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RGB-D 카메라와 시맨틱 분할 기법을 이용한작업자의 안전 모니터링
홍효성,김정중,고두열,박진성,김창현,정현호,박규하,원문철 제어·로봇·시스템학회 2019 제어·로봇·시스템학회 논문지 Vol.25 No.8
This paper suggests a deep learning-based algorithm for monitoring workers’ safety in a smart factory environment. With thegrowth of smart factories in industry, the need for an AMR (autonomous mobile robot) that self-drives in a production line is increasing. Although most AMRs are designed to actively prevent a collision, there should be another monitoring solution to double-check workers’safety because not all machines are reliable. We use an RGB-D camera which provides both depth information and RGB color informationand a semantic segmentation method to monitor workers’ safety. The semantic segmentation algorithm is called Mask R-CNN and is usedto detect workers and moveable equipment including AMRs. Since Mask R-CNN can specify an object’s boundary in RGB images, we areable to determine an object’s position in 3D coordinates by using the camera’s depth information. We can monitor the workers’ safety bychecking whether they are close to hazardous equipment. We experimented with an AMR and manufacturing equipment to verify oursuggested algorithm.
정지 상태 추정 알고리즘과 간접 칼만 필터를 이용한 AHRS 개발
홍효성(Hyosung Hong),원문철(Mooncheol Won) 대한전기학회 2019 전기학회논문지 Vol.68 No.6
The AHRS(Attitude and Heading Reference System) estimates the attitude (roll, pitch, and yaw angles) by using sensor fusion technique from an IMU(Inertial Measurement Unit) which comprises 3-axis acceleration and angular velocity information. Compared to maritime vessels or aircraft, the ground vehicle’s attitude changes rapidly, which requires an exquisite attitude estimation algorithm. This paper suggests a sensor fusion AHRS algorithm which utilizes still-state estimation algorithm along with indirect Kalman filter for attitude estimation. Also, we applied this algorithm on AHRS hardware to evaluate its performance. We implemented three kinds of experiments to verify the suggested algorithm: lateral acceleration rejection test, 3-axis robot simulator test, and vehicle field test.
실시간 주행 안정성 분석을 위한 6X6 스키드 조향 무인 자율 주행 차량의 경로 추종 제어
홍효성(Hyosung Hong),한종부(Jong-Boo Han),송하준(Hajun Song),정사무엘(Samuel Jung),김성수(Sung-Soo Kim),유완석(Wan Suk Yoo),원문철(Mooncheol Won),주상현(Sanghyun Joo) 대한기계학회 2017 大韓機械學會論文集A Vol.41 No.7
무인 자율 주행 차량이 야지 환경에서 안전하게 주행하기 위해서는 차량의 주행 안정성이 반드시 고려되어야 한다. 본 논문에서는 실시간 주행 안정성 분석을 위한 자율 주행 시뮬레이션에 적용되는 경로 추종 제어기를 제시한다. 경로 추종 제어기는 Preview 거리를 사용하여 차량의 지향 각을 제어하고, 요 모멘트 관측기로부터 추정된 외란 모멘트를 보상하여 지향 각 오차와 횡 방향 거리 오차를 감소시킨다. 곡선 경로에서는 곡률을 이용하여 차량의 주행 속도를 결정한다. 대상 차량은 6X6 스키드 조향차량이기 때문에 6개의 휠에 서로 다른 구동력을 분배하는 방법을 사용하여 주어진 경로를 주행한다. ADAMS에서 모델링 된 차량을 MATLAB과 연동시켜 시뮬레이션하고, 경로 추종 제어기 성능을 검증하였다. For an unmanned vehicle to be driven on the off-road terrain, it is necessary to consider the vehicle’s stability. This paper suggests a path tracking controller for simulation of real-time vehicle stability analysis. The path tracking controller uses the preview distance to track the given trajectory. The disturbance moment is estimated using the yaw moment observer, and this information is used for compensation in the yaw moment control. On a curved path, the vehicle’s desired velocity is determined from the curvature of the path. Because the vehicle is equipped with six independent motor driven wheels, the driving torques are distributed on all the wheels. The effectiveness of the path tracking controller is verified using ADAMS / MATLAB co-simulation.
노인 청각선별을 위한 순음 가청 역치를 이용한 Ling test 유용성 평가
홍효성(Hyo Seong Hong),허승덕(Seung Deok Heo) 한국언어치료학회 2016 한국언어치료학회 학술발표대회 논문집 Vol.2016 No.12
Purpose: Hearing loss is one of the common problems for geriatric population in an aging society. Early detection of hearing loss, diagnosis and rehabilitation for hearing loss are important for the health of the elderly. Smartphone and application can be help for early detection of hearing loss. Elderly people are blunt in using their hands, which makes them avoiding complicated steps, so it"s more advantageous if it is able to make applications simpler. Because Ling 6 test is so simple that it is used in hearing screening in infants and young children, and daily checks for hearing impaired person. This study evaluate the effectiveness of application_based Ling 6 (app_Ling 6) test for the elderly"s hearing screening by using pure tone hearing threshold level (HTL). Method: 41-elderly (82 ears), who are more than 65-year of age and lived in Daegu and Geoje area were participated. Hearing screening was performed at a place where the noise level was less than 50 ㏈(A), and Tympanogram, app_Ling 6, and pure tone screening (PTS) was examined. The results were obtained which was the correct response rate at app_Ling 6, and HTL of 2 PTAs, 2 ㎑, 4 ㎑ at PTS. Comparisons among tests were analyzed by paired t-test (IBM SPSS Statistics 22). Results: In terms of the type of tympanogram, type A was observed 73 ears, and type B in 9 ears. The correct response rate was 96.64% of /a/, 89.02% of /i/, 51.21% of /u/, 36.58% of /m/, 12.19% of /s/, 67.07% of /sh/, respectively. HTL was 34.39 ± 16.42 dB HL for 2 PTAs, 37.07 ± 17.05 dB HL for 2 ㎑ and 47.56 ± 17.82 dB HL for 4 ㎑ respectively. 6 phonemes of app_Ling 6 test showed a significant relationship with the HTL of 2 PTAs, 2 ㎑ and 4 ㎑ (p= .000). Conclusions: The app_Ling 6 test can be used comfortably and easily in a in a friendly environment as a tool for early detection of hearing loss of presbycusis. In addition to that, because family members and geriatric care workers can implement the test easily, it would be helpful to increase the effects of hearing detection.
Importance of Early Follow-up Colonoscopy in Patients at High Risk for Colorectal Polyps
정성택,손대경,홍창원,김병창,박지원,한경수,장희진,최효성,오재환 대한대장항문학회 2013 Annals of Coloproctolgy Vol.29 No.6
Purpose: Minimizing the polyp miss rate during colonoscopy is important for patients at high risk for colorectal polyps. We investigated the polyp miss rate and the factors associated with it in high-risk patients. Methods: The medical records of 163 patients who underwent follow-up colonoscopy between January 2001 and April 2010, which was within 9 months after a polypectomy, because the index colonoscopy had shown multiple (more than 3) adenomas or advanced adenoma were retrospectively reviewed. Miss rates were calculated for all polyps, for neoplastic polyps and for advanced adenomas. Factors associated with the miss rates in these patients, such as the location, shape and size of the polyp, were analyzed. Results: The miss rates for polyps, adenomas, adenomas <5 mm, adenomas ≥5 mm and advanced adenomas were 32.6%, 20.9%, 17.7%, 3.2%, and 0.9%, respectively. No carcinoma, except for one small carcinoid tumor, was missed. Flat shape and small size (<5 mm) were significantly associated with adenoma miss rate. The miss rate was significantly higher for flat-type advanced adenomas than for protruded-type advanced adenomas (27.7% vs 4.1%). Conclusion: The polyp miss rate in patients at high risk for colorectal polyps was higher than expected. Efforts are needed to reduce miss rates and improve the quality of colonoscopy. Also, early follow-up colonoscopy is mandatory, especially in patients at high risk.
RET Fusion Genes in Korean Non-Small Cell Lung Cancer
유승수,Guang Jin,정혜진,홍미정,최진은,전효성,이신엽,임정옥,박재용 대한의학회 2013 Journal of Korean medical science Vol.28 No.10
Recently, rearranged during transfection (RET) fusions have been identified in approximately 1% of non-small cell lung cancer (NSCLC). To know the prevalence of RET fusion genes in Korean NSCLCs, we examined the RET fusion genes in 156 surgically resected NSCLCs using a reverse transcriptase polymerase chain reaction. Two KIF5B-RET fusions and one CCDC6-RET fusion were identified. All three patients were females and never smokers with adenocarcinomas. RET fusion genes were mutually exclusive from EGFR, KRAS mutations and EML4-ALK fusion. RET fusion genes occur 1.9% (3 of 156) of surgically treated NSCLC patients in Koreans.
온도모델 자이로 바이어스 추정 칼만 필터 알고리즘 개발과 이를 이용한 절대 지향각 센서 신호 부재 시 차량 지향각 추정
변상진(Sang Jin Byoen),홍효성(Hyosung Hong),원문철(Mooncheol Won) 대한기계학회 2018 大韓機械學會論文集A Vol.42 No.4
AHRS(Attitude and Heading Reference System)에서 지향각(Heading Angle)을 추정하기 위해선 정확한 3축 각속도와 절대 지향각이 필요하다. 기존 연구들은 자이로 바이어스를 대비해 GPS 나침반이나 지자기 센서 등과 같은 절대 지향각 센서를 사용했다. 하지만 지자기 센서는 오차가 크고 GPS 나침반은 높은 빌딩이 많거나 터널과 같은 곳에서 정확한 값을 얻기 어렵다. 본 논문에서는 비교적 짧은 시간동안 절대 지향각 센서를 사용하지 않고 자이로 바이어스를 추정하는 온도 모델 칼만 필터와 보상된 각속도를 이용한 지향각 추정 알고리즘을 제시한다. 자이로 바이어스는 센서의 움직임이 없는 정지 상태일 때만 측정할 수 있어 실험을 통해 센서의 움직임이 정지 상태와 유사할 때를 찾는 알고리즘을 고안하였다. 또한 바이어스 추정 칼만 필터의 초기 상태변수 값에 따른 지향각 오차를 실내 실험 및 실제차량 실험을 통해 확인하였다. Accurate thee-axis angular velocity and absolute orientation angles are required to estimate the heading angle of an attitude and heading reference system. Previous studies have used a Global Positioning System (GPS) compass or geomagnetic sensor to compensate for gyro bias. However, geomagnetic sensors can produce a large error, and it is difficult to obtain accurate GPS compass values in specific areas, such as tunnels and skyscrapers. In this paper, we propose (1) a temperature model Kalman filter that estimates gyro bias without using an absolute heading sensor, for a relatively short time, and (2) a heading angle estimation algorithm using compensated angular velocity. Gyro bias can be measured only if there is no sensor movement. Therefore, this paper proposes an algorithm to discover if the sensor movement is similar to a no-movement state, via experiments. Additionally, the performance of the bias estimation Kalman filter is validated with an indoor experiment and outdoor vehicle tests.