• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.553-559
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• 2015

The purpose of this research is to develop a gait assistive device to enhance the gait stability and training efficiency of stroke patients. The configuration of this device is mainly composed of a motored wheel and a single cane whose lower end is attached to a motored wheel frame. A patient can feel haptic information from continuous ground contact from the wheel while walking through the grip handle. In addition, the wheeled cane can avoid using excessive use of the patient's upper limb for weight support and motivate the patient to use a paralyzed lower limb more actively. Moreover, the proposed device can provide intuitive and safe user interaction by integrating a force sensor and a tilt sensor equipped to the cane frame, and a switch sensor at the cane's handle. The admittance control has been implemented for the patient to change the walking speed intuitively by using the interaction forces at the handle. A hemi-paretic stroke patient participated in the walking assistive experiments as a pilot study to verify the effectiveness of the proposed haptic cane system. The results showed that the patient could improve walking speed and muscle activations during walking with a constant speed mode of the haptic cane. Moreover, the patient could maintain the preferred walking speeds and gait stability regardless of the magnitude of resistance forces with the admittance control mode of the haptic cane. The proposed robotic gait assistive device with a simple and intuitive mechanism can provide efficient gait training modes to stroke patients with high possibilities of widespread utilizations.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.3
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• pp.567-574
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• 2015

In this paper, a 50ns 256-kb EEPROM IP for MCU (micro controller unit) ICs is designed. The speed of data sensing is increased in the read mode by using a proposed DB sensing circuit of differential amplifier type which uses the reference voltage, and the switching speed is also increased by reducing the total DB parasitic capacitance as a distributed DB structure is separated into eight. Also, the access time is reduced reducing a precharging time of BL in the read mode removing a 5V NMOS transistor in the conventional RD switch, and the reliability of output data can be secured by obtaining the differential voltage (${\Delta}V$) between the DB and the reference voltages as 0.2*VDD. The access time of the designed 256-kb EEPROM IP is 45.8ns and the layout size is $1571.625{\mu}m{\times}798.540{\mu}m$ based on MagnaChip's $0.18{\mu}m$ EEPROM process.

• International Journal of Control, Automation, and Systems
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• v.6 no.3
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• pp.453-459
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• 2008

The neural network is currently being used throughout numerous control system fields. However, it is not easy to obtain an input-output pattern when the neural network is used for the system of a single feedback controller and it is difficult to obtain satisfactory performance with when the load changes rapidly or disturbance is applied. To resolve these problems, this paper proposes a new mode to implement a neural network controller by installing a real object for control and an algorithm for this, which can replace the existing method of implementing a neural network controller by utilizing activation function at the output node. The real plant object for controlling of this mode implements a simple neural network controller replacing the activation function and provides the error back propagation path to calculate the error at the output node. As the controller is designed using a simple structure neural network, the input-output pattern problem is solved naturally and real-time learning becomes possible through the general error back propagation algorithm. The new algorithm applied neural network controller gives excellent performance for initial and tracking response and shows a robust performance for rapid load change and disturbance, in which the permissible error surpasses the range border. The effect of the proposed control algorithm was verified in a test that controlled the speed of a motor equipped with a high speed computing capable DSP on which the proposed algorithm was loaded.

• Journal of Korean Society of Steel Construction
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• v.20 no.4
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• pp.455-467
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• 2008

The dynamic vehicle running tests were performed to analyze dynamic behavioral characteristics such as displacement, strain history loop and vibration acceleration in arch bridges. Also, the validity of the modeling was verified by comparing the results of the tests and those of the structural analysis modeling. With the resonance revision of verified modeling, when the ratio of excited frequencies to natural frequencies exceeds ${1{\pm}0.04}$, the stability of the bridge is obtained. Also, in the event of resonance by speed parameter, the second mode shape is dominant to the dynamic behaviors of arch bridges. It is found that manipulating the parameters involving arch ribs can increase the second mode natural frequency. It makes critical velocity greater than operational velocities to guarantee the stability of arch bridges.

• Computational Structural Engineering : An International Journal
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• v.1 no.2
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• pp.89-96
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• 2001

A study on the topology optimization of a Hard-Disk-Driver(HDD) actuator arm is presented. The purpose of the present wert is to increase the natural frequency of tole first lateral mode of the HDD actuator arm under the constraint of total moment of inertia, so as to facilitate the position control of the high speed actuator arm. The first lateral mode is an important factor in the position control process. Thus the topology optimization for 2-D model of the HDD actuator arm is considered. A new objective function corresponding to multieigenvalue optimization is suggested to improve the solution of the eigenvalue optimization problem. The material density of the structure is treated as the design variable and the intermediate density is penalized. The effects of different element types and material property functions on the final topology are studied. When the problem is discretized using 8-node element of a uniform density, tole smoothly-varying density field is obtained without checker-board patterns incurred. AS a result of 7he study, an improved design of the HDD actuator arm is suggested. Dynamic characteristics of the suggested design are compared computationally with those of the old design. With the same amount of the moment of inertia, the natural frequency of the first lateral mode of the suggested design is subsequently increased over the existing one.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.24 no.1
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• pp.68-74
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• 2000

Experimental investigation on flame spread along suspended droplet arrays have been conducted with various droplet spacings and ambient air velocities. Especially, an opposed air stream is introduced to simulate fundamental flame spread behaviors in spray combustion. High-speed chemiluminescence imaging technique of OH radicals has been adopted to measure flame spread rates and to observe various flame spread behaviors. The fuel used is n-Decane and the air velocity varies from 0 to 17cm/s. The pattern of flame spread is grouped into two: a continuous mode and an intermittent one. It is found that there exists droplet spcings, above which flame spread does not occur. The increase of ambient air velocity causes the limit droplet spacing of flame spread to become small due to the increase of apparent flame stretch. As the ambient air velocity decreases, flame spread rate increases and then decreases after taking a maximum flame spread rate. This suggests that there exists a moderate air flowing to give a maximum flame spread rate due to enhanced chemical reaction by the increase of oxidizer concentration.

• ETRI Journal
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• v.36 no.2
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• pp.253-263
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• 2014

In the near future, traditional narrow and fixed viewpoint video services will be replaced by high-quality panorama video services. This paper proposes a visual-attention-aware progressive region of interest (RoI) trick mode streaming service (VA-PRTS) that prioritizes video data to transmit according to the visual attention and transmits prioritized video data progressively. VA-PRTS enables the receiver to speed up the time to display without degrading the perceptual quality. For the proposed VA-PRTS, this paper defines a cutoff visual attention metric algorithm to determine the quality of the encoded video slice based on the capability of visual attention and the progressive streaming method based on the priority of RoI video data. Compared to conventional methods, VA-PRTS increases the bitrate saving by over 57% and decreases the interactive delay by over 66%, while maintaining a level of perceptual video quality. The experiment results show that the proposed VA-PRTS improves the quality of the viewer experience for interactive panoramic video streaming services. The development results show that the VA-PRTS has highly practical real-field feasibility.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.6
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• pp.545-551
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• 2009

A small guard robot working indoors or outdoors can be used to report various information on its environment to an operator. The guard robot should be small-sized and lightweight to increase its portability. In addition, it should be able to overcome a relatively high obstacle to cope with various situations. To satisfy these requirements, this paper presents a small robot equipped with a novel hybrid wheel and track mechanism that can select wheels or tracks depending on the situation. The robot folds the tracks into the body in the wheel mode and only wheels are active with the tracks immobilized, which results in the fast moving speed. In the track mode, the tracks are extended to keep in contact with the ground. Furthermore, this research proposes the belt length maintenance mechanism by which the belt length is kept constant in either the wheel or track mode. Various experiments demonstrate that the proposed robot can move fast by using wheels on the smooth terrain and overcome obstacles by using tracks on the rough terrain.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.583-588
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• 2007

This paper investigates the vibration characteristics of a wire-bonding transducer horn for high speed welding devices. The sample wire-bonder uses the input frequency of 136 kHz. The ultrasonic excitation causes the various vibrations of transducer horn and capillary. The vibration modes and frequencies close to the exciting frequency are identified using ANSYS. The nodal lines and amplification ratio of the ultrasonic horn are also obtained in order to evaluate the bonding performance of the sample wire-bonder system. The FEM results and experimental results show that the sample wire-bonder system uses the bending mode of 136 kHz as principal motion for bonding. The major longitudinal mode exists at 119 kHz below the excitation frequency. It is recommeded that the sample system is to set the excitation frequency at 119 kHz to improve bonding performance.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.8
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• pp.1173-1182
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• 2001

Recent noticeable advances of CNC machine tools have considerably improved productivity and precision in manufacturing processes. However, in the respect of productivity some defects still remain because selection of machining conditions entirely depends on the experiences of programmers. Usually, machining conditions such as feed rate and spindle speed have been selected conservatively by considering the worst cases, and it has brought the loss of machining efficiency. Thus, the improvement of cutting force controller has been done to regulate cutting force constantly and to maximize feedrate simultaneously in case that machining conditions change variously. In this study, sliding mode control with boundary layer is applied to milling process for cutting force regulation and in a commercial CNC machining center data transfer between PC and PMC (programmable machine controller) of CNC machine is done using a standard interface method. And in the cutting force measurement, an indirect cutting force measuring system using current signal of AC servo is adopted in order not to use high-priced equipment like tool dynamometer. The purpose of this study is to maximize the productivity in milling process, thus its results can be applied to cases such as rough cutting process.