• 연구논문집
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• s.24
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• pp.13-26
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• 1994

The choice of design parameters for a robot arm depends on the desired workspace, load lifting capacity, application requirements, and the performance of the robot. The inverse process, which is the determination of a single robot's workspace for a given specification is also a common practice and is as important to the designers as it is to the users. Based on the geometric influence coefficients, the workspace areas on the vertical Y-Z plane are investigated and calculated. Using these areas, the effects of link parameters, link length ratios and joint rotation angles, are investigated.

• The Transactions of the Korean Institute of Power Electronics
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• v.10 no.1
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• pp.95-101
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• 2005

In this paper, we proposed the electric circuit using one common arm of H-Bridge Inverters to reduce the number of switching component in multi-level PWM inverter combined with H-Bridge Inverters and Transformers. and we proposed the switching method that can be same rate of usage at each transformer. Also, we tested the proposed prototype inverter to clarify the proposed electric circuit and reasonableness of control signal.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.54 no.4
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• pp.195-200
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• 2005

In this paper, we proposed the electric circuit using one common arm of H-Bridge Inverters to reduce the number of switching component in multi-level inverter combined with H-Bridge Inverters and Transformers. and furthermore we suggested the new multi-level PWM inverter using PWM level to reduce THD(Total Harmonic Distortion). and we used the switching method that can be same rate of usage at each transformer. Also, we tested the proposed prototype 9-level inverter to clarify the proposed electric circuit and reasonableness of control signal for the proposed multi-level PWM inverter.

• Proceedings of the KIPE Conference
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• 2007.07a
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• pp.512-514
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• 2007

The number of transformers and the size of transformers in inverter using 3-phase transformer could be reduced compare with a multi-level inverter using single phase transformer. but still the 3-phase transformer inverter needs many switches. In this study, we proposed the isolated multi-level inverter using 3-phase transformers and common arm. Also, the equal-area method is used to calculate conduction angle with switching frequency equal to output fundamental frequency and it can reduce harmonics component of output voltage and switching loss. Finally, We tested multi-level inverter to clarify electric circuit and reasonableness through Matlab simulation and experiment by using prototype inverter.

• Journal of Digital Convergence
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• v.14 no.11
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• pp.357-367
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• 2016

In this study, we examined the impact on balance ability and jump performance of soccer players with functional ankle instability using virtual reality based neuromuscular posture control fusion training. Soccer players were divided into 15 people of virtual reality-based neuromuscular posture control fusion training group and 15 people of common treadmill training group and performed for 30 minutes three times a week for 8 weeks. In order to evaluate the balance of ability, using biorescue, it measured surface area, whole path length, limit of stability. In order to measure jump performance, it measured counter movement jump with arm swing and standing long jump. The results showed the statistically significant difference in the balance comparison of surface area, whole path length, limited of stability and the jump performance comparison of counter movement jump with arm swing, standing long jump. As a result, virtual reality-based neuromuscular posture control fusion training was found to be more effective to improve its balance ability and jump performance than common treadmill training.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10a
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• pp.915-920
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• 1987

When a task requires two robot arms to move in a cooperative manner sharing a common workspace, potential collision exists between the two robot arm . In this paper, a novel approach for collision-free trajectory planning along paths of two SCARA-type robot arms is presented. Specifically, in order to describe potential collision between the links of two moving robot arms along the designated paths, an explicit form of "Virtual Obstacle" is adopted, according to which links of one robot arm are made to grow while the other robot arm is forced to shrink as a point on the path. Then, a notion of "Coordination Chart" is introduced to visualize the collision-free relationship of two trajectories.of two trajectories.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.04a
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• pp.244-249
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• 2001

Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. Path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.10a
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• pp.113-118
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• 2000

Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. Path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

• Journal of the Ergonomics Society of Korea
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• v.18 no.1
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• pp.55-69
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• 1999

It is very common to use the powered hand tools to enhance the productivity in various types of industry. But the use of the powered hand tools could cause health problems such as cumulative trauma disorders and vibration white fingers. In this study. the effects of hand-arm vibration and anatomical hand position on localized muscle fatigue were analyzed. Eight healthy male subjects volunteered for the study. Vibration frequencies of 0, 40, 80, 100, 150, and 200Hz and hand position of flexion and ulnar deviation were selected for the independent variables of the experiment. Median frequency shifting was used as a dependent variable. The results indicated that at the vibration frequency of 40Hz and accelation of 2g, the muscle fatigue was the greatest. For the hand position. there was significant difference between neutral and flexion. and neutral and ulnar deviation, but no difference between flexion and ulnar deviation. These results could be applied in designing powered hand tools to minimize the health problems.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.46 no.3
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• pp.119-124
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• 2009

In this paper, AMR-WB+ audio coder is implemented, in real-time, using Intel 400MHz Xscale PXA250 with 32bit RISC processor ARM9E-J(R)core. The assembly code for ARM9E-J(R)core is developed through the serial process of C code optimization, cross compile, assembly code manual optimization and adjusting the optimized code to Embedded Visual C++ platform. C code is trimmed on Visual C++ platform. Cross compile and assembly code manual optimization are performed on CodeWarrior with ARM compiler. Through these stages the code for both ARM EVM board and PDA is implemented. The average complexities of the code are 160.75MHz on encoder and 33.05MHz on decoder. In case of static link library(SLL), the required memories are 65.21Kbyte, 32.01Kbyte and 279.81Kbyte on encoder, decoder and common sources, respectively. The implemented coder is evaluated using 16 test vectors given by 3GPP to verify the bit-exactness of the coder.