• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 추계학술대회논문집A
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• pp.477-482
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• 2001

To realize higher track density of HDD, the servo bandwidth should be higher, however, is limited by the mechanical resonances of the arm, coil of the VCM and ball bearing pivot. The dual-stage actuator systems have been suggested as a possible solution. For the dual-stage actuator systems based on the suspension, the suspension resonance frequencies in the radial access direction are important factors to increase a servo bandwidth, however the improvement of these frequencies may affect the shock resistance performance and spring constant. The slider's flying stability can be deteriorated by the change of a vertical stiffness. In this work, we have investigated a suspension design scheme possessing a milliactuator for dual-stage actuator systems and also achieved higher mechanical characteristics. Design parameters are deduced by finite element analysis with sensitivity function. It is confirmed that the proposed suspension with the milliactuator has the capability of fine tracking motion, due to its hinge structure on the spring region, and achieves higher mechanical resonance frequencies in the radial access direction with a high-shock resistance and a low-spring constant.

• 로봇학회논문지
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• 제16권2호
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• pp.137-146
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• 2021

When controlling manipulator, degree of freedom is lost in singularity so specific joint velocity does not propagate to the end effector. In addition, control problem occurs because jacobian inverse matrix can not be calculated. To avoid singularity, we apply Deep Deterministic Policy Gradient(DDPG), algorithm of reinforcement learning that rewards behavior according to actions then determines high-reward actions in simulation. DDPG uses off-policy that uses 𝝐-greedy policy for selecting action of current time step and greed policy for the next step. In the simulation, learning is given by negative reward when moving near singulairty, and positive reward when moving away from the singularity and moving to target point. The reward equation consists of distance to target point and singularity, manipulability, and arrival flag. Dual arm manipulators hold long rod at the same time and conduct experiments to avoid singularity by simulated path. In the learning process, if object to be avoided is set as a space rather than point, it is expected that avoidance of obstacles will be possible in future research.

• 한국산학기술학회논문지
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• 제10권11호
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• pp.3137-3143
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• 2009

본 논문에서는 한팔 나선 안테나(single arm spiral antenna)의 편파(polarization) 및 빔 틸트(beam tilt) 특성에 대하여 분석하였다. 한팔 나선 안테나는 나선 둘레 길이(spiral circumference length)가 한 파장 길이 이상 길어지면, 안테나의 최대방사 빔 방향이 안테나로부터 수직인 축빔(axial beam)으로부터 틸트되는 특성을 가지고 있다. 이때 나선 안테나의 급전위치(내부, 외부)에 따라 원형편파 (RHCP, LHCP)가 변화 하며, 안테나의 길이 변화에 따른 빔 틸트시 원형편파 특성에 따라 최대 방사 빔 방향이 서로 상이한 방향으로 틸트 됨을 검증하였다. 이러한 한팔 나선 안테나의 전기적인 특징을 이용하여, 단일 안테나로 이중 편파를 갖는 빔 포밍, 다이버시티, 또는 MIMO어플리케이션에 대한 적용 가능성을 확인하였다.

• Ocean and Polar Research
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• 제39권4호
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• pp.293-300
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• 2017

Various approaches have been tried in an effort to improve the power performance of a flapping tidal stream turbine after it was introduced as an alternative to conventional rotary turbines. Among the different approaches, researches on mimicking the morphology and behavior of animals have been conducted. In this study, we utilized a flapper to mimic the multi-joint pectoral fin of a Manta-ray and investigated its effect on power generation. Experiments were conducted by a dual flapping apparatus with rigid and flexible flappers in a towing tank facility. First, in order to determine the conditions that can produce high power generation, the performances of the dual rigid flappers were compared when input arm angles and frequencies are changed, and the two conditions $40^{\circ}$, 0.2 Hz and $40^{\circ}$, 0.3 Hz for the input arm angle, frequency were selected. When the mimicked flexible flapper was used instead of the front rigid flapper and the rear one, the power was improved by an average of 22% and 38% in the experimental conditions, respectively. Moreover, it was recognized from the apparent camber observed during the experiment that the flexible flapper had been successfully applied. If the feasibility of the Manta-Ray mimicked flapper is improved through subsequent researches, the flapping tidal turbine can be a viable alternative to rotary turbines in the near future.

• 제어로봇시스템학회논문지
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• 제22권10호
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• pp.853-858
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• 2016

Cooperation and collaboration with robots are key functions of robotic utility that are currently developing. Thus, robots should be safe and resemble human beings to cope with these needs. In particular, dual-arm robots that mimic human kinetics are becoming the focus of recent industrial robotics research. Their size is similar to the size of a human adult; however, they lack natural, human-like motion. One of the critical reasons for this is the shoulder complex. Most recent dual-arm robots have only 2 degrees of freedoms (DOFs), which significantly limits the workspace and mobility of the shoulders and arms. Therefore, a redundant shoulder complex could be very important in new developments that enable new capabilities. However, constructing a kinematically redundant shoulder complex is difficult because of spatial constraints. Therefore, we propose a novel, redundant shoulder complex for a human-like robot that is driven by flexible wire tendons. This kinematically redundant shoulder complex allows human-like robots to move more naturally because of redundant DOFs. To control the proposed shoulder complex, a hybrid control scheme is used. The positioning precision has also been considered, and the ability of the shoulder complex to perform several human-like motions has been verified.

• 제어로봇시스템학회논문지
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• 제6권2호
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• pp.190-196
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• 2000

A hybrid position/force control scheme to regulate the force and position by dual arms is proposed where two arms are treated as one rm in a kinematic viewpoint. The force error calculated from the information of two force/torque sensors attached to the end of each arm is transferred to minimum configuration space coordinates and then is distributed to total system joint coordinates, The position adjustment at the total con-figuration coordinates is computed based on the effective compliance matrix with respect to total joint coordinates which is obtained by coordinate transformation between the task coordinates and the total joint coordinates. The proposed scheme is applied to sawing task. When the trajectory of the saw is planned to follow a line in a horizontal plane 2 position parameters are to be controlled(i.e., two translational positions) Also a certain level of contact force has to be controlled along the vertical direction(i.e. minus z-direction) not to loose the contact with the object to be sawn. We experimentally show that the performance of the velocity and force response are satisfactory. The proposed hybrid control scheme can be applied to arbitrary two cooperating arm system regardless of their kinematic structure and the number of actuated joints.

• Journal of electromagnetic engineering and science
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• 제13권4호
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• pp.224-232
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• 2013

This paper describes composite cavity-backed crossed scythe-shaped dipoles with wide-beam circularly polarized (CP) radiation for use in Global Navigation Satellite Systems. Each branch of the dipole arm contains a meander line, with the end shaped like a scythe to achieve a significant reduction in the size of the radiator. For dual-band operation, each dipole arm is divided into two branches of different lengths. The dipoles are crossed through a $90^{\circ}$ phase delay line of a vacant-quarter printed ring to achieve CP radiation. The crossed dipoles are incorporated with a cavity-backed reflector to make the CP radiation unidirectional and to improve the CP radiation beamwidth. The proposed antennas have broad impedance matching and 3-dB axial ratio bandwidths, as well as right-hand CP radiation with a wide-beamwidth and high front-to-back ratio.

• 전기전자학회논문지
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• 제16권4호
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• pp.382-388
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• 2012

본 논문에서는 ARM Cortex-A9 듀얼코어 플랫폼에서 지원하는 병렬처리 기법 중 하나인 Advanced SIMD기반의 NEON을 적용한 H.264/AVC 고속화 움직임추정 방법론을 연구하였다. 다양한 움직임추정 방법 중 하나인 전역탐색기법에 NEON을 적용하여 각 매크로블록의 SAD 연산횟수를 1/4 감소시켰다. 해당 매크로블록의 픽셀 값들을 8개의 16bit NEON 레지스터에 할당하였고, NEON에서 지원하는 Intrinsic 함수를 사용하여 동시에 128bit 연산을 수행하였다. 이러한 방법으로 계산된 SAD 값들 중 최소 SAD 값을 가지고 정확한 모션벡터를 선정했다. 그 결과 영상의 크기 및 매크로블록의 크기에 따라 성능이 평균 30% 이상 향상되는 효과를 검증하였다.

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2009년도 춘계 종합학술대회 논문집
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• pp.17-22
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• 2009

다빈치 프로세서는 임베디드 멀티미디어 응용 구현 프로세서로 많이 사용된다. ARM 9 코어 및 DSP 코어의 듀얼 코어로 되어 있어 ARM 코어 에서는 주변 장치 제어, 비디오 입출력 제어, 네트워킹 등을 지원하며, DSP 코어는 보다 효율적인 디지털 신호 처리 연산을 지원한다. 본 논문에서는 본 저자들의 연구실에서 만들고 있는 다빈치 프로세서 기반의 스마트 카메라에 있어서 객체 추적 알고리즘의 최적 구현 방안 노력을 기술한다. 본 논문의 스마트 카메라는 입력 영상에서 관심 객체를 검출하고 이를 추적하며, 분류하고 감시구역에 침입한 경우 이를 IP 프로토콜로 원격 클라이언트에게 통보하는 기능을 보유한다. 객체 추적은 전방 마스크 추출, 전방 마스크 교정, 연결 요소 레이블링, 블롭 지역 계산 등 계산량이 많은 절차들로 구성되어 효율적으로 구현되지 않으면 실시간 처리가 힘들다.

• 대한한방부인과학회지
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• 제28권4호
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• pp.11-20
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• 2015

Objectives The purpose of this study was to examine the relationship between cold hypersensitivity and bone mineral density. Methods 28 outpatients who visited OO University Oriental Hospital from July 11th, 2013 to August 28th, 2013 were analyzed. Patients were subjected to thermometer, and those with thermal difference greater than 0.3 ℃ between upper arm and palm and also with more than VAS 4 of cold hypersensitivity were diagnosed with cold sensitivity. Lumba spine (L2-4) and heel bone measurement were obtained on dual energy X-ray absorptiometry (DEXA) and Quantitative Computed Tomography (QCT). Results 1. There was statistically significant correlation between T-score of DEXA and body weight (0.522), BMI (0.643), OSTA (Osteoporosis elf-assesment Tool for Asians, 0.579), BMI, T-score and Z-score of QCT. OSTA and T-score of QCT (0.521) also had statistically significance. 2. There was no statistically significant correlation between body fat, abdominal obesity rate, degree of cold hypersensitivity, upper arm and palm's temperature difference, palm temperature, height and Z-score, T-score of QCT or T-sore of DEXA. Conclusions Bone mineral density was lower in women who had cold hypersensitivity of hand and feet. But there was no statistically significant correlation between bone mineral density and degree of cold hypersensitivity, upper arm and palm’s temperature difference.