• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.127-134
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• 2023

Recently, various input shapers have been introduced to reduce residual vibrations of flexible robots. However, there have been no studies on the design of an input shaper that can suppress residual vibration at an arbitrarily specified duration. In this paper, a novel input shaper called an SD (specified-duration) shaper is proposed for an undamped or underdamped system, which can suppress residual vibration at an arbitrarily given specified duration. If the specified duration is larger than a half period, a positive SD shaper composed of all positive impulses is designed, and if the specified duration is smaller than a half period, a negative SD shaper including a negative impulse is designed. As the specified duration is increased every half period after a half period, the number of impulses of the positive SD shaper is increased one by one, and the robustness of the SD shaper to modeling errors is increased. The performance of the SD shaper is analyzed through simulation studies for an undamped and underdamped second-order systems. The validity of the SD shapers is demonstrated experimentally using an experimental device that can generate container transport motions.

• Journal of Korean Library and Information Science Society
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• v.31 no.1
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• pp.87-114
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• 2000

The purpose of this study is offering appropriate system and training program to helf the system designer and the trainer in addition to analyze information use behavior about the web search tools and evaluate the estimated system by user groups. The results of the study are as follows $\circledS1$ It is desirable to consider age than other demographic variables in the case of web search tool. $\circledS2$ It is desirable to design Directory Search Tool in the case of web search tool which serves the student user group. $\circledS3$ An Intelligent Search Tool is more appropriate for the students who are using keyword search tool than any other tools. $\circledS4$ A discussion about standard classification of the web information should be accomplished soon because users feel confused in using web search tools due t o absence of standard mode of classification about classified item. $\circledS5$ Librarians need the cognition about data on internet s a source of information and need positive service and user training program about these information because student users hardly get help from librarians or library orientation for learning method to use web search tool. $\circledS6$ Internet use experience and years of computer use had effect on their use ability when using web search tool, whereas computer use experience, library use experience and Online Public Access Catalogs (OPAC) use experience had no effect on it. Especially, OPAC use experience had no effect on use ability of web search tool of student user group because student user groups had no information about internet and web search tool and they did not recognized the difference about search method between web search tool and OPAC. $\circledS7$In the case of web search tool, it si important to index the increasing web resource automatically by a searching robot. But in the case of student users, web search tool is much more needed to index by index expert due to the absence of ability about selecting and combining keyword.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.46 no.1
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• pp.71-78
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• 2009

Sound source localization systems in service robot applications estimate the direction of a human voice. Time delay information obtained from a few separate microphones is widely used for the estimation of the sound direction. Correlation is computed in order to calculate the time delay between two signals. In addition, PHAT weighting function can be applied to significantly improve the accuracy of the estimation. However, FFT and IFFT operations in the PHAT weighting function occupy more than half of the area of the sound source localization system. Thus efficient FFT and IFFT designs are essential for the IP implementation of sound source localization system. In this paper, we propose an efficient FFT/IFFT design method based on the characteristics of human voice.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.45 no.6
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• pp.1-9
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• 2008

This paper presents transmission parameters of DH(Dog-Horse) systems based on IEEE802.16e(WiBro) systems. DH requires higher uplink multimedia data rate, which is different from commercial WiBro systems. This paper designes some transmission parameters satisfying the DH system requirements and demonstrates link performance evaluation based on the parameters. For the transmission parameters, the number dwon/up link OFDM symbols are determined by 6/30, respectively. For reliable transmission of control signals, downlink modulation and coding rate are selected by QPSK, 1/2 coding rate and that of uplink is chosen by 16QAM 1/2 and 3/4 coding rate. Based on these parameters, computer simulations demonstrate the system performance of DH system.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.5
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• pp.343-354
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• 2020

Bi-stable mechanism is a system that has two different stable equilibrium positions within its range of motion. It has an ability to stay in two different positions without external power input and despite small disturbances. One of the most bi-stable applied mechanism is a morphing system, such as deployable structures, switch systems, and robot grippers. However, due to the complexity of mechanism and limitation of structure configuration, it is difficult to apply on a morphing system with rotating link mechanism. In this paper, an implementation method of rotational bi-stable mechanism using cylindrical permanent magnets is proposed. The magnetic field and the magnetic force were calculated from electromagnet model of the cylindrical permanent magnet. Based on the model, the force relation between two links containing the cylindrical permanent magnets was estimated. An array of cylindrical permanent magnets was selected for symmetric bi-stability, and an experiment on the link structure with the proposed bi-stable mechanism was performed to investigate the stability against a external torque.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.8 no.5
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• pp.1690-1710
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• 2014

In this paper, we propose the rapid implementation of a 3-dimensional (3D) facial reconstruction from a single frontal face image and introduce a design for its application on a mobile device. The proposed system can effectively reconstruct human faces in 3D using an approach robust to lighting conditions, and a fast method based on a Canonical Correlation Analysis (CCA) algorithm to estimate the depth. The reconstruction system is built by first creating 3D facial mapping from a personal identity vector of a face image. This mapping is then applied to real-world images captured with a built-in camera on a mobile device to form the corresponding 3D depth information. Finally, the facial texture from the face image is extracted and added to the reconstruction results. Experiments with an Android phone show that the implementation of this system as an Android application performs well. The advantage of the proposed method is an easy 3D reconstruction of almost all facial images captured in the real world with a fast computation. This has been clearly demonstrated in the Android application, which requires only a short time to reconstruct the 3D depth map.

• Physical Therapy Rehabilitation Science
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• v.11 no.4
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• pp.478-487
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• 2022

Objective: This study was conducted to analyze the effect of wearable complex muscle support system on energy efficiency during walking in elderly. Design: Cross sectional study Methods: Twenty healthy elderly participated in this study. All subjects performed a 6 minuteswalk test(6MWT) and stair climbing test in dual, slack and no suit conditions. In each condition, oxygen consumption(VO₂), metabolic equivalents(METs), energy expenditure measures(EEm), physiological cost index(PCI), walking velocity and heartrate were measured. Through repeated measured ANOVA, it was investigated whether there was a statistically significant difference in the measurement results between the three conditions. Results: In over-ground walking, VO₂, METs and EEm showed significant differences between no suit and slack conditions(p<0.05). In stair climbing, VO₂ showed significant difference between slack and dual conditions(p<0.05). Also, METs and EEm showed significant differences between no suit and slack, and between slack and dual conditions(p<0.05). Conclusions: Wearing the wearable complex muscle support system for elderly does not have much benefit in energy metabolism efficiency in over-ground, but there is a benefit in stair walking.

• Journal of the Korea Society of Computer and Information
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• v.14 no.11
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• pp.113-121
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• 2009

The increasing interest in leisure activities of a five-day work per week has been recently prevailed. Additionally, as internet and mobile infrastructures have been becoming widespread, the user can get specific information using a search engine. However, it is difficult for the user to get accurate information they really want as shared information has been rapidly increased and the information has been searched. For example, users can retrieve required travel information, but they also must see a huge number of travel advertisements. In this paper, we design and implement a retrieval system using travel information collecting agent. The information gathering agent regularly visits travel-related category pages of the portal sites and major media travel-article pages to collect information related to travel, and the agent stores the gathered information to a database. Then, users can search the travel information conveniently without the need to view advertisements.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.11
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• pp.151-159
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• 2016

This paper proposes a ceramic heating element-based tankless instant electric water heater for hand/face washing that does not require a lot of hot water. The heating module, which heats the input water and outputs hot water, operates the ceramic heating element detecting input water using a flow sensor. Inside of the heating module is designed to form one flow path in order to get almost $15^{\circ}C$ increased heated water compared to the input water temperature within 2 second after 1.5 liter per minute water supply. The design validity is verified using a heat flow analysis of the water flow and temperature variations inside of the heating module also. Based on the design data, the heating module is constructed including a single rod-type ceramic heating element. After that, a prototype system having temperature setting function by three steps were constructed. The prototype system is connected to a 1.5 liter per minute water supply line, and the water output temperature and time measurement experiments confirmed that the proposed system output the heated water increased by $18.3^{\circ}C$ in case of third step setting within 2 second after water supply. And standby power is under 1 W and peak power does not exceed the permissible range for the general house usage. Several performance results verify that the proposed tankless instant electric water heater is applicable for the washstand of the house, highway rest area and factory so on as winter-time hand/face washing.

• Journal of Astronomy and Space Sciences
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• v.29 no.4
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• pp.381-387
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• 2012

The planetary exploration rover executes various missions after moving to the target point in an unknown environment in the shortest distance. Such missions include the researches for geological and climatic conditions as well as the existence of water or living creatures. If there is any obstacle on the way, it is detected by such sensors as ultrasonic sensor, infrared light sensor, stereo vision, and laser ranger finder. After the obtained data is transferred to the main controller of the rover, decisions can be made to either overcome or avoid the obstacle on the way based on the operating algorithm of the rover. All the planetary exploration rovers which have been developed until now receive the information of the height or width of the obstacle from such sensors before analyzing it in order to find out whether it is possible to overcome the obstacle or not. If it is decided to be better to overcome the obstacle in terms of the operating safety and the electric consumption of the rover, it is generally made to overcome it. Therefore, for the purpose of carrying out the planetary exploration task, it is necessary to design the proper suspension system of the rover which enables it to safely overcome any obstacle on the way on the surface in any unknown environment. This study focuses on the design of the new double 4-bar linkage type of suspension system applied to the Korea Aerospace Research Institute rover (a tentatively name) that is currently in the process of development by our institute in order to develop the planetary exploration rover which absolutely requires the capacity of overcoming any obstacle. Throughout this study, the negative moment which harms the capacity of the rover for overcoming an obstacle was induced through the dynamical modeling process for the rocker-bogie applied to the Mars exploration rover of the US and the improved version of rocker-bogie as well as the suggested double 4-bar linkage type of suspension system. Also, based on the height of the obstacle, a simulation was carried out for the negative moment of the suspension system before the excellence of the suspension system suggested through the comparison of responding characteristics was proved.