• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.382-387
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• 1992

In order to obtain desired arc welding performance, we already developed an arc welding robot system that enabled coordinated motions of dual arm robots. In this system one robot arm holds a welding target as a positioning device, and the other robot moves the welding torch. Concerning to such a dual arm robot system, the positioning accuracy of robots is one important problem, since nowadays conventional industrial robots unfortunately don't have enough absolute accuracy in position. In order to cope with this problem, our robot system employed teaching playback method, where absolute error are compensated by the operator's visual feedback. Due to this system, an ideal arc welding considering the posture of the welding target and the directions of the gravity has become possible. Another problem still remains, while we developed an original teaching method of the dual arm robots with coordinated motions. The problem is that manual teaching tasks are still tedious since they need fine movements with intensive attentions. Therefore, we developed a 3-dimensional vision guided robot control method for our welding robot system with coordinated motions. In this paper we show our 3-dimensional vision sensor to guide our arc welding robot system with coordinated motions. A sensing device is compactly designed and is mounted on the tip of the arc welding robot. The sensor detects the 3-dimensional shape of groove on the target work which needs to be weld. And the welding robot is controlled to trace the grooves with accuracy. The principle of the 3-dimensional measurement is depend on the slit-ray projection method. In order to realize a slit-ray projection method, two laser slit-ray projectors and one CCD TV camera are compactly mounted. Tactful image processing enabled 3-dimensional data processing without suffering from disturbance lights. The 3-dimensional information of the target groove is combined with the rough teaching data they are given by the operator in advance. Therefore, the teaching tasks are simplified

• The Transactions of the Korean Institute of Power Electronics
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• v.9 no.4
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• pp.311-318
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• 2004

Generally, PM BLDC drive system is necessary that the three Hall-ICs evenly be distributed around the stator circumference and encoder installed in case of the 3 phase motor. The Hall-ICs are set up in this motor to detect the main flux from the rotor. So the output signal from Hall-ICs is used to drive a power transistor to control the stator winding current. Instead of using three Hall-ICs and encoder, this paper uses only two Hall-ICs for the permanent magnet rotor position and for the speed feedback signals, and uses a micro controller of 16-bit type(80C196KC) with the 3 phase PM BLDC whose six stator and two rotor designed. Two Hall-IC Hc and $H_B$ are placed on the endplate at 120 degree phase difference. With these elements, we estimate information of the other phase in sequence through a rotating rotor.

• Physical Therapy Korea
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• v.24 no.1
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• pp.1-8
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• 2017

Background: The multiple hop test is an active performance test that has been commonly used to assess individuals with functional ankle instability. Previous studies have suggested that insufficiency of dynamic postural stability and passive stability during dynamic activities can have an influence on performance in the multiple hop test. However, no study has investigated the effects of dynamic postural stability training and ankle bracing on multiple hop test performance in individuals with functional ankle instability. Objects: The purpose of this study was to compare the immediate effects of dynamic postural stability training versus ankle bracing in the performance of the multiple hop test for participants with functional ankle instability. Methods: Twenty-nine participants with functional ankle instability who scored below 24 in the Cumberland Ankle Instability Tool were selected. The participants were randomly divided into two groups: a dynamic postural stability training group (n1=14) and an ankle bracing control group ($n_2=15$). The multiple hop tests were performed before and after applying each intervention. Dynamic postural stability training was performed using visual-feedback-based balance-training equipment; participants in this group were asked to perform a heel raise in a standing position while watching the centering of their forefoot pressure to prevent excessive ankle inversion. Ankle bracing was applied in the control group. Results: When comparing the pre- and post-intervention period for both groups, both methods significantly improved the results of the multiple hop test (p<.05). However, no significant differences were shown between the dynamic postural stability training and ankle bracing groups (p>.05). Conclusion: Both dynamic postural stability training and ankle bracing showed significant improvement (2.85 seconds and 2.05 seconds, respectively) in test performance. Further study is needed to determine the long-term effects of dynamic postural stability training and to determine whether insufficient dynamic postural stability is a causative factor for functional ankle instability.

• Journal of Navigation and Port Research
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• v.31 no.5 s.121
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• pp.325-332
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• 2007

This study develops a control algorithm on berthing/unberthing system using a joystick for ships with thrusters and a rudder. A nonlinear mathematical model for low speed maneuvering of typical container ships is used to develop a MIMO(multi-input multi-output) nonlinear control algorithm for velocity feedback joystick control. Also a virtual HILS(hardware in the loop simulation) software program for berthing/unberthing is developed to test the performance of the nonlinear and a PID control algorithm. The program is developed using LabWindow/CVI, and a user can see current position and desired trajectory of ship in a monitor, then he can control forward and yaw velocities of a ship using a joystick. The simulation results show that the nonlinear mfd the PID controller have superior performance over a simple open loop joystick control algorithm.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.12
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• pp.174-181
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• 2004

Ultra precision positioning mechanism has widely been used on semiconductor manufacturing equipments, optical spectrum analyzer and cell manipulations. Ultra precision positioning mechanism is consisted of several actuators, sensors, guides and control systems. Its efficiency depends on each performance of components. The object of this study is to design, analysis and manufacture all of the inchworm linear motor system, which is one of the equipments embodied in ultra precision positioning mechanism. Inchworm linear motor system is consisted of a controller system and an inchworm linear motor, and its driving form is similar to a motion of spanworm. A design and manufacture of inchworm linear motor, which is consisted of three PZT actuators, a rod, two columns and a guide plate, are performed. Minimizing the von-Mises stress of the hinge using Taguchi method and simulation by FEM software optimizes the structural design in a column of flexure hinge. The designed columns and guide plates are manufactured by a W-EDM and NC-milling. A controller system, which is an apparatus to drive inchworm linear motor, can easily adjust driving conditions by varying resonance frequency and input-output voltage of actuators and amplifiers. The performance of manufactured inchworm linear motor system is verified and valuated. In the future, inchworm linear motor system will be used to make a more precision positioning by reinforcing a sensor and feedback system.

• Journal of Navigation and Port Research
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• v.31 no.6
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• pp.515-521
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• 2007

To increase the stevedore efficiency and service level at container terminal, it is essential to reduce working time of container crane which has a bottle neck in the logistic flow of container. The working speed and safety are required to be improved by controlling the movement of the trolley as quick as possible without big overshoot and any residual swing motion of container in the vicinity of target position. This paper presents optimal state feedback control using RCGAs in the case of existing constrained conditions

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.3
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• pp.264-273
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• 2010

In this work, autonomous formation flight tests of multiple UAVs are experimentally studied. After a guidance and control system for a UAV is designed and tested, PID formation controller for follower UAV is tested using longitudinal and lateral distance feedback. It is shown that more stable and efficient formation guidance system is obtained by using position and attitude of the leader aircraft, which is exploited to calculate virtual waypoint for follower. In order to improve transient response during turn, part of roll command of the leader is added to the guidance command. Finally, autonomous formation flight test results of 3 UAVs are shown by using the best guidance algorithm suggested.

• Journal of Digital Convergence
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• v.18 no.10
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• pp.397-402
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• 2020

Hologram can be categorized into analog and digital hologram but there's a clear limitation in expensive equipment and content realization for ordinary people to realize. In addition, it's required to conduct study on hologram contents with interaction added, escaping out of exiting stable format like endlessly repetitive contents or passive view through specific video. Therefore, this article aims to suggest fusion image system, especially focusing on floating hologram among similar holograms. Eight elements of hologram interaction are as follows: height of camera in a three-dimensional space, interval between 3D model, overlapped model, scale, animation, position, color and 3D model change. For the floating hologram, the audience can control by themselves in real time, the popular, active hologram contents-making methodology is suggested by making the best use of fusion image system and making floating hologram easily without using expensive hologram equipment. The image system developed in actual exhibition and feedback should be complemented to develop better hologram image system.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.2
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• pp.349-353
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• 2016

The purpose of this study was to investigate possible age differences in the attenuation of acceleration in the upper body (from pelvis through shoulder to head) during fast walking. Thirty young and 29 elderly subjects participated in this study. Wireless acceleration sensors were attached on head, shoulder, and pelvis. Subjects performed two trials of fast walking on a treadmill, where the fast speed was defined as 1.5 times of the comfortable speed. Root-mean-squared (RMS) accelerations of each axis were compared with age group and sensor position as independent factors. In the AP direction, the pelvis acceleration was greater in the young and the shoulder-to-head attenuation was also greater in the young (p<0.001), so that the head acceleration was comparable between age groups (p=0.581). In the ML direction, the pelvis acceleration was greater in the young and also the pelvis-to-shoulder attenuation was greater in the young (p<0.001), so that the head acceleration was greater in the elderly group (p<0.001). Insufficient attenuation ML acceleration in the elderly resulting in the greater acceleration in the head may deteriorate the balance control which utilize feedback signals from the sensory organs in head, e.g., vestibular and visual systems.

• International Journal of Automotive Technology
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• v.8 no.4
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• pp.437-444
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• 2007

This paper experimentally investigates the effects of oxygen-enriched air (OEA) on the running behaviors of an LPG SI engine during both start/warm-up (SW) and hot idling (HI) stages. The experiments were performed on an air-cooled, single-cylinder, 4-stroke, LPG SI engine with an electronic fuel injection system and an electrically-heated oxygen sensor. OEA containing 23% and 25% oxygen (by volume) was supplied for the experiments. The throttle position was fixed at that of idle condition. A fueling strategy was used as following: the fuel injection pulse width (FIPW) in the first cycle of injection was set 5.05 ms, and 2.6 ms in the subsequent cycles till the achieving of closed-loop control. In closed-loop mode, the FIPW was adjusted by the ECU in terms of the oxygen sensor feedback. Instantaneous engine speed, cylinder pressure, engine-out time-resolved HC, CO and NOx emissions and excess air coefficient (EAC) were measured and compared to the intake air baseline (ambient air, 21% oxygen). The results show that during SW stage, with the increase in the oxygen concentration in the intake air, the EAC of the mixture is much closer to the stoichiometric one and more oxygen is made available for oxidation, which results in evidently-improved combustion. The ignition in the first firing cycle starts earlier and peak pressure and maximum heat release rate both notably increase. The maximum engine speed is elevated and HC and CO emissions are reduced considerably. The percent reductions in HC emissions are about 48% and 68% in CO emissions about 52% and 78%; with 23% and 25% OEA, respectively, compared to ambient air. During HI stage, with OEA, the fuel amount per cycle increases due to closed-loop control, the engine speed rises, and speed stability is improved. The HC emissions notably decrease: about 60% and 80% with 23% and 25% OEA, respectively, compared to ambient air. The CO emissions remain at the same low level as with ambient air. During both SW and HI stages, intake air oxygen enrichment causes the delay of spark timing and the increased NOx emissions.