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박수현,손정현,주향전 한국정밀공학회 2024 한국정밀공학회지 Vol.41 No.6
Autonomous robots are commonly operated on rough roads. Thus, it is essential to predict their dynamic characteristics. Even though it is possible to use real hardware to acquire a robot’s dynamic characteristics, this requires a significantamount of time and cost. Therefore, a real-time remote driving simulator must be developed to reduce these risks. Mostreal-time simulators employ physics engines, which are calculated using simple functional expressions based on particles. However, in this case, there is a limit to reflecting the dynamic characteristics of actual robots. In this study, a multi-bodydynamic model of a robot was established. MATLAB Simulink was used to connect the vehicle model with the joystick andcalculate user input signals. The PID control system determines the driving torque of the robot to satisfy the calculatedsignal. Gain value optimization is performed to enable real-time control. This study can be available to analyze thetraversability.
Prediction of Soluble Solids Content of Chestnut using VIS/NIR Spectroscopy
박수현,임기택,이수희,이호영,노상하 한국농업기계학회 2013 바이오시스템공학 Vol.38 No.3
The present study focused on the estimation of soluble solids content (SSC) of chestnut using reflectance and transmittance spectra in range of VIS/NIR. Methods: Four species intact/peeled chestnuts were used for acquisition of spectral data. Transmittance and reflectance spectra were used to develop the best PLS model to estimate SSC of chestnut. Results: The model developed with the transmitted energy spectra of peeled chestnuts rather than intact chestnuts and with range of NIR rather than VIS performed better. The best R2 and RMSEP of cross validation were represented as 0.54 and 1.85 ˚Brix. The results presented that the reflectance spectra of peeled chestnuts by species showed the best performance to predict SSC of chestnut. R2 and RMSEP were 0.55 and 1.67 ˚Brix. Conclusions: All developed models showed RMSEP around 1.44 ~ 2.54 ˚Brix, which is considered not enough to estimate SSC accurately. It was noted that R2 of cross validation that we found were not high. For all that, grading of the fruits in two or three classes of SSC during postharvest handling seems possible with an inexpensive spectrophotometer. Furthermore, the development of estimation of SSC by each chestnut species could be considered in that SSC distribution is clustering in different range by species.
박수현,노상하,이호영 한국농업기계학회 2014 바이오시스템공학 Vol.39 No.3
Purpose: In this study, we focused on the image processing method to determine the external quality of Fuji apples byidentifying surface defects such as scabs and bruises. Method: A CCD camera was used to capture filter images with 24different wavelengths ranging between 530 nm and 1050 nm. Image subtraction and division operations were performed todistinguish the defect area from the normal areas including calyx, stem, and glaring on the apple surface image. All thresholdvalues of the image were examined to reveal the defect area of pretreated filter images. Results: The developed operationmethods were [image (720 nm) – image (900 nm)]/image (700 nm) for bruise detection and [image (740 nm) – image (900nm)]/image (590 nm) for scab detection, which revealed 81% and 90% recognition ratios, respectively. Conclusions: Ourresults showed several optimal wavelengths and image processing methods to detect Fuji apple surface defects such asbruises and scabs.
박수현,박정미,이충휘,조상현 대한작업치료학회 1999 대한작업치료학회지 Vol.7 No.1
Many children with physical disability have feeding difficulties. In cases of children with cerebral palsy, feeding difficulties can be seen in abnormal oral motor activity and defective swallowing coordination. These problems originate from neurological lesions. The purpose of this study was to investigate the effect of trunk and neck position on the following aspects of swallowing: stages of oral preparation, pharyngeal swallowing reflex, pharyngeal clearing and aspiration. Sixteen subjects with quadriplegic cerebral palsy were examined to assess their swal-lowing ability using videofluoroscopy(VFS). Subjects were evaluated in four different positions 1) trunk erect with the neck flexed 30°2) trunk reclined 30°posteriorly with the eck positioned neutrally 3) trunk reclined 30°posteriorly with the neck flexed 30° 4) trunk in supine with the neck flexed 30°. Friedman's test was used to analyze the effect of posi tion of the neck and trunk on swallowing. The results were as follows: 1. Ability of oral preparation was significantly better with the subject's trunk recli-ned 30°posteriorly and the neck flexed 30°than with the trunk erect and the neck flexed 30°(p < 0.05). 2. Ability of pharyngeal clearing was significantly better with the subject's trunk er-ect and the neck flexed 30° than in supine with the neck flexed 30°(p < 0.05). 3. Incidence of swallowing reflex was not significantly different among the four posi- tions (p >0.05). 4. Prevention of aspiration was significantly better with the subject's trunk reclined 30°posteriorl y and the neck flexed 30° than with the trunk reclined 30°posteriorly and the neck neutrally positi oned or in supine with the neck flexed 30°(p < 0.05). These results suggest that positions of both the neck and the trunk have an effect on swallowing in children with cerebral palsy. The position with the trunk reclined 30°posteriorly and the n eck flexed 30°was found to be optimal for oral preparation and prevention of aspiration. Further research to study swallowing ability in conjunc- tion with respiratory function is indicated.