• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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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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• 제22권6호
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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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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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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.

• 한국기계가공학회지
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• 제17권3호
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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.

• 한국정밀공학회지
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• 제24권3호
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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.

• 한국전자파학회논문지
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• 제18권4호
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• pp.398-407
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• 2007

본 논문에서는 부착될 물질이 가지는 전기적 특성에 의한 성능 변화가 적은 이중 선로의 비대칭 다이폴 형태 RFID 용도 태그 안테나(Asymmetric Dual-arm Dipole Antenna: ADDA)를 제안하였다. 제안된 태그 안테나는 상용 의료 폐기물 수거용 플라스틱 밀폐 용기(${\varepsilon}_r=1.7,\;tan\;{\delta}=0.002$)에 부착하여도 안테나의 동작 특성 변화가 적도록 설계되었다. 안테나의 세부적인 설계변수는 자유공간과 인식 대상 물체에 부착시 우수한 인식거리 성능을 나타내도록 Pareto 유전자 알고리즘을 사용하여 최적화하였다. 최적화 태그 안테나는 $100\;mm{\times}50\;mm$의 크기를 가지며, 3.7 %의 반사 손실 대역폭($S_{11}$< -10 dB)을 가지고 80 %의 복사효율을 나타내었다. 인식 거리 측정 결과, 자유공간에서 정면 방향(broadside) 5.3 m, 의료 폐기물 수거용 플라스틱 밀폐 용기에 부착시 최대 5.5 m의 인식거리 성능을 가지는 것을 확인하였다.

• 대한한방체열의학회지
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• 제3권1호
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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.

• 전력전자학회논문지
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• 제27권6호
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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.

• 대한음성학회:학술대회논문집
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• 대한음성학회 2007년도 한국음성과학회 공동학술대회 발표논문집
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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.

• 천문학논총
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• 제27권5호
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• pp.399-409
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• 2012

NGC 6871을 중심으로 시계열 관측한 Cyg OB3 성협영역에서 모두 15개의 단주기 변광성을 찾았다. 이들은 모두 국부나선팔에 속한 ${\delta}$ Scuti 형 변광성으로 보인다. 그림 5의 영연령주계열 상에서 밝은쪽에 속한 V1-V4는 분광형이 모두 A, F 형으로서 Cyg OB3 성협보다 먼 거리에 있는 ${\beta}$ Cephei 형 변광성이라기 보다는 국부나선팔의 앞쪽에 놓인 ${\delta}$ Scuti 형 변광성이었다. 15개의 ${\delta}$ Scuti 형 변광성 중에는 2개(V1과 V3)는 GCVS에 ${\delta}$ Scuti 형 변광성으로 분류되어 이미 알려진 변광성이고, 나머지는 모두 새로 발견한 것이다. 새로 발견한 변광성 중에는 한 개의 이중모드 ${\delta}$ Scuti 형 변광성(V3)과 2개의 HADS 변광성(V13과 V14)이 포함되었다. 시계열 관측과는 별도로 표준화 관측을 수행하여 관측 영역의 색-등급도를 얻었는데 그림 6에서 Massey etal.(1995)의 결과와 잘 맞았다.