• The Journal of the Korea Contents Association
• /
• v.21 no.12
• /
• pp.705-712
• /
• 2021

The purpose of this study is to propose the features of autonomous DRT UX design based on level 5 autonomous vehicle applicable in 2027. As the scope of the study, the system focused on the interaction between the elderly and the in/outside of the vehicle, and the level 5 autonomous vehicle was the subject of the study. As of 2021, the targets for application were set from 60s to 90s. This study is different from previous studies in that it is a study on the features of autonomous DRT UX design that derives practical insights through direct communication with the elderly. As a research method, autonomous vehicle and DRT were theoretically considered through literature research, and based on this, cases of autonomous vehicle and DRT were analyzed. As a case study, generalization was conducted through interviews with the elderly, test-drive of autonomous vehicle, video production, survey, and VR test-drive of autonomous vehicle for the elderly. Ten features of autonomous DRT UX design were derived through focus group interview(FGI), and the derived features were classified into reservation, get on, input, driving, emergency, and get off. Through this study, I hope that it will contribute to improving mobility of the elderly and further accelerate the practical use of autonomous DRT.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1469-1473
• /
• 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.

• Sleep Medicine and Psychophysiology
• /
• v.5 no.2
• /
• pp.119-133
• /
• 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.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.40 no.1
• /
• pp.1-8
• /
• 2016

In this study, we propose a control algorithm for Inertially Stabilized Platforms (ISP), which combines Disturbance Observer (DOB) with conventional proportional integral derivative (PID) control algorithm. A single axis ISP system was constructed using a direct drive motor. The joint friction was modeled as a nonlinear function of joint speed while the accuracy of the model was verified through experiments and simulation. In addition, various Q-filters, which have different orders and relative degrees of freedom (DOF), were implemented. The stability and performance of the ISP were compared through experimental study. The performance of the proposed PID-plus-DOB algorithm was compared with the experimental results of the conventional double loop PID control under artificial vehicle motion provided motion simulator with six DOF.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.6
• /
• pp.503-509
• /
• 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.

• Proceedings of the Korean Powder Metallurgy Institute Conference
• /
• 1998.04b
• /
• pp.6-6
• /
• 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.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.16 no.1
• /
• pp.106-113
• /
• 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.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.3 no.3
• /
• pp.206-213
• /
• 1998

In this paper, an adaptive compensation technique for parameter variation is proposed which can perform quick torque response in vector control of an induction motors. To solve the problem of control performance degradation due to parameter variation in an induction motor, a rotor resistance estimation is performed by the model reference adaptive control(MRAC). The algorithm of rotor resistance estimation is composed of the error relationship which is generated between a motor real instantaneous reactive power and an estimated instantaneous reactive power. The advantage of such a real reactive power reference model is independence of the motor parameter variation. The estimation rotor resistance values are applied to the direct vector control system with a flux observer. Finally, the simulations and experiment are presented to validate the rotor resistance estimation algorithm of induction motor.

• Proceedings of the KIEE Conference
• /
• 2001.07b
• /
• pp.1020-1022
• /
• 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.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.55 no.7
• /
• pp.335-343
• /
• 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.