• 로봇학회논문지
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• 제6권2호
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• pp.130-140
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• 2011

This paper proposes an optimal posture for the task-oriented movement of dual arm manipulator. A stability criterion function which consists of three kinds of feature-representative parameters has been utilized to define the optimal posture. The first parameter is the force which is applied to the object. The torque of each joint and position of arm are attained from the current sensor and encoder, respectively. From these two data, the applied force to an object is estimated using sum of vectors of the joint torques estimated from the measured current. In order to investigate the robustness of each posture, the variation of the end-effector from the encoder information has been utilized as the second parameter. And for the last parameter for the optimality, the total energy consumption has been used. The total consuming energy of each posture can be computed from the current information and the battery voltage. The proposed robot structure consists of a mobile inverted pendulum and dual manipulators. In order to define the optimal posture for the each object, external disturbances are applied to the mobile inverted pendulum robot and the first and second parameters are investigated to find the optimal posture among the pre-selected most representative postures. Finally, the proposed optimal posture has been verified by the proposed stability criterion function which consists of total force to the object, the fluctuation of the end-effector position, and total energy consumption. The effectiveness of the proposed algorithms has been verified and demonstrated through the practical simulations and real experiments.

• 한국화재소방학회논문지
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• 제31권6호
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• pp.83-90
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• 2017

전선에 정격이상의 과전류가 흐르게 되면 온도가 상승하고 전선피복이 열화되어 단락현상이 발생한다. 과전류의 크기에 따라 전선의 온도 상한치는 변화하며, 각각의 온도 상한치에서 단락이 발생할 때, 단락온도와 전선표면온도간 온도차로 인해 응고과정에서 냉각속도 차이가 발생한다. 이때 용융단면에 형성되는 수지상 조직의 패턴특징이 상이하게 된다. 본 논문에서는 과전류 크기에 따라 변화하는 전선온도의 상한치를 측정하고, 이때 단락을 발생시켜 수지상의 2차 가지 간격(Dendrite Arm Spacing : DAS)을 분석하여 수치를 정량화 하였다. 실험결과, 과전류 크기가 커짐에 따라 전선온도의 상한치는 증가하였으며, 전선온도가 높아질수록 2차 가지 간격이 증가하는 것을 확인하였다.

• 열처리공학회지
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• 제13권4호
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• pp.246-252
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• 2000

Stellite 12 alloy-powder was overlaid on 410 stainless steel valve seat using plasma transferred arc(PTA) process. Variation of characteristic of microstructure and hardness of deposit with current(90~150 A) and preheat temperature(R.T.~$400^{\circ}C$) was investigated. Important conclusion obtained are as follows; All welding conditions used produced a sound deposit layer with no defect in single pass welding. The maximum deposit had 4.0~4.8 mm in thickness and its bead width was increased with increase of current and preheat temperature. The deposit showed hypoeutectic microstruture, which was consisting of primary cobalt dendrite and networked $M_7C_3$ type eutectic carbides. The amount of eutectic carbides was decreased and its dendritic secondary arm spacing was increased with increase of current. Hardness of the deposit was decreased with increase of current. Preheat temperature up to $400^{\circ}C$, however, showed little influence on the hardness and microstructure. The hardness was also influenced by diluted Fe content near the interface in addition to microstructure and dendritic secondary arm spacing. Hot hardness at $500^{\circ}C$ showed higher than 300 HV.

• 한국운동역학회지
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• 제18권3호
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• pp.51-59
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• 2008

본 연구는 국가대표 절단장애 휠체어 탁구선수를 대상으로 절단장애 휠체어 탁구의 일반적 스트로크 운동형태를 알아보기 위해 실행되었다. 연구대상은 절단장애 1명을 선발하여 10회에 걸쳐 스트로크 하는 영상을 수집하였다. 그 중 대상자와 코치가 지정하는 3개의 영상을 연구대상으로 정하였다. 스트로크 하는 팔의 팔꿈치의 굴곡신전, 어깨의 굴곡신전, 어깨의 회전, 그리고 허리의 회전을 분석하였다. 포핸드 스트로크는 일반적으로 치는 듯한 동작을 나타낼 것으로 예상했으나 오른팔의 외측회전으로 만들어진 백스윙과 내측회전으로 만들어지는 회전에 의지하여 스트로크하고 있었다. 백핸드 스트로크는 예상대로 기시부인 몸통이 스트로크에 관여하지 않고 말초부인 오른팔이 내측회전 백스윙을 이루고 외측회전으로 임팩트를 이루는 미는 듯한 동작을 나타내고 있었다. 포핸드 스트로크 일반적인 스윙동작을 나타내는 다중분절시스템의 원리에 의해 치는 듯한 동작을 보일 것으로 예상했지만 절단장애인인 대상자는 기시부와 말초부로 이어지는 연결구조가 명확하게 나타나지 않았다. 다만 어깨의 회전폭이 스트로크 성공여부를 결정지었다.

• ETRI Journal
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• 제25권6호
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• pp.489-502
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• 2003

This paper presents an MPEG-4 video codec, called MoVa, for video coding applications that adopts 3G-324M. We designed MoVa to be optimal by embedding a cost-effective ARM7TDMI core and partitioning it into hardwired blocks and firmware blocks to provide a reasonable tradeoff between computational requirements, power consumption, and programmability. Typical hardwired blocks are motion estimation and motion compensation, discrete cosine transform and quantization, and variable length coding and decoding, while intra refresh, rate control, error resilience, error concealment, etc. are implemented by software. MoVa has a pipeline structure and its operation is performed in four stages at encoding and in three stages at decoding. It meets the requirements of MPEG-4 SP@L2 and can perform either 30 frames/s (fps) of QCIF or SQCIF, or 7.5 fps (in codec mode) to 15 fps (in encode/decode mode) of CIF at a maximum clock rate of 27 MHz for 128 kbps or 144 kbps. MoVa can be applied to many video systems requiring a high bit rate and various video formats, such as videophone, videoconferencing, surveillance, news, and entertainment.

• 제어로봇시스템학회논문지
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• 제6권2호
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• pp.190-196
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• 2000

A hybrid position/force control scheme to regulate the force and position by dual arms is proposed where two arms are treated as one rm in a kinematic viewpoint. The force error calculated from the information of two force/torque sensors attached to the end of each arm is transferred to minimum configuration space coordinates and then is distributed to total system joint coordinates, The position adjustment at the total con-figuration coordinates is computed based on the effective compliance matrix with respect to total joint coordinates which is obtained by coordinate transformation between the task coordinates and the total joint coordinates. The proposed scheme is applied to sawing task. When the trajectory of the saw is planned to follow a line in a horizontal plane 2 position parameters are to be controlled(i.e., two translational positions) Also a certain level of contact force has to be controlled along the vertical direction(i.e. minus z-direction) not to loose the contact with the object to be sawn. We experimentally show that the performance of the velocity and force response are satisfactory. The proposed hybrid control scheme can be applied to arbitrary two cooperating arm system regardless of their kinematic structure and the number of actuated joints.

• 한국해양공학회지
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• 제23권6호
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• pp.53-60
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• 2009

Recently, since there are several problems in space, the infra-structure and the facilities in the contiguity of the existing harbors due to the trend of enlarging the container capacity of the large container vessel, a special floating platform named as the Mobile Harbor has been proposed conceptually as an effective solution of those problems. Two kinds of hull shapes, a conventional mono-hull type and a catamaran type, are proposed as midway feeders to transfer containers to the harbor on land from a large container ship on near shore. In this study, the motion response and mooring analysis are carried out for comparing the global performance of two types of Mobile Harbor. Robot arm mooring facility specially is devised and newly tried to use for the safe fixation of a large container ship and the Mobile Harbor on near shore. It would be expected for this comparison study to give a guideline to design the efficient hull form for a midway loader.

• Journal of Electrical Engineering and Technology
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• 제12권6호
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• pp.2378-2387
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• 2017

Violinists learn to make better sounds by hearing and evaluating their own playing though numerous practice. This study proposes a new method of auditory feedback, which mimics this violinists' step and verifies its efficiency using experiments. Making the desired sound quality of a violin is difficult without auditory feedback even though an expert violinist plays. An algorithm for controlling a robot arm of violin playing robot is determined based on correlations with bowing speed, bowing force, and sound point that determine the sound quality of a violin. The bowing speed is estimated by the control command of the robot arm, where the bowing force and the sound point are recognized by using a two-axis load cell and a photo interrupter, respectively. To improve the sound quality of a violin playing robot, the sounds information is obtained by auditory feedback system applied Short Time Fourier Transform (STFT) to the sounds from a violin. This study suggests Gaussian-Harmonic-Quality (GHQ) uses sounds' clarity, accuracy, and harmonic structure in order to decide sound quality, objectively. Through the experiments, the auditory feedback system improved the performance quality by the robot accordingly, changing the bowing speed, bowing force, and sound point and determining the quality of robot sounds by GHQ sound quality evaluation system.

• 한국산업융합학회 논문집
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• 제19권1호
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• pp.18-30
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• 2016

In this paper, we propose a new technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.

• 한국콘텐츠학회논문지
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• 제9권2호
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• pp.27-35
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• 2009

본 논문에서는 SoC 칩 개발을 위한 하드웨어 구조와 회로개발을 지원하기 위한 C-모델 시뮬레이터를 사용해서 임베디드 시스템 기반의 H.264/SVC 복호기 회로를 설계하고 시스템을 구현한다. 제시된 SVC 복호기 시스템은 H.264/SVC 표준규격의 기능들을 처리하기 위한 하드웨어 엔진의 설계와 ARM 프로세서를 이용한 소프트웨어 등으로 구성되어 있다. 본 논문에서 구현한 복호기는 SVC의 스케일러블 베이스 라인 프로파일을 기반으로 설계의 용이함을 위하여 B-픽처 구조를 사용하지 않는 IPPP 구조에 의한 스케일러블 만을 고려해 실용성을 증가시켰다. 설계한 H.264/SVC 복호기 시스템의 영상복호 결과를 제시한다.