• 한국콘텐츠학회논문지
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• 제21권12호
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• pp.705-712
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• 2021

본 연구는 2027년 적용 가능한 레벨5의 자율주행차량을 기반으로 자율주행 DRT UX 디자인 특성을 제안하는데 목적이 있다. 연구범위로는 고령자와 차량 내외의 인터랙션을 중심으로 한 시스템으로 하였으며, 레벨5의 자율주행차량을 연구대상으로 하였다. 적용 대상으로는 2021년을 기준으로 60대부터 90대로 설정하였다. 본 연구는 고령자와의 직접적인 소통을 통한 실제적인 인사이트를 도출한 자율주행 DRT UX 디자인 특성 연구라는데 기존 연구와의 차별성이 있다. 연구 방법으로는 문헌연구를 통해 자율주행차량과 DRT를 이론적으로 고찰하였으며, 이를 바탕으로 자율주행차량과 DRT의 사례를 분석하였다. 사례연구로는 고령자 인터뷰, 자율주행차량 시승, 영상제작, 설문조사, 고령자 자율주행차량 VR 시승을 통한 일반화로 진행하였다. 포커스 그룹 인터뷰(FGI)를 통해 자율주행 DRT UX 디자인 특성 10가지를 도출하였으며, 도출된 특성은 예약, 승차, 입력, 주행, 응급, 하차 등으로 구분되었다. 본 연구를 통해 고령자의 이동성 향상에 이바지하고 자율주행 DRT의 실용화를 한층 앞당기는 계기가 되기를 바란다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1469-1473
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• 2004

We suggest how to program off-line robot path along shoes' outsole shape in the footwear buffing process by a 5-axis microscribe system like robot arms. This microscribe system developed consists a 5-axis robot link with a turn table, signal processing circuit, PC and an application software program. It makes a robot path on the shoe's upper through the movement of a microscribe with many joints. To do this, first it reads 5-encoder's pulse values while a robot arm points a shoes' outsole shape from the initial status. This system developed calculates the encoder pulse values for the robot arm's rotation and transmits the angle pulse values to the PC through a circuit. Then, Denavit-Hartenberg's(D-H) direct kinematics is used to make the global coordinate from robot joint one. The determinant is obtained with kinematics equation and D-H variable representation. To drive the kinematics equation, we have to set up the standard coordinates first. The many links and the more complicated structure cause the difficult kinematics problem to solve in the geometrical way. Thus, we can solve the robot's kinematics problems efficiently and systematically by Denavit-Hartenberg's representation. Finally, with the coordinate values calculated above, it can draw a buffing gauge-line on the upper. Also, it can program off-line robot path on the shoes' upper. We are subjected to obtaining shoes' outline points, which are 2 outlines coupled with the points and the normal vector based on the points. These data is supposed to be transformed into .dxf file to be used for data of automatic buffing robot. This system developed is simulated by using spline curves coupled with each point from dxf file in Autocad. As a result of applying this system to the buffing robot in the flexible footwear manufacturing system, it can be used effectively to program the path of a real buffing robot.

• 수면정신생리
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• 제5권2호
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• pp.119-133
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• 1998

Attentional processes facilitate cognitive and behavioral performance in several ways. Attention serves to reduce the amount of information to receive. Attention enables humans to direct themselves to appropriate aspects of external environmental events and internal operations. Attention facilitates the selection of salient information and the allocation of cognitive processing appropriate to that information. Attention is not a unitary process that can be localized to a single neuroanatomical region. Before the cortical registration of sensory information, activation of important subcortical structures occurs, which is called as an orienting response. Once sensory information reaches the sensory cortex, a large number of perceptual processes occur, which provide various levels of perceptual resolution of the critical features of the stimuli. After this preattentional processing, information is integrated within higher cortical(heteromodal) systems in inferior parietal and temporal lobes. At this stage, the processing characteristics can be modified, and the biases of the system have a direct impact on attentional selection. Information flow has been traced through sensory analysis to a processing stage that enables the new information to be focused and modified in relation to preexisting biases. The limbic and paralimbic system play significant roles in modulating attentional response. It is labeled with affective salience and is integrated according to ongoing pressures from the motivational drive system of the hypothalamus. The salience of information greatly influences the allocation of attention. The frontal lobe operate response selection system with a reciprocal interaction with both the attention system of the parietal lobe and the limbic system. In this attentional process, the search with the spatial field is organized and a sequence of attentional responses is generated. Affective, motivational and appectitive impulses from limbic system and hypothalamus trigger response intention, preparation, planning, initiation and control of frontal lobe on this process. The reticular system, which produces ascending activation, catalyzes the overall system and increases attentional capacity. Also additional energetic pressures are created by the hypothalamus. As psychophysiological measurement, skin conductance, pupil diameter, muscle tension, heart rate, alpha wave of EEG can be used. Event related potentials also provide physiological evidence of attention during information process. NI component appears to be an electrophysiological index of selective attention. P3 response is developed during the attention related to stimulus discrimination, evaluation and response.

• 대한기계학회논문집A
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• 제40권1호
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• pp.1-8
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• 2016

본 논문에서는 기존의 관성안정화 플랫폼에서 보편적으로 사용됐던 PID 제어에 외란관측기를 적용하는 알고리즘 제안한다. 외란관측기 알고리즘을 적용하기 위하여 직접구동 모터로 구동되는 안정화 플랫폼 축의 관성모멘트와 축 마찰 특성을 실험적으로 구하고, 시뮬레이션과 실험결과를 비교하여 정확도를 검증하였다. 또한 차수와 상대차수가 다른 여러 가지 Q-filter 적용실험을 통하여 필터 특성에 따른 시스템의 안정성을 확인하였다. 본 논문에서 제안한 알고리즘은 6 자유도 시뮬레이터를 이용하여 차량 모션 인가실험을 통해 이중 PID 제어 루프의 결과와 비교/검증하였다.

• 제어로봇시스템학회논문지
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• 제21권6호
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• pp.503-509
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• 2015

In this paper, we designed and tested an ankle joint mechanism for a gait rehabilitation robot. Gait rehabilitation programs are designed to improve the natural leg motion of patients who have lost their walking capabilities by accident or disease. Strengthening the muscles of the lower-limbs and stimulation of the nervous system corresponding to walking helps patients to walk again using gait assistive devices. It is an obvious requirement that the rehabilitation system's motion should be similar to and as natural as the normal gait. However, the system being used for gait rehabilitation does not pay much attention to ankle joints, which play an important role in correct walking as the motion of the ankle should reflect the movement of the center of gravity (COG) of the body. Consequently, we have designed an ankle mechanism that ensures the safety of the patient as well as efficient gait training. Also, even patients with low leg muscle strength are able to operate the ankle joint due to the direct-drive mechanism without a reducer. This safety feature prevents any possible adverse load on the human ankle. The additional degree of freedom for the roll motion achieves a gait pattern which is similar to the normal gait and with a greater degree of comfort.

• 한국분말야금학회:학술대회논문집
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• 한국분말야금학회 1998년도 춘계학술대회 및 발표대회 강연 및 발표논문 초록집
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• pp.6-6
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• 1998

In 1957, the first magnetic disk drive compatible with a movable head was introduced as an external file memory device for computer system. Since then, magnetic disks have been improved by increasing the recording density, which has brought about the development of a high performance thin film magnetic head. The thin film magnetic head has a magnetic circuit on a ceramic substrate using IC technology. The physical property of the substrate material is very important because it influences the tribology of head/disk interface and also manufacturing process of the head. $Al_{2}O_{3}$-TiC ceramics, so called ALTIC, is known to be one of the best substrate materials which satisfies this property requirement. Even though the head is not in direct contact with the disk, frequent instantaneous contacts are unavoidable due to its high rotating speed and the close gap between them. This may cause damage in the magnetic recording media and, thus, it is very important that the magnetic head has a good wear resistance. $Al_{2}O_{3}$-TiC ceramics has an excellent tribological property in head/disk interface. Manufacturing process of thin film head is similar to that of IC, which requires extremely smooth and flat surface of the substrate. The substrate must be readily sliced into the heads without chipping. $Al_{2}O_{3}$-TiC ceramics has excellent machineability and mechanical properties. $Al_{2}O_{3}$-TiC ceramics was first developed at Nippon Tungsten Co. as cutting tool materials in 1968, which was further developed to be used as the substrate materials for thin film head in collaboration with Sumitomo Special Metals Co., Ltd. in 1981. Today, we supply more than 60% of the substrates for thin film head market in the world. In this paper, we would like to present the sintering process of $Al_{2}O_{3}$-TiC ceramics and its property in detail.

• 한국자동차공학회논문집
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• 제16권1호
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• pp.106-113
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• 2008

The starter motor noise is usually well identified by the customers since it is operated while the engine is quiet, and leaves distinct impressions of the vehicle. In this study the design of experiments(DOE) was applied to the identification of the noise sources of direct drive starter motor since this process usually requires lengthy analysis and elaborate experiments. In the first stage of the test, five controllable factors(alignment and dynamic unbalance of armature, tightening torques of T/bolt and center bracket bolt, and alignment of the center bracket-yoke-rear bracket), excluding static unbalance, are sorted out of all possible factors. Test results showed that the dynamic unbalance and misalignment of armature are the major factors. However, the error level of the first test was relatively high, indicating that there might be some missing major factors. In the second stage test the results showed that both static and dynamic unbalances are the dominant factors contributing to more than 80% of the overall noise, while the misalignment contributes around 12%. Error of the second test was about 4% that could be considered satisfactory. The noise level of the optimal product was predicted to be reduced by 19dBA, and verification test showed the average noise reduction of 16.8dBA with the standard deviation of 3.2dBA, and proved the usefulness of the whole DOE process.

• 전력전자학회논문지
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• 제3권3호
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• pp.206-213
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• 1998

본 논문에서는 유도전동기의 속응 토크제어를 위한 파라미터 변동의 적응보상기법을 제안하였다. 제어성능을 현저히 저하시키는 원인으로 작용하는 파라미터의 변동을 보상하기 위하여 본 논문에서는 모델기준 적응제어(MRAC)방식을 적용하여 회전자 저항값 변동을 추정 보상한다. 본 적응제어방식은 실측 순시무효전력과 추정 순시무효전력의 오차관계에서 실시간으로 회전자 저항값 변동을 추정 보상하는 방식이다. 본 방식은 전동기 파라미터를 사용하지 않고 실측 순시무효전력을 기준모델로 적용하기 때문에 전동기 등 등가모델에서 구한 기존의 다른 기준모델에 비해 강인한 시스템이 된다. 추정된 회전자 저항값을 이용하여 자속관측기를 구성하고 이를 직접베터 제어방식에 적용하였으며, 시뮬레이션 및 실험을 통하여 속응 토크제어가 원활히 수행됨을 입증하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 B
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• pp.1020-1022
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• 2001

because the output of solar cell is direct, it is necessary to install D/A converter system for A.C load, and in case of driving utility line system, it is possible to drive system relation when the system supplies sinusodal current ant voltage having unit power factor. As the characteristics of the soar cell output the is influenced by dailysunight charge, for more electric power it is essential to control the direction toward the san so that the driving point of solar cell can always operate near maximum output point. PWM modulation device among electric power converters must have stable modulation at anytime when it includes noise-factors such as noise-wave and noises on electric voltage wave, a synchronous signal system. In dealing with synchronous signal for control and control signal by microprocessor, it is necessary to compensate it because there is time difference between sample paint and carrier wave. On this papers, single phase PWM current type invertor controled the solar cell having typical voltage dropping character has optimun short current in short, reduces D.C reactance, composes controller for modulation and keeps lower harmonic and high power factor keeping maximum output of solar cell according daily sunlight charge variation.

• 대한전기학회논문지:시스템및제어부문D
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• 제55권7호
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• pp.335-343
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• 2006

We have designed the system that measure one channel ECG by two electrode and extract real-time EDR with more related resipiration and comportable to subject by using conductive textile. On the assumption that relation between RL electrode and potential measurement electrode is coupled with RC connected model, we designed RL drive output to feedback two electrode for reduction of common mode signal. The conductive textile which was used for two ECG electrode was offered more comfort during night sleep in bed than any other method using attachments. In the method of single-lead EDR, R wave point or QRS interval area could be used for EDR estimation in traditional method, it is, so to speak, the amplitude modulation(AM) method for EDR. Alternatively, R-R interval could be used for frequency modulation(FM) method based on Respiratory Sinus Arrhythmia(RSA). For evaluation of performance on AM EDR and FM EDR from 14 subject, ECG lead III was measured. Each EDR was compared with both temperature around nose(direct measurement of respiration) and respiration signal from thoracic belt(indirect measurement of respiration) on mean squared error(MSE), cross correlation(Xcorr), and Coherence. The upsampling interpolation technique of multirate signal processing is applied to interpolating data instead of cubic spline interpolation. As a result, we showed the real-time EDR extraction processing to be implemented at micro-controller.