• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.613-614
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• 2009

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.165-166
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• 2009

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2007.10a
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• pp.368-368
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• 2007

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.5
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• pp.1139-1144
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• 2012

The ration of payload to weight of industrial robot amounts form 1:10 to 1:30. Compared with man who have a ration of 3:1, it is very low. One of the goals for the next generation of robots will be a ration. This might be possible only by developing lightweight robots. When two-link flexible arm is rotated about an joint axis, transverse vibration may occur. In this paper, vibration dynamics of flexible arm is modeled by using Bernoulli-Euler beam theory and Lagrange equation. Using the fact that matrix $\dot{D}-2C$ is skew symmetric, new controllers which have a simplified structure with less computational burden is proposed by using Lyapunov stability theory. We propose deterministic and adaptive control laws for two link flexible arm, and the validity of the proposed control scheme is shown in computer simulation for two-link flexible arm.

• Polymer(Korea)
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• v.38 no.5
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• pp.671-675
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• 2014

Well-defined star shaped and linear block copolymers were synthesized to study the dispersion stability of copper phthalocyanine (CuPc). We synthesized dispersants using (2-dimethylamino) ethyl methacrylate (DMAEMA) and poly(ethylene glycol) methyl ether methacrylate) (PEGMA) by activators generated by electron transfer (AGET) atom transfer radical polymerization (ATRP). pDMAEMA-b-pPEGMA copolymers were characterized by GPC and NMR. Furthermore, we studied the effect of the dispersion stability of copper phthalocyanine by controlling the degree of polymerization of PEGMA as a stabilizing group. The 4-arm star shaped polymeric dispersant showed better dispersion stability of CuPc at $25^{\circ}C$ for 7 days.

• The Korean Journal of Community Living Science
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• v.18 no.1
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• pp.87-95
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• 2007

This study was to determine the effect of cooling parts of the limbs without harm to health. The results provide basic data for the development of clothing which could increase work efficiency and reduce body strain in hot environments. Five male adults took part in the study, conducted in a climate chamber with an ambient temperature of $37^{\circ}C$ and a relative humidity of 50%. The limbs were divided into six areas to be cooled: upper arm, forearm, thigh, calf, hand, and foot. According to preceding studies, permissible cooling safety limits of skin temperature for each part of the body for one-hour were $20^{\circ}C$ on the upper arm, forearm, thigh, and calf, and $23^{\circ}C$ on the hand and foot. For this reason, cooling the skin of each region was carried out at the above mentioned temperatures. In conclusion, cooling the hand and foot reduced perspiration, rectal temperature and heart rate. Therefore, the heat stress of workers exposed to hot environments would be reduced by decreased subjective sensations of heat and increased comfort. The effectiveness of cooling was better on the arm than on the leg.

• Journal of the Korean Society of Clothing and Textiles
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• v.20 no.6
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• pp.1193-1202
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• 1996

This study investigates and analyzes the amount and shape of the front waist dart of the bodice and investigates the dart division method by bust size. Measurements at 5 arm positions were taken from 15 subjects. Clothing tests were given to 6 of the subjects. The conclusions were as follows: 1) Front Body surface changes were occurred around armpit and they were caused by the wrinkles of the armpit 2) The curved dart line was more appropriate for use with C cup, the large bust body, than the linear line. The changes of the dart amount at arm movements had different types by bust size. 3) Patterns for A & C cup body were adequate to divide the dart amount by 3 darts such as under the B.P., under the anterior armpit and side line, or to aggregate to 1 dart under the B.P. For the B cup body, however, the suitable pattern to use was the total dart amount divided by 1~2 darts and decreasing the waist line at the side line should be avoided.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.741-746
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• 2004

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2732-2734
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• 2001

본 연구에서는 리눅스를 임베디드 시스템에 포팅하기 위한 기술을 조사하고 하드웨어를 선정하여 리눅스를 포팅하였다. 하드웨어는 Intel 사의 StrongARM SA-1110를 탑재한 Evaluation board를 사용하였다. 개발 환경은 Host computer와 Assabet board상에 RS-232C를 이용하여 프로그램 다운로드할 수 있는 환경을 구축하였다. StrongARM를 위한 Cross Compiler를 만들고, StrongARM의 하드웨어 메모리 맵을 이용하여 Linux의 메모리 맵을 설정한 후 리눅스를 컴파일하였다. 이를 RS-232C를 통해 Assabet board에 다운로드하여 리눅스를 탑재한 임베디스 시스템을 구현하였다. UCB1300 telecom codec의 device driver를 개발하여 커널에 적재하고 이를 사용하여 전화기로부터 들어오는 신호중 CID 신호를 해석하여 발신자 번호를 출력하는 시스템을 구현하였다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.3
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• pp.635-642
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• 2012

In this paper, a real-time control system with Wi-Fi wireless communication was developed for dentistry Integrated Device. The control system is developed based on the Android platform using S3C6410 ARM core that is equipped with Wi-Fi communication, RS-485, Linux 2.6 and Android 2.0. The control system controls a water purifier, compressor and suction in real-time. The experimental results that the control system was controlled by each control modules connected with a water purifier, compressor and suction. The status values are displayed in real-time using RS485.