• Transactions of the Korean Society of Mechanical Engineers A
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• 제34권6호
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• pp.659-665
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• 2010

This paper proposes a control algorithm for quadruped robots moving on irregularly sloped uneven surfaces. Since the body balance of a quadruped robot is controlled by the forces acting on its feet during touchdown, the ground reaction force (GRF) is controlled for stable running. The desired GRF for each foot is generated on the basis of the desired galloping pattern; this GRF is then compared with the actual contact force. The difference between the two forces is used to modify the foot trajectory. The desired force is realized by considering a combination of the rate change of the angular and linear momenta at flight. Then, the amplitude of the GRF to be applied at each foot in order to achieve the desired linear and angular momenta is determined by fuzzy logic. Dynamic simulations of galloping motion were performed using RecurDyn; these simulations show that the proposed control method can be used to achieve stable galloping for a quadruped robot on irregularly sloped uneven surfaces.

• Journal of the Institute of Electronics Engineers of Korea SC
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• 제39권5호
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• pp.1-7
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• 2002

In this paper, an extended type of a direct learning control(DLC) method is proposed for the effective control of systems which perform a given task repetitively. DLC methods have been suggested to overcome the defects of iterative learning control, the learning process should be resumed from the beginning even if a slight change occurs in the desired output pattern. If a given desired output trajectory is "proportional" to the output trajectories which are learned previously, we can obtain the desired control input directly without the iterative learning process by using the DLC. First, most existing DLC methods are shown to be applicable only to single-input single-output systems with the relative degree one and then, an extended type of DLC is proposed for a class of nonlinear systems having the relative degree more than or equal to one by using the known relative degree of a nonlinear system. By the simulation results for the arbitrary nonlinear system with the relative degree more than one, the validity and the performance of the proposed DLC method are examined.

• Journal of radiological science and technology
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• 제25권1호
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• pp.55-62
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• 2002

Aneurysm-mimicking findings were frequently visualized due to hemodynamical causes of dephasing effects around area of A-com artery during magnetic resonance angiography(MRA) and these kind of phenomena have not been clearly known yet. We investigated the hemodynamical patterns of dephasing effect around area of the A-com artery that might be a cause of false intracranial aneurysms on MRA. For experimental study, We used hand-made silicon phantoms of the asymmetric A-com artery as like a bifurcation configuration. In a closed circulatory system with UHDC computer driven cardiac pump system. MRA and fast digital subfraction angiography(DSA) involved the use of these phantoms. Flow patterns were evaluated with axial and coronal imaging of MRA(2D-TOF, 3D-TOF) and DSA of Phantoms constructed from an automated closed-type circulatory system filled with glycerol solution [circulation fluid(glycerol:water = 1:1.4)]. These findings were then compared with those obtained from computational fluid dynamic(CFD) for inter-experimental correlation study. Imaging findings of MRA, DSA and CFD on inflow zone according to the following: a) MRA demonstrated high signal intensity zone as inflow zone on silicon phantom; b) Patterns of DSA were well matched with MRA on trajectory of inflow zone; and c) CFD were well matched with MRA on the pattern of main flow. Imaging findings of MRA. DSA and CFD on turbulent flow zone according to the following: a) MRA demonstrated hyposignal intensity zone at shoulder and axillar zone of main inflow; b) DSA delineated prominent vortex flow at the same area. The hemodynamical causes of signal defect, which could Induce the false aneurysm on MRA, turned out to be dephasing effects at axilla area of bifurcation from turbulent flow as the results of MRA, DSA and CFD.

• The Journal of Korean Academy of Prosthodontics
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• 제27권2호
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• pp.143-154
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• 1989

The purpose of this study was to investigate the mandibular opening and closing movements at mandibular incisor region and clinical rest position in normal subject using the newly developed electric mandibular movement analyzing device, (M.K.G.-K6 diagnostic system, Myo-tronics Inc. Seattle, WA, U.S.A.) The 58 normal subjects, who were students of the College of Dentistry, Chonbuk National University, were selected according to sampling criteria. The obtained results were as follows: 1. There was no significant difference of distribution of opening and closing movement patterns at mandibular incisor region between male and female. There was significant difference between habitual and maximum movement patterns both in sagittal and frontal plane. 2. Although the percentage of distribution of crossover pattern was highest in all cases, but there were significant differences between patterns only at habitual opening and closing movement in sagittal plane. 3. The mean of maximum opening was $47.29{\pm}4.68mm$ in male and $42.15{\pm}4.95mm$ in female. Therefore the mean of maximum opening was larger in male than in female. 4. The mean of maximum laterotrusion in frontal trajectory was larger to the left than to the right. Also the proportion of left deviation at maximum opening position was larger than that of other cases. 5. The mean of maximum opening and closing velocity was higher in male than in female and the mean of closing velocity was higher than that of opening velocity. Also the amount of separation from the centric occlusion was higher in maximum closing velocity than in maximum opening velocity. 6. Clinical rest position was $1.70{\pm}0.99mm$ inferior, $0.74{\pm}0.57mm$ anterior, $0.99{\pm}0.51mm$ right from centric occlusion and the A/V ratio was 1:2.7.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• 제19권3호
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• pp.75-84
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• 2005

Since an unexpected fault of induction motor drive systems can cause serious troubles in many industrial applications, which the technique is required to diagnose faults of a voltage-fed PWM inverter for induction motor drives. The considered fault types are rectifier diodes, switching devices and input terminals with open-circuit faults, and the signal for diagnosis is derived from motor currents. The magnitude of dq-current trajectory is used for the feature extraction of a fault and PCA LDA are applied to diagnose. Also, we show results with respect to the execution time because of the possibility to use that a diagnosis software is embedded in the controllers of medium and small size induction motors drive for real-time diagnosis. After we performed various simulations for the fault diagnosis of the inverter, the usefulness of proposed algerian was verified.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 한국정보통신학회 2012년도 추계학술대회
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• pp.898-902
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• 2012

A descriptor which is suitable for motion analysis by using the motion features of moving objects from the real time image sequence is proposed. To segment moving objects from the background, the background learning is performed. We extract motion trajectories of individual objects by using the sequence of the $1^{st}$ order moment of moving objects. The center points of each object are managed by linked list. The descriptor includes the $1^{st}$ order coordinates of moving object belong to neighbor of the per-defined position in grid pattern, the start frame number which a moving object appeared in the scene and the end frame number which it disappeared. A video retrieval by the proposed descriptor combining global and local feature is more effective than conventional methods which adopt a single feature among global and local features.

• Transactions of the Korean Society of Mechanical Engineers A
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• 제31권5호
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• pp.609-616
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• 2007

Palletizing is necessary to promote the efficiency of storage and shipping tasks. These are, however some of the most monotonous, heavy and laborious tasks in the factory. Therefore many types of robot palletizing systems have been developed, but many robot motion commands still depend on the teaching pendent. That is, an operator inputs the motion command lines one by one. It is very troublesome, and most of all, the user must know how to type the code. That is why we propose a new GUI (Graphic User Interface) Palletizing System. To cope with this issue, we proposed a 'PLP' (Pallet Loading Problem) algorithm, Fast Algorithm and realize 3D auto-patterning visualization interface. Finally, we propose the robot palletizing simulator. Internally, the schematic of this simulator is as follows. First, an user inputs the physical information of object. Second, simulator calculates the optimal pattern for the object and visualizes the result. Finally, the calculated position data of object is passed to the robot simulator. To develop the robot simulator, we use an articulated robot, and analyze the kinematics and dynamics. Especially, All problem including thousands of boxes were completely calculated in less than 1 second and resulted in optimal solutions by the Fast Algorithm.

• Journal of Environmental Science International
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• 제24권6호
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• pp.793-806
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• 2015

The purpose of this study is to find out the air flow patterns affecting the PM10 concentration in Busan and the potential sources within each trajectory pattern. The synoptic air flow trajectories are classified into four clusters by HYSPLIT model and the potential sources of PM10 are estimated by PSCF model for each cluster from 2008 to 2012. The potential source locations of PM10 are compared with the distribution of PM10 anthropogenic emissions in east Asia developed in 2006 for the NASA INTEX-B mission. The annual mean concentrations of PM10 in Busan decreased from $51ug/m^3$ in 2008 to $43ug/m^3$ in 2012. The monthly mean concentrations of PM10 were high during a spring season, March to May and low during a summer season, August and September. The cluster2 composed of the air trajectories from the eastern China to Busan through the west sea showed the highest frequency, 44 %. The cluster1 composed of the air trajectories from the inner Mongolia region to Busan through the northeast area of China showed the second high frequency, 26 %. The cluster3 and 4 were composed of the trajectories originated in the southeast sea and the east sea of Busan respectively and showed low frequencies. The concentrations of in each cluster were $47ug/m^3$ in cluster1, $56ug/m^3$ in cluster2, $42ug/m^3$ in cluster3 and $37ug/m^3$ in cluster4. From these results, it was proved that the cluster1 and 2 composed of the trajectories originated in the east and northeast area of China were the causes of high PM10 concentrations in Busan. The results of PSCF and CWT model showed that the potential sources of the high PM10 concentrations were the areas of the around Mongolia and the eastern China having high emissions of PM10 from Beijing, Hebei to Shanghai through Shandong, Jiangsu.

• Journal of the Korean Institute of Intelligent Systems
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• 제24권6호
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• pp.597-602
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• 2014

We propose hybrid-sensing system for human tracking. This system uses laser scanners and image sensors and is applicable to wide and crowded area such as hallway of university. Concretely, human tracking using laser scanners is at base and image sensors are used for human identification when laser scanners lose persons by occlusion, entering room or going up stairs. We developed the method of human identification for this system. Our method is following: 1. Best-shot images (human images which show human feature clearly) are obtained by the help of human position and direction data obtained by laser scanners. 2. Human identification is conducted by calculating the correlation between the color histograms of best-shot images. It becomes possible to conduct human identification even in crowded scenes by estimating best-shot images. In the experiment in the station, some effectiveness of this method became clear.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• 제37권8호
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• pp.729-736
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• 2009

In order to understand flow characteristics and flight mechanism of hummingbird's flapping flight, two-dimensional numerical analysis is carried out on the flapping motion of hummingbird, Selasphorus rufus. Hummingbird's flapping wing motion is realistically modeled from wind tunnel experimental data to perform numerical analysis. Numerical simulation shows that, as freestream velocity changes, wing trajectory is also adjusted and it substantially affects lift and thrust generation mechanism. According to this tendency, flight domain is separated as "low speed" and "high speed" regime, and each flight domain is studied for physical understanding. As a result, the lift generation during downstroke can be explained by the well-known effects, such as leading edge vortex effect, delayed stall, wake capture and so on. In addition, the lift generation during upstroke, the unique character of hummingbird, is also examined by detailed flow analysis. The thrust generation mechanism is investigated by examining the hummingbird's wing bone structure, vortex generation pattern and the resulting pressure gradient.