• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 ITC-CSCC -2
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• pp.1216-1219
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• 2002

It is understood so far that the center of mass does not make any linear movement from the rotatory movement of a rigid body in the closed system. However, it has been found that the center of mass of the system could make a closed linear movement due to production of an instantaneous center of mass by the Coriolis force in the rotatory movement of a rigid body in the closed system. The nature of the closed linear movement in the non-inertial system and that of the open movement in the inertial system are different from each other. That is, the closed movement is described like the time integration of frictional forces, which is different from the open movement usually considered and described like the time integration of external forces. It is shown in this paper that the Coriolis forces, called a fictitious force in the classical mechanics, is similar to the frictional force so that it causes to move the center of mass of a closed system. In this paper, following an explanation of the closed linear movement of a non-inertial system and the open movement of an inertial system, the source of the closed linear movement phenomenon of a rotatory rigid body is presented.

• 대한인간공학회지
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• 제31권5호
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• pp.647-655
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• 2012

Objective: The purpose of this study was to confirm difference between angular foot movement time and existing foot Fitts' law predicting times, and to develop the angular foot Fitts' law in the foot tapping task. Background: Existing studies of foot Fitts' law focused on horizontal movement to predict the movement time. However, when driving a car, humans move their foot from the accelerator to the brake with a fixed heel. Therefore, we examined the experiment to measure angular foot movement time in reciprocal foot tapping task and compared to conventional foot Fitts' law predicting time. And, we developed the angular foot Fitts' law. Method: In this study, we compared the angular foot movement time in foot tapping task and the predicted time of four conventional linear foot Fitts' law models - Drury's foot Fitts' law, Drury's ballistic, Hoffmann's ballistic, Hoffmann's visually-controlled. 11 subjects participated in this experiment to get a movement time and three target degrees of 20, 40, and 60 were used. And, conventional models were calculated for the prediction time. To analyze the movement time, linear and arc distance between targets were used for variables of model. Finally, the angular foot Fitts' law was developed from experimental data. Results: The average movement times for each experiment were 412.2ms, 474.9ms, and 526.6ms for the 89mm, 172mm, and 253mm linear distance conditions. The results also showed significant differences in performance time between different angle level. However, all of conventional linear foot Fitts' laws ranged 135.6ms to 401.2ms. On the other hand, the angular foot Fitts' law predicted the angular movement time well. Conclusion: Conventional linear foot Fitts' laws were underestimated and have a limitation to predict the foot movement time in the real task related angular foot movement. Application: This study is useful when considering the human behavior of angular foot movement such as driving or foot input device.

• 한국컴퓨터산업학회논문지
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• 제7권3호
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• pp.253-262
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• 2006

폐쇄된 계 내에서 발생하는 운동과 계 외에서 작용하는 힘에 의해 발생하는 운동은 뚜렷한 차이가 있다. 계 내에서 발생하는 운동에 의해 외부로 운동이 나타난 경우 닫힌 운동이고 계 외에서 원인으로 한 방향으로 발생하는 운동은 열린 운동이다. 닫힌 운동 모델은 선형 닫힌 운동계와 비선형 닫힌 운동계가 있다. 선형 닫힌 운동의 원리와 종류 및 실험 장치를 통하여 근사 수식모델을 만들고 여러 가지 비선형 닫힌 운동 모델 종류와 실험 장치를 비교하였다. 또한 비선형 닫힌 운동 모델이 조합되어 선형 닫힌 운동 모델이 될 수 있음을 알 수 있다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 하계종합학술대회 논문집
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• pp.1121-1124
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• 1999

Linear motor is able to produce line movement without rotary-to-line converter at the system required line moving. Thus Linear motor has no gear, screw, belt for line movement. Therefore it has some advantage which decrease friction loss, noise, vibration, maintenance effort and prevent decay of control performance due to backlash. This paper proposes the estimation method of unknown parameters from the BLDC Linear motor and determine the PI controller gain through this estimation. Each control movement that is current, speed, position control, and PWM wave generation is performed on Processor, which is DSP(Digital Signal Processor), having high speed performance. PI theory is adopted to each for controller for control behavior More fast convergence to command position is accomplished by applying the new velocity locus which derived from position error.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2009년도 학술대회
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• pp.642-645
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• 2009

Brain Computer Interface (BCI) is a communication pathway between devices (computers) and human brain. It treats brain signals in real-time basis and discriminates some information of what human brain is doing. In this work, we develop a EEG BCI system using a feature extraction such as common spatial pattern (CSP) and a classifier using Fisher linear discriminant analysis (FLDA). Two-class EEG motor imagery movement datasets with both cued and uncued are tested to verify its feasibility.

• 대한기계학회논문집A
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• 제32권10호
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• pp.850-855
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• 2008

This paper suggests a new linear motor which is able to levitate as well as move its mover without any linear bearing or even additive windings. Its structure is very similar to a well-known both-sided linear motor which consists of two stators and a common mover. And the movement principle is the same with that of conventional linear motor. But unlike the conventional one, the amplitudes of phase currents are controlled to levitate the mover. In this paper, the structure and principle of the suggested bearingless linear motor are introduced in detail and its feasibility is experimentally investigated. Using the prototype and a very simple controller, we succeeded in the levitation and linear movement of the mover at a time.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.820-823
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• 2003

Recently, the linear motors have been widely used in the industry, owing to various advantages in comparison with conventional feed mechanism; high speed, high acceleration and high stiffness. In addition, the linear motors have the merits of a good velocity control, reversible movement and long lifetime. For the application of the linear motors to vibrating conveyor, the study of vibrating characteristics is required. In this paper, we developed the linear vibrating conveyor using the linear motor that has the 410N thrust and the 7.2m/min maximum moving velocity. To accomplish this system, we had some experiments that included the influence of deceleration time, vibrating amplitude and additional weight.

• 융합신호처리학회논문지
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• 제2권3호
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• pp.86-92
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• 2001

미소 단위로 이동하는 물체의 이동 거리를 측정하기 위한 정밀 측정기기, 반도체 제조 장치, 공작기계 등의 위치 제어는 매우 중요한 요건이며, 이러한 장치들의 이동거리 측정에 대한 정확도는 전체 시스템의 성능을 좌우하게 된다. 따라서 정밀기기에서 이동 거리를 고정밀도로 측정할 수 있는 센싱 디바이스가 요구되며, 여기에는 레이저 간섭계의 분해능에 준하는 분해능을 갖고, 경제성 및 디지털 인터페이스에 대한 장점을 갖는 광학식 엔코더가 사용될 수 있다. 본 논문에서는 이동 거리를 측정하기 위해 회절 원리를 기초로한 고분해능 및 디지털 인터페이스가 용이한 간섭계형 리니어 스케일을 실험적으로 구성하였다. 그리고 이 리니어 스케일에서 발생된 간섭 신호는 제작된 광 검출기와 신호처리 회로를 통해 디지털화하였다. 그 결과 실험적으로 구성된 간섭계형 리니어 스케일은 스케일의 이동에 대하여 어떠한 분주 회로도 추가하지 않고, 단지 쉬운 광학적 구성으로 0.5$\mu\textrm{m}$의 분해능을 얻었다.

• 로봇학회논문지
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• 제8권1호
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• pp.20-28
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• 2013

Large workspace and strong grasping force are required when a robot manipulates big and/or heavy objects. In that situation, bimanual manipulation is more useful than unimanual manipulation. However, the control of both hands to manipulate an object requires a more complex model compared to unimanual manipulation. Learning by human demonstration is a useful technique for a robot to learn a model. In this paper, we propose an imitation learning method of bimanual object manipulation by human demonstrations. For robust imitation of bimanual object manipulation, movement trajectories of two hands are encoded as a movement trajectory of the object and a force trajectory to grasp the object. The movement trajectory of the object is modeled by using the framework of dynamic movement primitives, which represent demonstrated movements with a set of goal-directed dynamic equations. The force trajectory to grasp an object is also modeled as a dynamic equation with an adjustable force term. These equations have an adjustable force term, where locally weighted regression and multiple linear regression methods are employed, to imitate complex non-linear movements of human demonstrations. In order to show the effectiveness our proposed method, a movement skill of pick-and-place in simulation environment is shown.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 1999년도 가을 학술발표회 논문집
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• pp.365-370
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• 1999

In this paper, dynamic response analysis on the ground movement applied traffic load by 2D finite element procedure has been studied. In particular, The paper deal with pointing acceleration method that applied AFIMEX Code as like 2D-FLUSH using equivalent linear method. As the result, it is found that dynamic response analysis by pointing acceleration method expressed ground movement by traffic load exactly.