회 2016 한국의류학회지 Vol.40 No.4
This study investigates Korean fighter pilot``s usage and satisfaction of a flight duty uniform (FDU). The survey was conducted from October 2014 to March 2015 using Focus Group Interview (FGI) and questionnaires. FGI collected qualitative data about duty and requirements; subsequently, surveys were performed to collect quantitative data about wearing conditions and satisfaction with FDU. The results of the FGI and the questionnaire were as follows. Type of pilot duty was divided into two parts, flight duty and ground duty. It is important to consider duties as well as factors related to survival when developing FDU. According to anthropometric data and wearing size, the basic size for apparel grading should be changed from actual size, ‘M95XL’ to ‘M100L’. It is also necessary to improve the whole sizing system. Further studies about body form changes in pilot``s movement are needed to improve mobility because the respondents perceived some restrictions at several body parts in movement with the coverall uniform. Summer FDU had a low satisfaction level in vent hole function and appearance. Furthermore, protection problems in the vent hole were also an issue. Making a seasonal classification of FDU fabric will be more effective than a vent hole to increase a pilot``s thermal satisfaction. Respondents had a passive stance towards FDU reform (including pocket change); therefore, a new FDU design strategy should concentrate on improving current FDU functions like mobility (or comfort) rather than dramatic changes. Pilots complained about the quality stability of FDU; therefore, quality control by military administration as well as concrete and clear design instructions by the developer should be attained together. The results obtained in this study are expected to be used as an important basis for the further development of FDU.
이아람 ( Ah Lam Lee ),박수진 ( Soozin Park ),김나윤 ( Na Yun Kim ),남윤자 ( Yun Ja Nam ) 한국의류학회 2015 한국의류학회지 Vol.39 No.4
This study investigates actual wearing conditions and satisfaction based on qualitative research for rifle shooting clothing. The survey was conducted in two ways: in-depth interviews of 4 rifle shooting experts and subjective questionnaires for 18 active rifle shooters. They agreed on the importance of rifle shooting wear to minimize body sway and contribute to a balanced body posture. Most rifle shooters purchase made-to-measure rifle shooting clothing at a domestic store, but the clothing often needs extra adjustments due to an uncomfortable fit. Current fabric for rifle shooting clothing consists of a cotton canvas with a polyester mix; however, rifle shooters are unsatisfied with its stiffness in hot and wet conditions. Due to the specific fabric features, rifle shooting clothing should not be washed despite year-round use that represents another point of dissatisfaction. Rifle shooters always wear specially designed underclothes to improve shooting skills and comfort sensation. In conclusion, it is necessary to develop well fitted and comfort rifle shooting clothing that could improve shooters skills based upon this study.
일상 착용형 인체 보호 및 교정 기능성 의류제품 관련 국내 특허 동향 분석
이아람 ( Ah Lam Lee ),한현정 ( Hyunjung Han ) 한국의류학회 2020 한국의류학회지 Vol.44 No.4
Lifespans are increasing and many consumers are interested in health issues in these busy modern days, developing functional clothing that can be worn everyday is one of the competitive solutions in the oversaturated clothing market. When developing a new item with a fresh idea, it is important to look into prior art beforehand to avoid unnecessary intellectual property right-related disputes. This study investigates Korean domestic patents and utility models about functional clothing in terms of human body performance and health promotion in order to suggest essential data to relevant developers. We selected 324 patents and utility models and made an analysis according to the year, functions, applied technologies, frequency of claims, target wearers and item types. We found problems in current functional clothing patent application trends and suggested new aspects when developing innovative functional clothing items. Data was limited to Korean domestic patents; however, this study is still meaningful giving references to technology roadmaps and encouraging new intellectual property development.
이아람(Ah Lam Lee),전재훈(Jae Hoon Chun) 한국복식학회 2015 服飾 Vol.65 No.2
This study aims to provide a new perspective on Disney`s animations, by examining how Disney systematized and transformed his own ways of cognitive systems of producing meaning through the costumes of his characters. For this purpose, 10 Disney animations of which the main characters were costume-wearing humans were selected and analyzed. First, the characters` costumes of the passive female heroines were much different from those of the active female heroines while the costumes of male heroes did not have any common characteristics. Second, the characters` costumes according to the settings of the animations had different aspects: the Western-Europe-based animations exhibited the appropriate costumes of the set times, but the non-Western-Europe-based animations exhibited the imaginative costumes of Disney rather than the appropriate costumes of the actual countries. Third, the costumes played the role of expressing the situations of the animations, and had their own repetitive conventions in each animation. Changes in the situations or the upward mobility of the status could be found easily through the costumes, but such distinctiveness became less visible in the later animations. Disney displayed his own distinctive formula of visual aesthetics through the characters` costumes. But it is recommended that we should have the critical views on the cultural messages of Disney`s to prevent fixed ideas or cultural prejudices.