• Journal of Mechanical Science and Technology
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• 제20권5호
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• pp.612-620
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• 2006

This paper proposes an optimal trajectory generation method for biped robots for walking up-and-down stairs using a Real-Coded Genetic Algorithm (RCGA). The RCGA is most effective in minimizing the total consumption energy of a multi-dof biped robot. Each joint angle trajectory is defined as a 4-th order polynomial of which the coefficients are chromosomes or design variables to approximate the walking gait. Constraints are divided into equalities and inequalities. First, equality constraints consist of initial conditions and repeatability conditions with respect to each joint angle and angular velocity at the start and end of a stride period. Next, inequality constraints include collision prevention conditions of a swing leg, singular prevention conditions, and stability conditions. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot model that consists of seven links in the sagittal plane. The optimal trajectory is more efficient than that generated by the Modified Gravity-Compensated Inverted Pendulum Mode (MGCIPM). And various trajectories generated by the proposed GA method are analyzed from the viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.

• The Journal of Korean Physical Therapy
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• 제14권2호
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• pp.74-85
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• 2002

The purpose of this study was to investigate the effect of static balance performance on gait in elderly. Subjects were twenty four members living in Gwangju(12males, 12females), between 65 and 81 years of age. The Force platform was used to measured static balance performance and gait analyzed the 3-D Motion Analysis The results of this study were as follow ; 1. The postural sway showed, The mean value of toe-heel was $1.41\pm0.51cm$ and left-right was $063\pm0.20cm$. In gait analysis, the mean value of each variable were swing phase $40.5\pm9.65\%$, stance phase $59.5\pm9.65\%$, stride length 0.79m, cadence $0.83\pm0.44step/sec$, velocity $0.57\pm0.32m/sec$, Knee up $34.7\pm31.0^{\circ}$, Knee down $-53.6\pm40.14^{\circ}$. Ankle up $12.14\pm13.94^{\circ}$, Ankle down $-16.8\pm25.0^{\circ}$ showed. 2. The correlation matrix between L-R sway and Toe-heel sway and gait variables was not showed. 3. In multiple regression test, there were no related variable.

• 전자공학회논문지S
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• 제34S권5호
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• pp.94-103
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• 1997

It is necesary that analog buffer circuit should drive an external load in the VLSI design such as switched capacitor efilter (SCF), D/A converter, A/d converter, telecommunicatin circuit, etc. The conventional CMOS buffer circuit have many probvlems according as CMOS technique. Firstly, Capacity of large load ar enot able to opeate well. The problem can be solve to use class AB stages. But large load are operated a difficult, because an element of existing CMOS has a quadratic functional relation with inptu and outut voltage versus output current. Secondly, whole circuit of dynamic rang edecrease, because a range of inpt and output voltages go down according as increasing of intergration rate drop supply voltage. In this paper suggests that new differential CMOS line driver make out of operating an external of large load. In telecommunication's chip case transmission line could be a load. It is necessary that a load operate line driver. The proposal circuit is planned to hav ea high generation power rnage of voltage with preservin linearity. And circuit of capability is inspected through simulation program (HSPICE).

• Transactions on Electrical and Electronic Materials
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• 제12권6호
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• pp.245-248
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• 2011

The scaling down of metal oxide semiconductor field-effect transistors (MOSFETs) for the last several years has contributed to the reduction of the scaling variables and device parameters as well as the operating voltage of the MOSFET. At the same time, the variation in the electrical characteristics of MOSFETs is one of the major issues that need to be solved. Especially because the issue with variation is magnified as the drive voltage is decreased. Therefore, this paper will focus on the variations between electrical characteristics and drain voltage. In order to do this, the test patterned multi-finger MOSFETs using 90-nm process is used to investigate the characteristic variations, such as the threshold voltage, DIBL, subthreshold swing, transconductance and mobility via parasitic resistance extraction method. These characteristics can be analyzed by varying the gate width and length, and the number of fingers. Through this modeling scheme, the characteristic variations of multi-finger MOSFETs can be analyzed.

• 한국산학기술학회논문지
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• 제5권5호
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• pp.438-441
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• 2004

본 연구에서는 강관 파일 자동청소장치에 의 로프 풀림장치를 추가하여 연속적인 청소작업을 구현하는 방법에 대해 제안한다. 특히 본연구에서 제안된 로프 풀림 장치는 강관 파일 자동 청소장치가 청소를 하고 있는 동안 흔들림을 최소화 하도록 모터의 회전속도에 비례하여 자중에 의해 하강하도록 설계되었다. 따라서 본 연구에서는 이미 제작되어 실험을 거친 강관 파일 자동 청소장치의 부가기능을 추가하므로써 성능개선을 위한 개념설계 및 제작에 주안점을 두기로 한다.

• 한국운동역학회지
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• 제16권1호
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• pp.1-10
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• 2006

The purpose of this study was to identify critical parameters of a putting performance using jerk cost function. Jerk is the time rate of change of acceleration and it has been suggested that a skilled performance is characterized by decreased jerk magnitude. Four elite golfers($handicap{\leq}2$) and 4 novice golfers participated in this study for the comparison. The 3D kinematic data were collected for each subject performing 5 trials of putts for each of these distances (random order): 1m, 3m, 5m The putting stroke was divided into 3 phases such as back swing. down swing and follow-through. In this study, it was assumed that there exist smoothness difference between elite and novice golfers during putting. The distance and jerk-cost function of Putting stroke for each phase were analyzed Results showed that there was a significant difference in jerk cost function at putter toe (at media-lateral direction) and at the center of mass between two groups by increasing putting distance. From these it could be concluded that jerk can be used as a kinematic parameter for distinguishing elite and novice golfers.

• 전자공학회논문지C
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• 제35C권4호
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• pp.50-59
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• 1998

This paper describes a 3.3V 8bit CMOS digital to analog converter (DAC) with two state current cell metrix architecture which consists of a 4 MSB and a 4 LSB current matrix stage. The symmetric two stage current cell matrix architecture allow the designed DAC to reduce hot only a complexity of decoding logics, but also a number of wider swing cascode curent mirros. The designed DAC with an active chip area of 0.8 mm$_{2}$ is fabricated by a 0.8 .mu.m CMOS n-well standard digital process. The experimental data shows that the rise/fall time, the settling time, and INL/DNL are6ns, 15ns, and a less than .+-.0.8/.+-.0.75 LB, respectively. The designed DAC is fully operational for the power supply down to 2.0V, such that the DAC is suitable for a low voltage and a low power system application. The power dissipation of the DAC with a single power supply of 3.3V is measured to be 34.5mW.

• The Journal of Korean Physical Therapy
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• 제17권1호
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• pp.108-122
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• 2005

The gait training strategy in very important things for central nervous system(CNS) injury patients. There are many method and strategy for regaining of the gait who had CNS injury. A human being has central pattern generator(CPG) is spinal CPG for locomotion. It is a neural network which make the cyclical patterns and rhythmical activities for walking. Sensory input from loading and hip position is essential for CPG stimulation that makes the central neural rhythm and pattern generating structure. From sensory input, the proprioceptive information facilitate proximal muscles that controlled in voluntarily from cortical level and visual and / or acoustical information facilitate distal muscles that controlled voluntarily from subcortical level. Gait training method can classify that is functional level and structural level. Functional level includ level surface gait, going up and down the stair. It is important to facilitate a guide tempo in order to activate the central pattern generators. During the functional test or functional activities, can point out the poor period in gait that have to be facilitate in structural level. There are many access methods with patient position and potentiality. The methods are using of rhythmic initiation, replication and combination of isotonic with standing position. Clinically using it on weight transfer onto the stance leg, loading response, loading response and pre-swing, terminal stance, up and downwards stairs.

• Journal of Electrical Engineering and information Science
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• 제3권2호
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• pp.261-266
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• 1998

This paper describes the fabrication and characterization of dual-polysilicon gated surface channel 0.1$\mu\textrm{m}$ CMOSFETs using BF2 and arsenic as channel dopants. We have used and LDD structure and 40${\AA}$ gate oxide as an insulator. To suppress short channel effects down to 0.1$\mu\textrm{m}$ channel length, shallow source/drain extensions implemented by low energy implantation and SSR(Super Steep Retrograde) channel structure were used. The threshold voltages of fabricated CMOSFETs are 0.6V. The maximum transconductance of nMOSFET is 315${\mu}$S/$\mu\textrm{m}$, and that of pMOSFET is 156 ${\mu}$S/$\mu\textrm{m}$. The drain saturation current of 418 ${\mu}$A/$\mu\textrm{m}$, 187${\mu}$A/$\mu\textrm{m}$ are obtained. Subthreshold swing is 85mV/dec and 88mV/dec, respectively. DIBL(Drain Induced Barrier Lowering) is below 100mV. In the device with 2000${\AA}$ thick gate polysilicon, depletion in polysilicon near the gate oxide results in an increase of equivalent gate oxide thickness and degradation of device characteristics. The gate delay time is measured to be 336psec at operation voltage of 2V.

• 한국운동역학회지
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• 제21권1호
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• pp.39-46
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• 2011

The purpose of this study was to examine differences between players who bend the left elbow and those who stretch it during the forward swing from BST to BC in a 2-handed backhand stroke among outstanding high school tennis players, and to assess the detailed 3D rotational kinematic characteristics of the shoulder and the hip. Statistically significant differences were observed between groups in the longitudinal axis rotation angle of the shoulder and the angle between the shoulder and the arm at BST, and in the side to side movement of the shoulder, the up and down movement of the hip, the side tilt angular velocity of the shoulder, the side tilt angular velocity of the hip, and the front tilt angular velocity of the hip at BC. The difference in the longitudinal axis rotation angle of the shoulder between the 2 groups suggests a difference in the flexibility of the joint in the shoulder arm racquet system. The longitudinal axis rotation angular velocity of the shoulder reached its peak at 75 % of the duration of the analyzed segment and then decreased little by little until BC. This time is considered the stage for increasing the angular velocity of the upper arm, the forearm, the hand and then the racquet, which are more distal segments than the shoulder.