• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2008년도 학술대회 1부
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• pp.534-539
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• 2008

본 논문은 시력이 떨어지고 보행이 불편한 고령자의 이동을 지원하는 지능형 6족 이동 로봇에 대한 연구이다. 센서 및 소형카메라를 장착한 6족 지능형 이동 로봇은 다양한 보행 및 회전, 이동 속도 조절 등의 이동 능력과 다양한 센서를 이용한 장애물 회피, 위협 상황 인식, 경사보행, 물체영역의 인식 및 추적 등의 기능을 가지며, 로봇에 연결된 선을 이용해 고령자의 보행을 유도한다. 로봇의 안정된 보행을 위한 모터의 제어방법, 센서 및 영상인식을 통한 로봇의 환경인식, 그에 따른 로봇의 지능적이고 능동적인 대응, 감지된 환경정보를 신속하게 무선통신을 통해 필요한 고령자 또는 보호자에게 전송하는 방법 등을 구현하였다. 한 다리에 3자유도를 가진 18관절 6족 로봇으로 구현되어 비평탄 지형에서도 안정된 보행구현은 물론 다양하고 부드러운 동작을 취할 수 있으며 강력한 구동 능력을 위해 디지털 슈퍼토크 서보모터를 사용하였고, 위험 상황 인식을 위해 3축 가속도 센서, PIR(초전)센서, 불꽃센서, 연기센서, 적외선, 초음파 거리감지 센서, 조도센서, 터치센서, 온도/습도 센서, 음성인식센서와 카메라를 통한 영상인식 등을 센서 융합에 의해 구현함으로써 상황인식의 정확도를 높이고 고령자들의 길안내 시 위험을 조기에 예측하여 전달하는 에이전트 역할을 수행하도록 설계되었다.

• 한국전자파학회논문지
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• 제15권11호
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• pp.1026-1033
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• 2004

Clipping은 고속 OFDM(orthogonal frequency division multiplexing) 통신 시스템에서 비선형 왜곡 방지를 위한 단순하고 편리한 PAPR(peak-to average power ratio) 저감 방법이다. 그러나, clipping 방법은 BER 성능을 저해 하는 clip 잡음을 발생한다. 잡음은 대역내 clipping 잡음과 대역외 clipping 잡음으로 분류된다. 본 논문에서는 OFDM-FDMA 통신 시스템의 ffrward link의 clipping 잡음 특성을 분석하고 BER 성능을 이론적으로 분석한다. HPA를 통과한 clipped OFDM-FDMA신호의 BER성능을 분석한다. 시뮬레이션 결과를 통해서 OFDM-FDMA 시스템의 BER성능이 clipping 방법에 의한 성능 저하를 연구하였다. 본 연구의 결과로, 우리는 원하는 BER성능을 얻기 위한 알맞은 IBO(input back-off) 값과 CR(clip ratio)을 선택할 수 있다.

• International Journal of Automotive Technology
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• 제8권4호
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• pp.421-428
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• 2007

This paper investigates the combustion and emission characteristics of a compression ignition engine fueled with neat and blended Shell's gas-to-liquid (GTL) fuel, which was derived from natural gas through the Fischer-Tropsch process. The experiments were conducted in a 6-cylinder DI diesel engine with pump timing settings of $6^{\circ},\;9^{\circ}\;and\;12^{\circ}$crank angle before TDC over ECE R49 and US 13-mode cycles separately and compared to a conventional diesel fuel. The results show that GTL exhibited almost the same power and torque output, improved fuel economy and effective thermal efficiency. It was found that GTL displayed lower peak in-cylinder combustion pressure and maximum heat release rate (HRR), the timings of the peak pressure and the maximum HRR were generally delayed, and the combustion durations were almost equivalent for diesel and GTL under the same speed-load condition. The results also indicate that, compared to diesel fuel, GTL blends showed a trend forward decreasing four regulated emissions simultaneously and a higher GTL fraction in blends contributing to further reductions in the emissions. In particular and on average, neat GTL significantly reduced HC, CO, NOx and PM by 16.4%, 17.8%, 18.3% and 32.4%, respectively, for all cases.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.965-968
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• 2005

Roll drafting operation causes variations in the linear density of bundles because the bundle flow cannot be controlled completely by roll pairs. Defects occurring in this operation bring about many problems successively in the next processes. In this paper, we attempt to analyze the draft dynamics and the linear density irregularity based on the governing equation of a bundle motion that has been suggested in our previous studies. For analyzing the dynamic characteristics of the roll drafting operation, it is indispensable to investigate a transient state in time domain before the bundle flux reaches a steady state. However, since governing equations of bundle flow consisting of continuity and motion equations turn out to be nonlinear, and coupled between variables, the solutions for a transient state cannot be obtained by an analytical method. Therefore, we use the Finite Difference Method(FDM), particularly, the FTBS(Forward-Time Backward-Space) difference method. Then, the total equations system yields to an algebraic equations system and is solved under given initial and boundary conditions in an iterative fashion. From the simulation results, we confirm that state variables show different behavior in the transient state; e.g., the velocity distribution in the flow field changes more quickly the linear density distribution. During a transient flow in a drafting zone, the output irregularity is influenced differently by the disturbances, e.g., the variation in input bundle thickness, the drafting speed, and the draft ratio.

• 대한물리의학회지
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• 제11권3호
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• pp.55-58
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• 2016

PURPOSE: This study was measured the differences in the flexor and extensor muscle activities of the elbow joints based on the tire pressure of wheelchairs during propulsion, investigating the optimal tire pressure for improving occupants' propulsion and avoiding related injury. METHODS: Ten healthy volunteers (10 men aged $23.1{\pm}1.9years$, weight: $67.9{\pm}3.4kg$, height: $175.1{\pm}2.7cm$) took part in the study. The mean values used in the statistical process were obtained from values measured while a subject sitting on a wheelchair propelled himself forward for 10 meters on a flat floor at maximum speed. The tire pressure of the wheelchairs was set at 100 psi, 50 psi, and 25 psi. All of the subjects performed wheelchair propulsion for each pressure. This study was measured the activation of the biceps brachii and triceps brachii muscles on the dominant side during wheelchair propulsion. The measured data was analyzed using one-way analysis of variance (ANOVA) via the statistical package for the social sciences (SPSS) version 12.0 for Windows to compare the muscle activity. RESULTS: The muscle activities of the biceps brachii and triceps brachii were significant differences between each pressure group. The post hoc test found statistically significant differences between 100 psi and 50 psi and 100 psi and 25 psi for the biceps brachii and triceps brachii muscles, respectively. CONCLUSION: The maintaining proper tire pressure in a wheelchair may help to prevent overuse syndrome in the occupant's elbow joints.

• 한국정보과학회논문지:정보통신
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• 제36권1호
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• pp.57-67
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• 2009

인터넷 라우터에서의 패킷 포워딩은 라우팅 테이블에 저장되어 있는 다양한 길이의 프리픽스들 중, 입력된 패킷의 목적지 주소와 가장 길게 일치하는 프리픽스를 찾아 그 프리픽스가 지정하는 출력 포트로 입력된 패킷을 내 보내주는 일련의 과정을 말한다. 패킷 포워딩 속도의 관건은 IP 주소 검색 성능이라 할 수 있는데, 고속의 IP 주소 검색을 제공하기 위해서는 포워딩 테이블을 저장하기 위한 효율적인 데이타 구조 및 우수한 검색 알고리즘이 필수적이라 할 수 있다. 본 논문에서는 이진 검색 트리를 이용한 주소 검색 알고리즘에 주목한다. 기존에 나와 있는 모든 이진 검색 알고리즘은 균형 검색을 제공하지 못하여 효율적이지 못하고, 프리픽스 영역에 대한 이진 검색 알고리즘은 균형 검색을 제공하나 프리픽스 개수보다 많은 수의 포워딩 엔트리를 저장하여 또한 효율적이지 못하다. 본 논문에서는 효율적인 IP 주소 검색을 위하여 완전 균형 트리 구조를 만들어 이진 검색을 수행하는 알고리즘을 제안하고, 그 성능을 평가하여 기존의 다른 주소 검색 알고리즘과 비교한다. 성능 평가 결과 본 논문에서 제안하는 알고리즘은 메모리 요구량의 증가 없이 검색 속도가 매우 향상됨을 보았다.

• 한국자동차공학회논문집
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• 제21권6호
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• pp.40-48
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• 2013

Recently, many types of electric vehicles including a heavy duty vehicle have been developed and released because of the better fuel economy and less gas products. In this study, research about an electric bus which utilizes the wheel motor drive system was conducted. The wheel motor is a motor connected to the wheel directly only with a simple gear so that the developer can utilize the space efficiently and the whole system efficiency will be better because of simple structure. However, because it is different from former types of vehicles which use the differential gear, the development of the integrated control logic is required in order to meet the vehicle stability and driving performance. The developed control logic is composed with direct yaw moment control, regenerative braking control and slip control logics. It is compared to the control logics which does not consist of direct yaw moment control and slip control when the vehicle is exposed in tough situations. For the unification of the control logic, a few maps were developed and applied to determine the output torque of each motor according to the driving status. As a result, it is shown that the developed control logic is more safe and well follow the target speed than the other control logic applied simulations.

• 한국항공우주학회지
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• 제36권3호
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• pp.238-243
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• 2008

최근에 들어 이동하는 운송체의 외부에서 발생하는 소음의 위치를 판별하는 몇가지 방법들이 개발되었고, 운송체의 저소음화 설계과정에 적용되어 지고 있다. 빔형성법은 여러개의 마이크로폰으로부터 측정된 신호의 위상차를 이용하여 소음원의 위치를 판정하는 기법으로서 비교적 복잡한 환경하에서도 좋은 결과를 얻을 수 있는 기법으로 확인되고 있다. 본 연구에서는 빔형성법을 적용하여 승용차가 주행할 때 발생하는 소음원의 위치를 판별하는 연구를 수행하였다. 정지된 소음원의 경우와는 달리 이동하는 소음원의 경우는 도플러 효과에 의하여 측정된 신호가 변형되는데, 운송체의 움직이는 속도와 마이크로폰들과의 상대적 거리차를 이용하여 보정해주는 방법을 적용하였다. 움직이는 운송체에서 발생되는 소음원은 여러 가지로 분류될 수 있는데, 본 실험에서 수행된 조건하에서는 이중 타이어 소음과 엔진에서 발생하는 소음이 가장 큰 것으로 측정되었다.

• 대한의용생체공학회:의공학회지
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• 제34권3호
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• pp.156-162
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• 2013

Moments of inertia of limb segments are essential to calculate parameters related to the segmental rotation. To analyze the human motion accurately and specifically, moments of inertia obtained from the individual are required. In this study, a simple method to determine a subject-specific moment of segmental inertia using a dynamometer is introduced. In order to evaluate the method, one male participated to test for his forearm plus hand on a commercial dynamometer. Three passive speeds, i.e. 240, 270, and $300^{\circ}/s$, were chosen to confirm whether the moment of inertia values at each speed approach to a fixed value. The same procedure was repeated on the day after to evaluate whether the method is reproducible. As the results, there were no significant differences among the speeds and between the days. The value of the moment of the forearm inertia was 0.216 $kg{\cdot}m^2$ that is apparently higher compared to values by previous models. Nonetheless, it seems to be acceptable based on our body mass index analysis using reported subject height and mass in each previous study. According to our results, the developed method could be useful to determine the segmental moment of inertia of an individual, showing no significant differences among the speeds and between the days. Thus, we believe that our results are reliable according to two appropriate evaluation procedures. This finding would be helpful to calculate segmental rotation related parameters of an individual.

• 대한의용생체공학회:의공학회지
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• 제38권2호
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• pp.57-61
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• 2017

The purpose of this study was to investigate the effect of direction (pitch and roll) on the perception of support surface rotation while standing. Thirty young healthy subjects participated in this study. Support surface was rotated at an unexpected instant in a very slow speed (0.2 deg/s). The direction of support surface rotation was randomly chosen among pitch (forward and backward) and roll (right and left) directions. The experiment was performed with eyes open and closed. Perception performance was evaluated by the perception threshold, defined as the rotation angle of the surface at the instant when a subject recognized that the support surface was moving. Results showed that the perception threshold was smaller for roll directions than pitch directions irrespective of vision and gender (p < 0.01). This indicates that the perception of support surface rotation is more sensitive in roll direction than in pitch direction. Among three sensory functions related to postural perception, the effect of vestibular and visual functions on the direction difference of the perception should be little because of the very slow surface rotation and independence on visual conditions. Therefore, the direction dependence of perception would have been affected mainly by the somatosensory function.