• The Journal of Korea Robotics Society
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• v.9 no.4
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• pp.264-271
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• 2014

In this study, we have developed the humanoid joint modules which provide a variety of service while living with people in the future home life. The most important requirement is ensuring the safety for humans of the robot system for collaboration with people and providing physical service in dynamic changing environment. Therefore we should construct the mechanism and control system that each joint of the robot should response sensitively and rapidly to fulfill that. In this study, we have analyzed the characteristic of the joint which based on the target constituting the humanoid motion, developed the optimal actuator system which can be controlled based on each joint characteristic, and developed the control system which can control an multi-joint system at a high speed. In particular, in the design of the joint, we have defined back-drivability at the safety perspective and developed an actuator unit to maximize. Therefore we establish a foundation element technology for future commercialization of intelligent service robots.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.441-445
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• 2009

We have developed a real-time software tool to extract a speech feature vector whose time sequences consist of three groups of vector components; the phonetic/acoustic features such as formant frequencies, the phonemic features as outputs on neural networks, and some distances of Japanese phonemes. In those features, since the phoneme distances for Japanese five vowels are applicable to express vowel articulation, we have designed a switch, a volume control and a color representation which are operated by pronouncing vowel sounds. As examples of those vowel interface, we have developed some speech training tools to display a image character or a rolling color ball and to control a cursor's movement for aurally- or vocally-handicapped children. In this paper, we introduce the functions and the principle of those systems.

• Proceedings of the Korea Contents Association Conference
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• 2016.05a
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• pp.265-266
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• 2016

This study aimed to examine the effects of mental practice on normal persons' balance ability. Thirty subjects that participated in the experiment were randomly assigned to an experimental group of 15 subjects and a control group of 15 subjects. Both the experimental group and the control group underwent balance training conducted in a sitting position on a gym ball for 20 minutes per time, five times per week for four weeks and the experimental group additionally underwent mental practice for 10 minutes before balance training. After the intervention, balance measuring equipment (Good Balance, Metitur, Finland) was used to quantitatively measure balance ability. Significant differences in the post-training gains in variable of Medial-lateral, Index of balance function, Time were observed between the experimental group and the control group (p<0.05). Both Application of mental practice with balance training aimed at improving balance ability is considered to have positive effect.

• Computers and Concrete
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• v.24 no.5
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• pp.437-444
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• 2019

PLC and its expansion module, electric ball valve and cooling pipe, electric heating steel plate and various components of the system, which is used to control test and process data. By automatically adjusting the opening of the valve, the system makes the top temperature and cooling speed develop along the ideal temperature diachronic curve. Moreover, the system enables the temperature difference between inside and surface of test block limited in a given range by automatically controlling the surface board heating. The method of physical simulation test by sandbox with built-in cooling water pipe and heating rod is adopted. On the premise of a given standard value, the operation of the system is checked under different working conditions. Further, an extension of this system is proposed, which enables its application to obtain some thermal parameters when cooperating with numerical simulation.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.209-214
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• 2003

We developed a new type of human-sized BWR (biped walking robot), named KUBIR1 which is driven by the closed-chain type of actuator. A new type of the closed-chain actuator for the robot is developed, which is composed of the four-bar-link mechanism driven by the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of 6 D.O.F joints. For front walking, three pitch joints and one roll joint at the ankle. In addition to this, one yaw joint for direction change, and another roll joint for balancing the body are attached. Also, the robot has two D.O.F joints of each hand and three D.O.F. for eye motion. There are three actuating motors for stereo cameras for eyes. In all, a 18 degree-of-freedom robot was developed. KUBIR1 was designed to walk autonomously by adapting small 90W DC motors as the robot actuators and batteries and controllers are on-boarded. The whole weight for Kubir1 is over 90Kg, and height is 167Cm. In the paper, the performance test of KUBIR1 will be shown.

• The Journal of the Korea Contents Association
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• v.20 no.3
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• pp.424-431
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• 2020

This paper focused on the development of sports robot that detects a human player and shots a serve ball automatically. When robot technologies apply to the sports machine, the domain problems occurs such as outdoor environments and playing condition to recognize the visual and the vocal modalities. Gaussian mixture model and Kalman filter are used to detect the player's position in the left, right, and depth direction and to avoid the noises caused by the player's posture variation around the net. The sports robot is designed by the pan-tilt structure to shot a serve ball by pneumatic control under the multi layered software architecture. Finally, the proposed tracking and the machine performance are discussed by experimental results.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.11a
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• pp.69-74
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• 2006

It is known that the various noise sources which are engine, transmission, tire, intake system, etc exist at vehicle driving status. Specially noises which cannot be expected by a driver induce unpleasantness to all passengers. These noises are difficult to distinguish noise sources or specifications because of too many vehicle parts. Therefore in this paper, study on abnormal noise of bush on suspension system is performed by the measurement and analysis of the noises of bushings that are generated artificially. The measured noises are analyzed by two points-view of spectrum and sound quality. Finally, it is shown that the noise sources of bushings on the suspension system which are the pillow ball joint bush of a control arm and the rubber bush of a lower arm could be distinguished by the spectrum distribution and a index value based on tonality.

• Journal of Korean Society of Water and Wastewater
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• v.20 no.5
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• pp.763-770
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• 2006

The purpose of this study was to investigate the effects of mechanical(ball-mill) solubilization of excess sludge especially focused on the TSS(total suspended solid) reduction during the conventional aerobic digestion of sewage sludges including primary and/or excess sludge, HRT was examined at the 10 days and 20 days. According to the results of this study, TSS removal efficiency of solubilized excess sludge was almost two times higher than that of non-solubilized excess sludge. And as the proportion of the primary sludge increased, TSS removal efficiency became worse because primary sludge rarely contained microbial cells which could be easily solubilized physically. It was also proved that by the application of proper solubilization techniques to the excess sludge, HRT for the aerobic digestion could be lessened(above 50%) dramatically keeping the same or better digestion performance. The fact that between primary and excess sludges, only the excess sludge is quite effective in the sludge solubilization and in it's reduction says that excess sludge releasing sources are key-point in the sludge cake reduction field as a source control.

• Journal of Drive and Control
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• v.11 no.4
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• pp.25-31
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• 2014

This paper details application of a DLC(Diamond Like Carbon)-coating to the swash plate and the ball joint of pistons that make sliding contact with the piston shoes of an axial piston pump. This process, aimed to reduce the frictional and leakage power losses of the hydrostatic piston shoe bearings at the low speed range. At lower speeds than 100rpm, the positive effects of the DLC-coating on the power loss reduction of the hydrostatic piston shoe bearings could be confirmed. These effects resulted in little improvement in volumetric efficiency of the test pump, but the mechanical efficiency could be raised by up to 5% at 100rpm; here, the DLC-coated swash plate played a more dominant role than the DLC-coated ball joint.

• Journal of Aerospace System Engineering
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• v.11 no.1
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• pp.41-46
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• 2017

A new test bench for small multi-rotor type drones has been developed. Six degrees of freedom (DOF) motion is possible due to a ball bushing, wheels, and rotating plates. An FPGA (field programmable gate array) based controller, that supports realtime parallel processing, is used to measure attitude with an accelerometer and a gyro to adjust motor speed. Several tests were performed to check the operational properties of the test bench and the controller. The results show that this test bench is proper for verifying controllers and the control methods of small multi-rotor drones.