• 제어로봇시스템학회논문지
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• 제16권4호
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• pp.374-380
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• 2010

This paper proposes a wearable interface for a tendon-driven robotic hand prosthesis. The proposed interface is composed of a dataglove to measure finger and wrist joint angle, and a micro-control board with a wireless RF module. The interface is used for posture control of the robotic hand prosthesis. The measured joint angles by the dataglove are transferred to the main controller via the wireless module. The controller works for directly controlling the joint angle of the hand or for recognizing hand postures using a pattern recognition method such as LDA and k-NN. The recognized hand postures in this study are the paper, the rock, the scissors, the precision grasp, and the tip grasp. In experiments, we show the performances of the wearable interface including the pattern recognition method.

• Journal of electromagnetic engineering and science
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• 제15권4호
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• pp.199-205
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• 2015

An electromagnetic band gap (EBG) metamaterial construction is presented. A construction of a multipath mitigating ground plane, based on the EBG metamaterial is described. A method of the ground plane application and installation, which provides the multipath mitigating without spoiling antenna element phase center stability, is suggested and explained. A designed construction of GNSS antenna module, which contains the multipath mitigating ground plane, made from the presented EBG metamaterial and installed in the described way is shown and parameters of the antenna module are provided.

• 대한임베디드공학회논문지
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• 제17권6호
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• pp.347-353
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• 2022

In this paper, we propose a method that performs a text-video retrieval model by replacing video properties using captions. In general, the exisiting embedding-based models consist of both joint embedding space construction and the CNN-based video encoding process, which requires a lot of computation in the training as well as the inference process. To overcome this problem, we introduce a video-captioning module to replace the visual property of video with captions generated by the video-captioning module. To be specific, we adopt the caption generator that converts candidate videos into captions in the inference process, thereby enabling direct comparison between the text given as a query and candidate videos without joint embedding space. Through the experiment, the proposed model successfully reduces the amount of computation and inference time by skipping the visual processing process and joint embedding space construction on two benchmark dataset, MSR-VTT and VATEX.

• 한국정밀공학회지
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• 제28권11호
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• pp.1272-1278
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• 2011

Mechanisms of the robot system should be developed according to the task. In this study, we propose improving adaptability of the robot mechanism with the modularized joint mechanism. Adaptability is the measure of the system ability to cope with change or uncertainty. Modular type joint has been widely used in development of various robots including reconfigurable robots. To build robotic systems more flexibly and quickly with low costs of manufacturing and maintenance, we have designed a modular type joint with one degree of freedom for general purpose. This module is designed to be compact, light-weight and self-controlled. In this design, we consider the kinematics and dynamics properties of the modular type joint.

• 로봇학회논문지
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• 제9권4호
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• pp.264-271
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• 2014

In this study, we have developed the humanoid joint modules which provide a variety of service while living with people in the future home life. The most important requirement is ensuring the safety for humans of the robot system for collaboration with people and providing physical service in dynamic changing environment. Therefore we should construct the mechanism and control system that each joint of the robot should response sensitively and rapidly to fulfill that. In this study, we have analyzed the characteristic of the joint which based on the target constituting the humanoid motion, developed the optimal actuator system which can be controlled based on each joint characteristic, and developed the control system which can control an multi-joint system at a high speed. In particular, in the design of the joint, we have defined back-drivability at the safety perspective and developed an actuator unit to maximize. Therefore we establish a foundation element technology for future commercialization of intelligent service robots.

• 한국산학기술학회논문지
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• 제15권9호
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• pp.5652-5659
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• 2014

소프트웨어를 구성하는 모듈들은 각 모듈에 주어지는 업무들이 동시에 처리될 수 있도록 멀티태스킹이 가능하도록 개발되며, 또한 처리중인 업무들은 완전처리된 업무들과 처리중 모듈고장으로 완전처리 되지 않는 불완전 처리업무로 세분화한다. 이러한 경우 여러 모듈에 동시에 업무가 주어졌을 때, Farlie [11]의 결합확률분포를 기반으로 모듈간의 의존성을 고려하여 업무의 완전처리확률을 평가할 수 있는 모형을 제안하며, 이를 통하여 모듈의존성 모수 값이 커질수록 소프트웨어에 주어진 업무의 완전처리확률은 점점 커짐을 보이고자 한다.

• 전자공학회논문지B
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• 제32B권9호
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• pp.1137-1153
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• 1995

It is not yet possible to solve the optimal number of neurons in hidden layer at neural networks. However, it has been proposed and proved by experiments that there is a limit in increasing the number of neuron in hidden layer, because too much incrememt will cause instability,local minima and large error. This paper proposes a module neural controller with pattern recognition ability to solve the above trade-off problems and to obtain fast learning convergence speed. The proposed neural controller is composed of several module having Multi-layer Perrceptron(MLP). Each module have the less neurons in hidden layer, because it learns only input patterns having a similar learning directions. Experiments with six joint robot manipulator have shown the effectiveness and the feasibility of the proposed the parallel module neural controller with pattern recognition perceptron.

• Current Photovoltaic Research
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• 제7권3호
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• pp.65-70
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• 2019

As a demand of higher power photovoltaic modules, shingled, multi-busbar, half-cell, and bifacial techniques are developed. Multi-busbar module has advantage for large amount of light havesting. And, half-cell is high power module for reducing resistive losses and higher shade tolerance. Recently, researches on multi-busbar is focused on reliability according to adhesion and intermetallic compound between Sn-Pb solder and Ag electrode. And half-cell module is researched to comparing with full-sized cell module for structure difference. In this study, we investigated the factors affecting to efficiency and adhesion of multi-wires half-cell module according to wire thickness, solder thickness, and flux. The results of solar simulator and peel test was that peel strength and efficiency of soldered cell is not related. But samples with flux including high solid material showed high efficiency. The results of FE-SEM and EDX line scan on cross-section between wire and Ag electrode for different flux showed thickness of solder joint between wire and Ag electrode is increasing through solid material increasing. Flux including high solid material would affect to solder behavior on Ag electrode. Higher solid material occurred lower growth of IMC layer because solder permeate to sider of wire ribbon than Ag electrode. And it increased fill factor for high efficiency. In soldering process, amount of solid material in flux and solder thickness are the factor related with characteristic of soldered photovoltaic cell.

• 로봇학회논문지
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• 제6권3호
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• pp.220-229
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• 2011

This paper focuses on a development of an anthropomorphic robot hand. Human hand is able to dexterously grasp and manipulate various objects with not accurate and sufficient, but inaccurate and scarce information of target objects. In order to realize the ability of human hand, we develop a robot hand and introduce a control scheme for stable grasping by using only kinematic information. The developed anthropomorphic robot hand, KITECH Hand, has one thumb and three fingers. Each of them has 4 DOF and a soft hemispherical finger tip for flexible opposition and rolling on object surfaces. In addition to a thumb and finger, it has a palm module composed the non-slip pad to prevent slip phenomena between the object and palm. The introduced control scheme is a quitely simple based on the principle of virtual work, which consists of transposed Jacobian, joint angular position, and velocity obtained by joint angle measurements. During interaction between the robot hand and an object, the developed robot hand shows compliant grasping motions by the back-drivable characteristics of equipped actuator modules. To validate the feasibility of the developed robot hand and introduced control scheme, collective experiments are carried out with the developed robot hand, KITECH Hand.

• Journal of Electrical Engineering and Technology
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• 제13권1호
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• pp.418-429
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• 2018

This paper studies the decentralized position/force control problem for constrained reconfigurable manipulator without torque sensing. A novel joint torque estimation scheme that exploits the existing structural elasticity of the manipulator joint with harmonic drive model is applied for each joint module. Based on the estimated joint torque and dynamic output feedback technique, a decentralized position/force control strategy is presented. In order to solve the problem of controller parameter perturbation, the non-fragile robust technique is introduced into the dynamic output feedback controller. Subsequently, the stability of the closed-loop system is proved using the Lyapunov theory and linear matrix inequality (LMI) technique. Finally, two 2-DOF constrained reconfigurable manipulators with different configurations are applied to verify the effectiveness of the proposed control scheme in numerical simulation.