• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.151-152
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• 2009

본 논문에서는 진화연산 기법중 GP(Genetic Programming)를 이용한 관절좌표계 상에서의 걸음새 자동생성 기법과 생물체의 신경발생 신호 원리를 이용한 CPG(Central Pattern Generator) 기법을 구현한다. 바이올로이드로 구성된 4족 보행로봇에 대하여 Webots기반의 ODE 시뮬레이션을 통해 접근 기법들에 대한 최적화를 수행하고 결과를 비교 분석한다. 그리고 구해진 시뮬레이션과 결과를 실제 로봇에 대해서 각 동작을 실행시켜 보면서 CPG와 GP 기반 걸음새 방식 실제적인 성능 및 특성도 고찰한다.

• Proceedings of the IEEK Conference
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• 2003.11b
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• pp.27-30
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• 2003

The recent technology developments introduce new difficulties into the test process by the increased complexity of the chip. Most widely used method for testing high complexity and embedded systems is built-in self-test(BIST). In this paper, we describe 5-stage pipeline system as circuit under testing(CUT) and proposed a BIST scheme for the hazard detection unit of the pipeline system. The proposed BIST scheme can generate sequential instruction sets by pseudo-random pattern generator that can detect all hazard issues and compare the expected hazard signals with those of the pipelined system. Although BIST schemes require additional area in the system, it proves to provide a low-cost test solution and significantly reduce the test time.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.2
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• pp.75-80
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• 2014

Energy consumption of sensor nodes is minimized because it has limited energy generator in wireless sensor network. Electronic shelf label system is one of application fields using wireless sensor networks. Battery size of small apparatus for displaying price is restricted. Therefore its current consumption have to be minimized. Furthermore the method for minimization of peak current would be considered because life cycle of coin battery used to display or RF is vulnerable to intensity of drain current. In this paper, we analyze current consumption pattern of low-power electronic shelf label system. Then we propose the method for minimization of current consumption by modification of software and hardware. Current consumption of the system using proposed method are approximately 15 to 20 percent lower than existing system and the life cycle of the system is approximately 10 percent higher than existing system.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1813-1814
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• 2008

본 논문에서는 생물학적 운동 메카니즘을 유사하게 구현하기 위해 신경 진동자를 이용한 로봇 팔 제어 시스템을 제안한다. 인간 및 동물의 주기적인 자율 운동을 관장하는 Central Pattern Generator (CPG)를 수학적으로 모델링한 신경 진동자는 그 중요 특성의 하나인 entrainment 효과를 보여준다. 일반적으로 우리는 이 기능을 이용하여 미지의 외부 환경 변화와 같은 외란에 적절히 상호 작용할 수 있는 운동을 생성해 낼 수 있다. 이러한 결과를 보이기 위해, 각 관절에 가상의 신경 진동자 모델을 결합하였고 외부 환경의 변화나 외란의 감지를 위한 F/T센서를 팔의 말단에 부착하여 시스템을 구현하였다. 신경 진동자 모델을 결합한 2축 링크 로봇 팔 시스템(real time)은 주어진 목적운동을 (원 운동) 수행함과 동시에 미지의 외부 환경의 변화(임의의 벽)를 인지하여 적절한 모션을 생성하는 지를 살펴본다.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.870-875
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• 2008

The main objective of this paper is to control a trajectory tracking of the fish-mimetic robot by CPG (Central Pattern Generator), which is biological approach. CPG is biological neural networks that generate rhythmic movements for locomotion of animals, such as walking, running, swimming and flying. Animals show marvelous ability of autonomous dynamic adaptation for an unsteady fluid dynamic environment or various environments. So, we propose the 3-DOF CPG controller to track the trajectory of the fish robot in plane motion. The conformity of the proposed control algorithm is validated by simulation for a fish robot model, which is made by a commercial dynamic package.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.36 no.4
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• pp.267-272
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• 1987

In this paper, field oriented control is applied to a 16 bit micro-processor Mc68000 controlled CSI fed induction motor servo drive. The control of induction motor using the principle of its is able to have the transient performance nearly to that of DC motors in the position control. The software and hardware for the Mc68000 is developed. The position control scheme consists of the field oriented control loop and te speed reference pattern generator. The digital computer simlation and experimental results are provided, close agreement between them is obtained.

• Journal of Electrical Engineering and information Science
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• v.2 no.3
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• pp.7-13
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• 1997

To overcome the large hardware overhead attendant in the full scan design, the concept of partial scan design has emerged with the virtue of less area and testability close to full scan. Combinational Structure has been developed to avoid the use of sequential test generator. But the patterns sifted on scan register have to be held for sequential depth period upon the aid of the dedicated HOLD circuit. In this paper, a new levelized structure is introduced aiming to exclude the need of extra HOLD circuit. The time to stimulate each scan latch is uniquely determined on this structure, hence each test pattern can e applied by scan shifting and then pulsing a system clock like the full scan but with much les scan flip-flops. Experimental results show that some sequential circuits are levelized by just scanning self-loop flip-flops.

• Nuclear Engineering and Technology
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• v.44 no.4
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• pp.363-368
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• 2012

A feedwater controller targeted for an ABWR has been implemented using a modern field programmable gate array (FPGA), and verified using the full scope simulator at Taipower's Lungmen nuclear power station. The adopted control algorithm is a rule-based fuzzy logic. Point to point validation of the FPGA circuit board has been executed using a digital pattern generator. The simulation model of the simulator was employed for verification and validation of the controller design under various plant initial conditions. The transient response and the steady state tracking ability were evaluated and showed satisfactory results. The present work has demonstrated that the FPGA based approach incorporated with a rule-based fuzzy logic control algorithm is a flexible yet feasible approach for feedwater controller design in nuclear power plant applications.

• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.203-211
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• 2006

In this research, a comprehensive study is performed upon the design of a quadruped walking robot. In advance, the walking posture and skeletal configuration of the vertebrate are analyzed to understand quadrupedal locomotion, and the roles of limbs during walking are investigated. From these, it is known that the forelimbs just play the role of supporting their body and help vault forward, while most of the propulsive force is generated by hind limbs. In addition, with the study of the stances on walking and energy efficiency, design criteria and control method for a quadruped walking robot are derived. The proposed controller, though it is simple, provides a useful framework for controlling a quadruped walking robot. In particular, introduciton of a new rhythmic pattern generator relieves the heavy computational burden because it does not need any computation on kinematics. Finally, the proposed method is validated via dynamic simulations and implementing in a quadruped walking robot, called AiDIN(Artificial Digitigrade for Natural Environment).

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.13 no.9
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• pp.853-859
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• 2001

A pulsed tracer gas technique is applied to measure distributions of local mean age and residual life time of air in a half-scale experimental chamber. The room airflow patterns are flow-visualized by a Helium bubble generator for three different exhaust locations. A supply slot is located at the top of a right wall, and an exhaust slot is either at bottom-left(Case 1), bottom-right(Case 2), or top-left(Case 3) location. Results show that the distribution of LMA and LMR are different from each other, but both of them are closely related to the airflow pattern in the space. Results on overall room ventilation effectiveness are provided depending upon ventilation airflow rates for three different supply-exhaust configurations.