• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.386-390
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• 1998

A master-slave system is proposed as a teaching device for a dual arm robot. The slave robots are remotely controlled by two delta-type master arms. In order to help the operator to observe the target object from the desired position and desired direction, cameras are mounted on a specialized manipulator, Movements of two slave arms are coordinated with that of the cameras. Due to this coordinated movements, the operator needs not to care the geometrical relation between the cameras and the slave robots.

• Communications for Statistical Applications and Methods
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• v.22 no.6
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• pp.605-613
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• 2015

A three-arm parallel design has been proposed to assess the biosimilarity between a biological product and a reference product using relative distance (Kang and Chow, 2013). The three-arm parallel design consists of two arms for the reference product and one arm for the biosimilar product. This paper extended the three-arm parallel design to a (k + 1)-arm parallel design composed of k (${\geq}3$) arms for the reference product and one arm for the biosimilar product. A new relative distance was defined based on Euclidean distance; consequently, a corresponding test procedure was developed based on asymptotic distribution. Type I error rates and powers were investigated both theoretically and empirically.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.16-20
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• 1988

This paper presents a new algorithm for solving the inverse kinematics in real-time applications. The end-tip movement of each link can be resolved into the basic resolution unit, .DELTA.l, which depends on link length, reduction ratio and resolution of the incremental encoder attached to the joint. When x- and y-axis projection of the end-tip movement are expressed in .DELTA.l unit, projectional increments .DELTA.x and .DELTA.y become -1, 0 or I by truncation. By using the incremental computation with these ternary value and some simple logic rules, a coordinate transformation can be realized. Through this approach, it should be noted that the floating-point arithmetic and the manipulation of trigonometric functions are completely eliminated. This paper demonstrates the proposed method in a parallelogram linkage type, two-link arm.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.17 no.3
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• pp.155-162
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• 2018

Delta robots are usually used for industrial manufacturing, but heavy weight and expensive price have been obstacles to rapid propagation of robots in the field. The goal of this research is to make light-weight and price-competitive delta robots. To reduce the weight, we used plastic material for the arm link, and to reduce the price, we used a step-motor as the main actuator. First we formulated the equations of inverse kinematics for the designed delta robot and then verified these equations by using multibody-dynamics simulation. An algorithm of motion control was developed and applied to the motion-processing unit using a timer-interrupt of 8 milliseconds. Finally, we tested the performance of the new delta robot by checking its control of motion along line segments.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.3 s.192
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• pp.84-90
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• 2007

As a result of vehicle maintenance of rocker arm shaft for 4-cylinder SOHC engine, failure stress analysis of rocker arm shaft is needed. Because more than 30% of vehicles investigated have been fractured. Failure stress analysis is classified into an naked eyes, microscope, striation and X-ray fractography etc. Failure stress analysis by using striation is already established technology as means for seeking cause of fracture. But, although it is well known that striation spacing corresponds to the crack growth rate da/dN, it is not possible to determine ${\sigma}_{max}\;and\;{\sigma}_{min}$ under service loading only from striation spacing. This is because the value of striation spacing is influenced not only by ${\Delta}K$ but also by the stress ratio R. In the present paper, we determine the stress ratio using orthogonal array and ANOVA, and propose a prediction method of failure stress which is combined with FEM and striation.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.18 no.4 s.119
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• pp.398-407
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• 2007

In this paper we proposed the tag antenna with a low performance distortion from an attached surface material using the asymmetric dual-arm dipole antenna(ADDA) structure. The tag is designed to exhibit low performance changes when the tag is attached on a target object(the medical litter receptacle, ${\varepsilon}_r=1.7,\;tan\;{\delta}=0.002$). Detail design parameters for the proposed antenna are optimized to maintain a good readable range in free-space as well as on a target object. The size of the optimized antenna is $100\;mm{\times}50\;mm$. The antenna shows the matching bandwidth($S_{11}$< -10 dB) of 3.7 % and the radiation efficiency of 80 % at the operating frequency. Finally we confirmed the readable range of the tag antenna by measurement and it shows about 5.3 m in free space and 5.5 m on the target object.

• Journal of Oriental Medical Thermology
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• v.3 no.1
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• pp.36-42
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• 2004

Cold hypersensitivity is the condition with unusual cold sensitivity at temperature when others don't feel so. It is not disease in itself, but is known as having relationship with infertility, dysmenorrhea, anemia and endocrine disorder. The symptoms of cold hypersensitivity appear on limbs and abdomen especially, and may affect bowel movement such as constipation or diarrhea. We made a research of 86 healthy young girls who took medical examination and examined subjective bowel habit. The patients were divided into three group by defecation type, constipation(42), diarrhea(14) and normal group(30). Temperature differences$({\Delta}Ts)$ measured by DITI on upper and lower abdomen of each group had not statistically significance. Otherwise ${\Delta}Ts$ between upper arm and palm and between upper leg and foot were statistically signigicant. The severity of cold hypersensitivity on hands was in order constipation, normal and diarrhea group, and same as feet. The diarrhea patients had more severe cold hypersensitivity as compared with constipation patients. Correlation between ${\Delta}Ts$ on abdomen and hands or feet didn't exist. ${\Delta}Ts$ on hands and feet, however, had positive relationship. This research showed cold hypersensitivity could be related with diarrhea.

• The Transactions of the Korean Institute of Power Electronics
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• v.27 no.6
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• pp.526-534
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• 2022

The modular multilevel converter (MMC) has been widely applied to various industrial areas because of its various advantages and structural characteristics. Therefore, many methods for synthesizing the output voltage of MMC have been studied. Among these methods, phase-shifted pulse width modulation (PSPWM) is frequently used in MMC systems because it has diverse merits, such as excellent output qualities even with a small number of cells and uniform power distribution among cells. In this study, the total harmonic distortion (THD) of the output voltage is analyzed in accordance with the number of cells in one arm of a single-delta bridge cell MMC in order to compare PSPWM methods in terms of the THD of the output voltage. The physical characteristics of the triangle and sawtooth carrier waves used for the PSPWM and the mathematical modeling of output voltage are introduced. Then, the obtained results are verified through real-time simulation of a 1 MW single-delta bridge cell MMC system.

• Proceedings of the KSPS conference
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• 2007.05a
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• pp.217-220
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• 2007

This study outlines a small-sized dialog style ETRI Korean TTS system which applies a HMM based speech synthesis techniques. In order to build the VoiceFont, dialog-style 500 sentences were used in training HMM. And the context information about phonemes, syllables, words, phrases and sentence were extracted fully automatically to build context-dependent HMM. In training the acoustic model, acoustic features such as Mel-cepstrums, logF0 and its delta, delta-delta were used. The size of the VoiceFont which was built through the training is 0.93Mb. The developed HMM-based TTS system were installed on the ARM720T processor which operates 60MHz clocks/second. To reduce computation time, the MLSA inverse filtering module is implemented with Assembly language. The speed of the fully implemented system is the 1.73 times faster than real time.

• Publications of The Korean Astronomical Society
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• v.27 no.5
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• pp.399-409
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• 2012

As a part of the short-period variability survey (SPVS) at Bohyunsan Optical Astronomy Observatory, we obtained time-series BV CCD images in the region of Cyg OB3 association centered on the open cluster NGC 6871. The observations were performed for 18 nights from September 5, 2008 to September 1, 2009. We found 15 short-period variable stars in the region. They are ${\delta}$ Scuti type stars belonging to the local spiral arm, Orion spur. Among them, only two stars were previously known, and the rest are newly discovered ones. In this paper, we have performed a multiple-frequency analysis to determine frequencies of the 15 ${\delta}$ Scuti type stars, using the discrete Fourier transform and linear least-square fitting methods. One of the newly discovered variable stars is a double-mode ${\delta}$ Scuti type star with the fundamental and the first overtone modes, and two are high amplitude ${\delta}$ Scuti stars.