• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.241-249
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• 2002

In this paper, a self-organizing fuzzy controller(SOFC) for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy login composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed SOFC scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for robot with tow joints.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.69.2-69
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• 2001

This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. Robotic manipulators have become increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking are indispensable capabilities for their versatile application. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C31 is used in implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme, the networks introduced are neural nets with dynamic neurons, whose dynamics are distributed over all the network nodes.

• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.16-24
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• 2022

This paper presents a method that can reduce the computational cost of the hierarchical quadratic programming (HQP)-based robot controller. Hierarchical controllers can effectively manage articulated robots with many degrees of freedom (DoFs) to perform multiple tasks. The HQP-based controller is one of the generic hierarchical controllers that can provide a control solution guaranteeing strict task priority while handling numerous equality and inequality constraints. However, according to a large amount of computation, it can be a burden to use it for real-time control. Therefore, for practical use of the HQP, we propose a method to reduce the computational cost by decreasing the size of the decision variable. The computation time and control performance of the proposed method are evaluated by real robot experiments with a 15 DoFs dual-arm manipulator.

• Journal of the Korea Society of Computer and Information
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• v.18 no.12
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• pp.1-9
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• 2013

Even though the multiple pages TLB are effective in improving the performance, a conventional method with OS support cannot utilize multiple page sizes in user application. Thus, we propose a new multiple-TLB structure supporting multiple page sizes for high performance and low power consumption without any operating system support. The proposed TLB is organised as two parts of a S-TLB(Small TLB) with a small page size and a L-TLB(Large TLB) with a large page size. Both are designed as fully associative bank structures. The S-TLB stores small pages are evicted from the L-TLB, and the L-TLB stores large pages including a small page generated by the CPU. Each one bank module of S-TLB and L-TLB can be selectively accessed base on particular one and two bits of the virtual address generated from CPU, respectively. Energy savings are achieved by reducing the number of entries accessed at a time. Also, this paper proposed the simple 1-bit LRU policy to improve the performance. The proposed LRU policy can present recently referenced block by using an additional one bit of each entry on TLBs. This method can simply select a least recently used page from the L-TLB. According to the simulation results, the proposed TLB can reduce Energy * Delay by about 76%, 57%, and 6% compared with a fully associative TLB, a ARM TLB, and a Dual TLB, respectively.

• Journal of Nutrition and Health
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• v.39 no.7
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• pp.661-673
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• 2006

Ssireum, the traditional Korean sport, is very popular at both amateur and professional levels. Ssireum players are prone to be obese which related to the chronic disease in their later life. The purpose of the study was to compare the anthropometric measurements, quality of diet, and blood parameters of Ssireum players with those of subjects who were matched body mass index, gender and age. Participants in the 3 groups, Ssireum players (SP, n=15), regular moderate exerciser (RME, n=15, >3 times /wk, >20 min/time) and intermittent light exerciser (ILE, n=14) groups. Anthropometric measurements included height, weight, fat mass (by Dual energy X-ray absorptiometry), lean body mass, triceps and thigh skin-fold thickness, mid-arm, waist, hip and thigh circumference. Dietary assessments were accomplished using 3-days food records, diet quality index (DQI), dietary variety score (DVS). Blood levels of lipids, leptin and insulin were analyzed. As a results lean body mass and mid-arm circumference were significantly higher in Ssireum players than those of other groups (p<0.01). Total body fat, trunk fat, abdominal skin fold thickness and waist-hip ratio were significantly lower in SP group than those of other groups (p<0.01). DVS were higher however, dietary quality was low in Ssireum players than in other groups. There were no differences among the 3 groups in regard to blood total cholesterol, LDL-cholesterol and glucose levels however, leptin level was low in Ssireum players. These results indicate that Ssireum players had significantly higher lean body mess and lower body fat when these were compared with regular moderate exerciser and intermittent light exerciser. Blood leptin levels of Ssireum players were low but blood lipid profiles were not significantly different.

• Bulletin of the Korean Chemical Society
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• v.34 no.12
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• pp.3681-3689
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• 2013

This study explored a direct SET-photochemical strategy to construct a new family of thioene conjugated-naphthalamide fluorophore based lariat-crown ethers which show strong binding properties towards heavy metal ions. Irradiations of designed nitrogen branched (trimethylsilyl)methylthio-terminated polyethylenoxy-tethered naphthalimides in acidic methanol solutions have led to highly efficient photocyclization reactions to generate naphthalamide based lariat type thiadiazacrown ethers directly in chemo- and regio-selective manners which undergo very facile secondary dehydration reactions during separation processes to produce their corresponding amidoenethio ether cyclic products tethered with electron donating diethyleneoxy- and diethyenethio-side arm chains. Fluorescence and metal cation binding properties of the lariat type enamidothio products were examined. The photocyclized amidoenethio products, thioene conjugated naphthalamide fluorophore containing lariat-thiadiazacrowns exhibited strong fluorescence emissions in region of 330-450 nm along with intramolecular exciplex emissions in region of 450-560 nm with their maxima at 508 nm. Divalent cation $Hg^{2+}$ and $Pb^{2+}$ showed strong binding to sulfur atom(s) in side arm chain and atoms in enethiadiazacrown ether rings which led to significant enhancement of fluorescence from its chromophore singlet excited state and concomitant quenching of exciplex emission. The dual fluorescence emission responses towards divalent cations might provide a new guide for design and development of fluorescence sensors for detecting those metals.

• Journal of the Korean Society of Clothing and Textiles
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• v.35 no.2
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• pp.146-155
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• 2011

This study examines the design characteristics of figure skating costumes by a content analysis of their design elements. The content analysis method for the study was used based on 185 photos of female figure skaters. A total of 218 coding units in 15 categories were used. In the category of color, unicolor costumes were the mainstay and represented 48.11% of the total costumes. Black costumes showed the highest rate (13.51%), followed by red (7.57%) and blue (7.03%). In the dual-color costumes, combinations of red and black and white and black, represented 4.32% of all costumes. A camisole was the most popular type of neckline (20.54%). Stand collars with neck decorations were found in 5.95% of the costumes. In addition, 98.2% of all figure skating costumes had decorations (crystal beads 21.86% were the most frequently used decoration type), 65.41% exposed all the shoulders and arms, 70.81% of the costumes did not have sleeves, 5.41% of the costumes had arm decorations, and 3.78% had wrist decorations. In the analysis of the hem of skirts, 32.40% had a curved line, 30.73% had a straight line, and 15.08% had an unrecognizable form. In general, the figure skating costumes have stand collars with neck decorations, arm and wrist decorations, and irregular skirt hems that are not found in everyday dresses. To emphasize and intensify a theatrical effect, the costumes were fabulously decorated with spangles, crystal beads, feathers, and lace; black, red, and blue were frequently used. The skirts had frills, fringe, flared lines, and beads on them to reflect the stage lights and emphasize movements.

• Proceedings of the Korea Contents Association Conference
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• 2008.05a
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• pp.116-120
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• 2008

Smart Camera provides intelligent vision functionalities which can interpret captured video, extract context-aware information and execute a necessary action in real-timeliness in addition to the functionality of network cameras which transmit the compressed acquired videos through networks. Intelligent vision algorithms demand tremendous computations so that real-time processing of computation of intelligent vision algorithms as well as compression and transmission of videos simultaneously is too much burden for a single CPU. Davinci processor of Texas Instruments is a popular ASSP(Application Specific Standard Product) which has dual core architecture of ARM core and DSP core and provides various I/O interfaces as well as networking interface and video acquiring interface necessary for developing digital video embedded applications. In this paper, we report the results of designing and implementing S/W for Davinci-based smart camera. We implement a face detection as an example of vision application and verify the implementation works well. In the future, for the development of a smart camera with more broad and real-time vision functionalities, it is necessary to study about more efficient vision application S/W architecture and optimization of vision algorithms on DSP core of Davichi processor.

• Nutrition Research and Practice
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• v.13 no.6
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• pp.488-497
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• 2019

BACKGROUND/OBJECTIVES: There are various factors that affect metabolic abnormalities related to obesity. The purpose of this study is to analyze the differences in dietary intakes and body compositions of obese women according to metabolic risks and to classify them as metabolically healthy obese (MHO) or metabolically abnormal obese (MAO). SUBJECTS/METHODS: This study was conducted on 59 obese Korean women aged 19 to 60 years. NCEP-ATPIII criteria were applied and the women classified as MHO (n = 45) or MAO (n = 14). Body composition of each subject was measured by using dual-energy x-ray absorptiometry (DEXA). Three-day food records were used to analyze dietary intake. Eating habits and health-related behaviors were determined through questionnaires. Indirect calorimetry was used to measure resting metabolic rate and respiratory rate. RESULTS: The average age of the subjects was 43.7 years. The analysis of body composition according to phenotype revealed significantly higher body fat mass (P < 0.05), arm fat mass (P < 0.05), and android fat mass (P < 0.05), as measured by DEXA, in the MAO group than in the MHO group. There was no significant difference in the dietary intake of the two groups. However, eating behaviors differed. Compared to the MHO group, the MAO women had a shorter meal time (less than 10 minutes), a preference of oily foods, and a tendency to eat until full. Therefore, the eating habits of MHO women were more positive than those of MAO women. CONCLUSIONS: The results suggest that fat distribution in each body region affects various metabolic abnormalities. A high level of arm fat mass in obese Korean women may increase metabolic risk. In addition, eating habits of obese Korean women are considered to be environmental factors affecting the metabolic phenotype of obese Korean women.

• The Transactions of the Korean Institute of Power Electronics
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• v.26 no.3
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• pp.192-198
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• 2021

The battery's State of Health (SOH) is a critical parameter in the process of battery use, as it represents the Remaining Useful Life (RUL) of the battery. Electrochemical Impedance Spectroscopy (EIS) is a widely used technique in observing the state of the battery. The measured impedance at certain frequencies can be used to evaluate the state of the battery, as it is intimately tied to the underlying chemical reactions. In this work, a low-cost portable EIS instrument is developed on the basis of the ARM Cortex-M4 Microcontroller Unit (MCU) for measuring the impedance spectrum of Li-ion battery packs. The MCU uses a built-in DAC module to generate the sinusoidal sweep perturbation signal. Moreover, it performs the dual-channel acquisition of voltage and current signals, calculates impedance using a Digital Lock-in Amplifier (DLA), and transmits the result to a PC. By using LabVIEW, an interface was developed with the real-time display of the EIS information. The developed instrument was suitable for measuring the impedance spectrum of the battery pack up to 1000 V. The measurement frequency range of the instrument was from 1 hz to 1 Khz. Then, to prove the performance of the developed system, the impedance of a Samsung SM3 battery pack and a Bexel pouch module were measured and compared with those obtained by the commercial instrument.