• Journal of Electrical Engineering and Technology
• /
• 제10권5호
• /
• pp.2142-2148
• /
• 2015

This paper proposes novel real-time footstep planning and following methods for the navigation of humanoid robots. A footstep command is defined by a walking direction and step lengths for footstep planning. The walking direction is determined by a uni-vector field navigation method, and the allowable yawing range caused by hardware limitation is considered. The lateral step length is determined to avoid collisions between the two legs while walking. The sagittal step length is modified by a binary search algorithm when collision occurs between the robot body and obstacles in a narrow space. If the robot body still collides with obstacles despite the modification of the sagittal step length, the lateral step length is shifted at the next footstep. For footstep following, a walking pattern generator based on a 3-D linear inverted pendulum model is utilized, which can generate modifiable walking patterns using the zero-moment point variation scheme. Therefore, it enables a humanoid robot to follow the footstep command planned for each footstep. The effectiveness of the proposed method is verified through simulation and experiment.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.1922-1927
• /
• 2005

This paper describes the mechanism of a new biped machine capable of doing human-robot cooperation work. The biped machine, WABIAN-2 is made of two seven degrees of freedom (DOF) legs, a two DOF waist and no DOF trunk. Its leg system consists of two three DOF ankles, two one DOF knees and two three DOF hips to deal with various walk motions. Its height is about 1.2[m], and its weight is 40[kg]. It is designed with large movable range as a human. Also, a knee stretch walk pattern generation for the biped machine to perform natural walk like a human is discussed in this paper. Its leg motion is compensated by using the motion of its waist. Basic knee stretch walk experiments using WABIAN-2 are conducted on the plane, and the validity of its mechanism and walk pattern generator is verified.

• 전자공학회논문지A
• /
• 제28A권10호
• /
• pp.806-813
• /
• 1991

In this paper, we suggested the diagnosis of the optical FSK transmitter output characteristics using the Micheloson interferometer. The transmitter is designed by the direct frequency modulation effect of a semoconductor laser diode. The optical FSK transmitter consists of a temperature stabilized semiconductor laser diode and an optimally designed equalizer. It is modulated by 100Mbit/s PRBS Generator to diagonosis of Optical FSK transmitter output characteristics. The Michelson Interferometer is used for the optical frequency discriminator which transforms the output frequency of the transmitter to the amplitude of light. The measurement of the performance of the transmitter to the amplitude of light. The measurement of the performance of the transmitter computer the transmitted data and their eye pattern with the simulation results, the received data and their eye pattern. As the result of experiment, the data transfer rate of the transmitters is 100Mbit/s.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 1999년도 추계종합학술대회 논문집
• /
• pp.935-938
• /
• 1999

메모리 테스트는 Built-In Self Test(BIST)와 같이 메모리에 내장된 회로를 통하여 자체 점검하는 방법과 테스터를 통하여 생성된 패턴을 주입하는 방법이 있다. 테스트 패턴 생성방법으로는 각각의 고장모델에 대한 테스트 패턴을 deterministic하게 생성해주는 방법과 Pseudo Random Pattern Generator(PRPG)를 이용하여 생성하는 경우로 구분할 수 있다. 본 연구에서는 PRPG를 패턴 생성기로 사용하여 여러 가지 메모리의 결함을 대표한다고 볼 수 있는 Static 및 Dynamic Neighborhood Pattern Sensitive Fault(NPSF) 등 다양한 종류의 고장을 점검할 수 있도록 메모리 BIST를 구성하였다. 기존의 Linear Feedback Shift Register(LFSR)보다 본 연구에서 제안하는 Linear Hybrid Cellular Automata(LHCA)를 이용한 PRPG가 높고 안정된 고장 점검도를 나타내었다.

• 한국전기전자재료학회:학술대회논문집
• /
• 한국전기전자재료학회 2002년도 춘계학술대회 논문집 유기절연재료 전자세라믹 방전플라즈마 일렉트렛트 및 응용기술
• /
• pp.152-155
• /
• 2002

During normal operation, partial discharge(PD) tests were performed using turbine generator analyzer(TGA) in high voltage motor. Epoxy-mica couplers are installed at motor terminal and analyzed PD signal using TGA. #A motor stator insulation is good because small partial discharges are detected PD pattern show that PD occurs in insulation. PD of #B motor is larger than that of #A motor and PD pattern show that positive PD larger than negative PD. It means that PD occurs between insulation and slot. And A phase PD magnitude of #B motor is large and high compare with any other phase. Therefore wedge, core and slot of #B motor need to check and repair.

• 한국전기전자재료학회:학술대회논문집
• /
• 한국전기전자재료학회 2002년도 춘계학술대회 논문집 유기절연재료 전자세라믹 방전플라즈마 일렉트렛트 및 응용기술
• /
• pp.199-202
• /
• 2002

During normal operation, partial discharge(PD) tests were performed using turbine generator analyzer(TGA) in high voltage motor. Epoxy-mica couplers are installed at motor terminal and analyzed PD signal using TGA. #A motor stator insulation is good because small partial discharges are detected. PD pattern show that PD occurs in insulation. PD of #B motor is larger than that of #A motor and PD pattern show that positive PD larger than negative PD. It means that PD occurs between insulation and slot. And A phase PD magnitude of #B motor is large and high compare with any other phase. Therefore wedge, core and slot of #B motor need to check and repair.

• 전력전자학회:학술대회논문집
• /
• 전력전자학회 2018년도 전력전자학술대회
• /
• pp.332-333
• /
• 2018

This paper presents an advanced abnormal over-current protection with $SuperFET^{(R)}$ 800V MOSFET in Flyback converter. In advanced abnormal over-current protection, digital pattern generator is proposed to detect a steep di/dt current condition when secondary rectifier diode or the transformer is shorted. If current sensing signal is larger than current limit during consecutive switching cycle, Gate signal will be stopped for 7 internal switching periods. If the abnormal over-current maintains pattern, the controller goes into protection mode. The Advanced over-current protection has been implemented in a 0.35um BCDMOS process (ON Semiconductor process).

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2002년도 ITC-CSCC -3
• /
• pp.1968-1971
• /
• 2002

In this paper, we have presented a test- ing method for a kind of asynchronous circuits. Tar- get circuit model is the 3D machine that is one of the most successful implementation of extended burst-mode (XBM) machines. We present a high-level test generation method for the 3D machine using the specification of the circuit. We also present a gate-level test pattern generation method using a synchronous test pattern generator. Experimental results show that the combination of the above two methods achieves high fault coverage over 3D machines and saves test generation time.

• 전기학회논문지
• /
• 제63권5호
• /
• pp.683-689
• /
• 2014

The paper introduces dynamic generation technique of foot trajectories for humanoid robots using CPG(Central Pattern Generator) and proposes adaptive walking method for slope terrains combining a feedback network. The proposed CPG based technique generates the trajectory of foot in the Cartesian coordinates system and it can change the step length adaptively according to the feedback information. To cope with variable slope terrains, the sensory feedback network in the CPG are designed using the geometry relationship between foot position and body center position such that humanoid robot can maintain its stability. To demonstrate the effectiveness of the proposed approach, the experiments on humanoid robot Nao are executed in the Webot simulation. The performance and motion features of the CPG based approach are compared and analyzed focusing on the adaptability in slope terrains.

• 한국정보처리학회:학술대회논문집
• /
• 한국정보처리학회 2014년도 추계학술발표대회
• /
• pp.591-592
• /
• 2014

Visitor 패턴은 구조 문제로 새로운 ConcreteElement 클래스가 추가될 때 Visitor 클래스 및 ConcreteVisitor 클래스를 수정해야 한다. 이 논문에서는 Visitor 패턴을 적용한 시나리오 생성기가 유연한 구조를 가지기 위해서 Visitor 패턴과 Composite 패턴을 병합하여 적용하는 기법을 제안한다. 그래서 시나리오 생성기에 ConcreteElement 클래스를 추가할 때마다 ConcreteVisitor 클래스의 멤버 함수를 유연하게 추가 및 삭제를 할 수 있는 클래스 구조를 제공한다.