• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.334-336
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• 2007

This paper presents a beat gesture recognition method to synchronize the tempo of a robot playing a piano with the desired tempo of the user. To detect an unstructured beat gesture expressed by any part of a body, we apply an optical flow method, and obtain the trajectories of the center of gravity and normalized central moments of moving objects in images. The period of a beat gesture is estimated from the results of the fast Fourier transform. In addition, we also apply a motion control method by which robotic fingers are trained to follow a set of trajectories, Since the ability to track the trajectories influences the sound a piano generates, we adopt an iterative learning control method to reduce the tracking error.

• International Journal of Precision Engineering and Manufacturing
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• 제6권2호
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• pp.40-45
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• 2005

This paper has presented an application of an optimum grinding conditions based on the fuzzy logic. Fuzzy logic can handle vague and uncertain knowledge, and presents a scheme for integrating data with various kinds of grinding data. Especially, this research is capable of determining the grinding conditions taking into account some fuzzy membership function represented for trapezoidal form such as hardness and surface roughness of workpiece, material tensile strength and elongation, and requirement of grinding method. Larsen's fuzzy production method utilizing the fuzzy production rule can be applied on the establishment of grinding conditions, and also the output value obtained by the center of gravity method can effectively utilize the optimum grinding conditions.

• 전기학회논문지
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• 제58권10호
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• pp.2041-2046
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• 2009

In this paper, we propose the feature points extraction method of hand region using vision. To do this, first, we find the HCbCr color model by using HSI and YCbCr color model. Second, we extract the hand region by using the HCbCr color model and the fuzzy color filter. Third, we extract the exact hand region by applying labeling algorithm to extracted hand region. Fourth, after finding the center of gravity of extracted hand region, we obtain the first feature points by using Canny edge, chain code, and DP method. And then, we obtain the feature points of hand region by applying the convex hull method to the extracted first feature points. Finally, we demonstrate the effectiveness and feasibility of the proposed method through some experiments.

• 제어로봇시스템학회논문지
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• 제14권11호
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• pp.1146-1154
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• 2008

This paper presents a method for the acceleration analysis of multi-legged walking robots in consideration of the frictional ground contact. This method is based on both unified dynamic equation for finding the acceleration of a robot's body and constraint equation for satisfying no-slip condition. After the dynamic equation representing relationship between actuator torques and body acceleration, is derived from the force and acceleration relationship between foot and body's gravity center, the constraint equation is formulated to reconfigure the maximum torque boundaries satisfying no-slip condition from given original actuator torque boundaries. From application of the reconfigured torques to the dynamic equation, interested acceleration boundaries are obtained. The approach based on above two equations, is adapted to the changes of degree-of-freedoms of legs as well as friction of ground. And the method provides the maximum translational and rotational acceleration boundaries of body's center that are achievable in every direction without occurring slipping at the contact points or saturating all actuators. Given the torque limits in infinite normsense, the resultant accelerations are derived as a polytope. From the proposed method, we obtained achievable acceleration boundaries of 4-legged and 6-legged walking robot system successfully.

• 자원환경지질
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• 제44권6호
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• pp.493-502
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• 2011

본 연구는 지형자료와 Free-air 중력이상을 이용하여 한반도의 모호면 심도 및 지각두께를 계산하였다. Airy-Heiskanen 지각평형 가설에 근거한 Free-air 중력이상에 포함된 지형중력과 연관성 있는 성분들을 파동수상관분석으로 추출하고 이로부터 보상이 이루어진 상태의 중력효과를 계산하였다. 계산된 결과로부터 반복법을 통한 역산을 이용하여 지각과 맨틀의 경계면인 모호면 심도를 도출하였고 역산 시 기존에 연구된 지진파에 의한 20개의 모호면 심도를 활용하여 포텐셜 필드에서 나타날 수 있는 비유일성의 가능성을 최소화하였다. 최종적으로 모호면 심도와 고도 자료를 더하여 한반도 지각두께를 도출하였으며 한반도 평균지각두께는 32.15 km, 표준편차 3.12 km를 나타내었다. 이 연구에서 구한 남한지역의 모호면과 같은 지역의 타 논문결과들과 비교하였을 때 평균 모호면 심도는 각각 31.08 km, 31.96 km, 33.02 km을 나타내고 표준편차는 1.94 km, 1.62 km, 1.77 km을 나타냄으로 각 연구결과의 통계치는 거의 일치하는 것으로 나타났고 모호면 굴곡 역시 공통적으로 태백산맥과 소백산맥을 따라 모호면이 깊어지고 경상분지는 얕아짐을 확인하였다. 또한 지각 내 중력 이상체의 분포에 대한 정보를 포함하고 있는 지형과 비상관된 Freeair 중력이상을 가지고 지열류량분포와 비교하였다. 저주파성분의 지형과 비상관된 Free-air 중력이상과 지열류량분포를 상관 비교한 결과 높은 양의 상관관계를 나타냈고, 특히, 경상분지지역은 높은 지열류량분포가 암석의 밀도보상으로 인해 모호면의 상승을 가져다 준 것으로 보인다. 이러한 결과는 최근 Kim et al.(2008)에서 언급한 경상분지의 높은 지열류량이 맨틀로부터 야기되는 모델과 부합된다는 사실을 뒷받침해주고 있다.

• International Journal of Aeronautical and Space Sciences
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• 제4권2호
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• pp.69-78
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• 2003

In this paper, we develop the so-called functional test model for magnetic bearing wheels. The functional test model developed in this paper is a kind of electromagnetic suspension systems and has three degree of freedom, which consists of one axial suspension from gravity and the other two axes gimbaling capability to small angle, and does not include the motor. For the control of the functional test model, we derive the optimal electromagnetic forces based on the least squares method, and use the proportional-integral derivative controller. Then, we develop a hardware setup, which mainly consists of the digital signal processor and the 12-bit analog-to-digital and digital-to-analog converters, and show the experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2252-2257
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• 2003

In this paper, we develop the so-called functional test model for magnetic bearing reaction wheels. The functional test model has three degree of freedom, which consists of one axial suspension from gravity and the other two axes gimbaling capability to small angle, and does not include the motor. For the control of the functional test model, we derive the optimal electromagnetic forces based on the least squares method, and use the proportional-integral-derivative controller. Then, we develop a hardware setup, which mainly consists of the digital signal processor and the 12-bit analog-to-digital and digital-to-analog converters, and show the experimental results.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 1997년도 추계학술대회 논문집
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• pp.302-305
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• 1997

Treeing due to partial discharge(PD) is one of the main causes of breakdown of the insulating materials and reduction of tile insulation life. Therefore the necessity for establishing a method to diagnose the aging of insulation materials and to predict the breakdown of insulation has become important. From this viewpoint, our studies diagnose insulation degradation using the method of computer sensing system, which has the advantages of PD and acoustic emission(AE) sensing system. To use advantages of these two methods can be used effectively to search for treeing location and PD in some materials. In analysis method of degradation. using statically operator such as the center of gravity (G). the gradient of the discharge distribution(C), we have analyzed far tole prediction of life which we can be obtained the time, occurred of many pulse of small discharge amplitude.

• Computers and Concrete
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• 제12권3호
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• pp.351-375
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• 2013

Post-punching resistance of a flat slab can help redistribute the gravity loads and resist progressive collapse of a structure following initial damage. One important difficulty with accounting for the post-punching strength of a slab is the discontinuity that develops following punching shear. A numerical simulation technique is proposed here to model and evaluate post-punching resistance of flat slabs. It is demonstrated that the simulation results of punching shear and post-punching response of the model of a slab on a single column are in good agreement with corresponding experimental data. It is also shown that progressive collapse due to a column removal (explosion) can lead to punching failure over an adjacent column. Such failure can propagate throughout the structure leading to the progressive collapse of the structure. Through post-punching modeling of the slab and accounting for the associated discontinuity, it is also demonstrated that the presence of an adequate amount of integrity reinforcement can provide an alternative load path and help resist progressive collapse.

• 한국산업융합학회 논문집
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• 제22권5호
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• pp.575-582
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• 2019

Advanced driving assist system can support safety of driver and passengers which may require vehicle dynamics states as well as road geometry. It is essential to have in real-time estimation of related variables and parameters. Among the road geometry parameters, road slope angle which can not be measured is essential parameter in pose estimation, adaptive cruise control and others on sag road. In this paper, Kalman filter based method for the estimation of the vehicle dynamics and road slope angle using a nonlinear vehicle model is proposed. It uses a combination of Kalman filter as Cascade Extended Kalman Filter. CEKF uses measured vehicle states such as yaw rate, longitudinal/lateral acceleration and velocity. Unknown vehicle parameters such as center of gravity and inertia are obtained by 2 D.O.F lateral model and experimentally. Simulation and Experimental tests conducted with commercialized vehicle dynamics model and real-car.