• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.08a
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• pp.102-112
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• 2004

In this paper, we propose a human model for analysis for human work pattern or human fault, where a gantry crane simulator is used to survey the property of human operation. From the input and output of gantry crane response, we make a human operation model by using conventional ARX identification method. For identify the human model, we assume the eight inputs and two outputs. By using the input/output data, we estimate the parameters of ARX of the human system model. For verify the proposed method, we compared the real data with the modeled data, where three kinds of work trajectory path are used.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.85.4-85
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• 2001

A learning controller is presented for repetitive walking motion of biped robot. The learning control scheme learns the approximate inverse dynamics input of biped walking robot and uses the learned input pattern to generate an input profile of different walking motion from that learnt. In the learning controller, the PID feedback controller takes part in stabilizing the transient response of robot dynamics while the feedforward learning controller plays a role in computing the desired actuator torques for feedforward nonlinear dynamics compensation in steady state. It is shown that all the error signals in the learning control system are bounded and the robot motion trajectory converges to the desired one asymptotically. The proposed learning control scheme is ...

• International Journal of Control, Automation, and Systems
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• v.6 no.2
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• pp.234-242
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• 2008

The purpose of this paper is to verify the practical effectiveness of an interphalangeal coordination-based joint motion planning method for humanoid finger operations. For the purpose, several experiments have been performed and comparative experimental results are shown. Through the experimental works, it is confirmed that according to the employed joint motion planning method, the joint configurations for a finger's trajectory can be planned stably or not, and consequently the actual joint torque command for controlling the finger can be made moderately or not. Finally, this paper analyzes that the interphalangeal coordination-based joint motion planning method is practically useful for implementing a stable finger manipulation. It is remarkably noted that the torque pattern by the method is well-balanced. Therefore, it is expected that the control performance of humanoid or prosthetic fingers can be enhanced by the method.

• Journal of Navigation and Port Research
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• v.29 no.2
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• pp.135-140
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• 2005

In this paper, we propose a human model for analysing the human work pattern or human fault, where a gantry crane simulator is used to survey the property cf human operation From the input and output cf gantry crane response, we make a human operation model by using conventional ARX identification method To identify the human model, we assume the eight inputs and two outputs. By using the achieved input/output data, we estimate the parameters of ARX for the human work model. To verify the proposed method, we compared the real data with the modeled data, where three kinds of work trajectory path are used.

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.552-554
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• 1998

This paper deals with the gait generation of IWR-III using a kick action to have a walking pattern like human. For this, trajectory planning with the consideration of kick action is done in each walking step, and the coordinate transformation is done for simplifying the kinematics. Balancing motion is analyzed by FDM during the walking, By combining 4-types of pre-defined steps, multi-step walking is done. Using numerical simulator, dynamic analysis, ZMP analysis and system stability is confirmed. Walking motion is visualized by 3D- graphic simulator. As a result, trunk ahead motion effect and impactless smooth walking is implemented by experiment. Finally walking with kick action is implemented the IWR-III system.

• Journal of Industrial Technology
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• v.31 no.A
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• pp.129-133
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• 2011

In this paper, a surface mounted permanent magnet synchronous motor(SPMSM) drive system for industrial sewing machine was developed. Even through a lowr-esolution encoder is used for a low cost, using a full order observer enables to estimate accurate speed and position. And it also compensates a disturbance torque caused by the belt between a load and a motor. In order to control precisely stop positions of a needle, a speed trajectory is calculated from the acceleration pattern which is obtained from the position reference. The performance of the developed system is verified by experimental results.

• Phonetics and Speech Sciences
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• v.2 no.4
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• pp.67-74
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• 2010

The purpose of this study was to explore the cross-linguistic difference in the spectral movement pattern of American English and Korean vowels. Eight American vowels /a/, /e/, /$\varepsilon$/, /i/, /I/, /o/, /u/, and /$\mho$/, and five Korean vowels, /a/, /e/, /i/, /o/ and /u/ in a fricative-vowel environment produced by adult speakers of each language were analyzed. The spectral movement patterns of the first two formant frequency values were measured and analyzed. The results showed that Korean vowels had minimal spectral movement, both in F1 and F2 values, as compared to American English vowels. Moreover, no consistent direction of movement was found in the three corner Korean vowels, while American English vowels showed consistent direction of movement for each vowel of the same phonemic category.

• Nuclear Engineering and Technology
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• v.38 no.8
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• pp.793-802
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• 2006

The design concept of a bending magnet to be installed in the KSTAR NBI system is presented. It is the function of a bending magnet that removes unconverted ions from the main beam stream and produces an 8 MW, 120 keV deuterium neutral beam. In order to determine the proper size and shape of the bending magnet, a parametric study on the B-field pattern was carried out by changing the dimensions of the pole face model. In addition, the detailed trajectories of the dominant ion species produced in the beam line were calculated. The electrical and cooling parameters of the coil assembly were also estimated.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.28 no.11
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• pp.1398-1406
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• 2004

The nonlinear signals from an impedance meter for the area average void fraction in two-phase flow have been analyzed to construct a phase space trajectory. The pseudo phase space was constructed with the time delay and proper dimensions. The time delay and the embedding dimension were chosen by the average mutual information and by the false nearest neighborhood, respectively. The attractor-density-map of projected states was used to produce the two dimensional probability distribution functions (2D-PDF). Since the developed 2D-PDF showed clear distinction of the flow patterns, the flow regime identification was made with three rules and with the 2D-PDF. Also, the transition criteria of Mishima-Ishii agree well with the present results.

• Journal of Korea Multimedia Society
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• v.11 no.6
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• pp.807-815
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• 2008

A simple efficient method of spotting and recognizing hand gestures in video is presented using a network of hidden Markov models and dynamic programming search algorithm. The description starts from designing a set of isolated trajectory models which are stochastic and robust enough to characterize highly variable patterns like human motion, handwriting, and speech. Those models are interconnected to form a single big network termed a spotting network or a spotter that models a continuous stream of gestures and non-gestures as well. The inference over the model is based on dynamic programming. The proposed model is highly efficient and can readily be extended to a variety of recurrent pattern recognition tasks. The test result without any engineering has shown the potential for practical application. At the end of the paper we add some related experimental result that has been obtained using a different model - dynamic Bayesian network - which is also a type of stochastic model.