• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.741-746
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• 2004

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. 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 direct Lyapunov 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 consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.6
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• pp.1179-1185
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• 2010

This paper deals with a robust controller design problem for a small one-link robot arm system subject to input time delay and load variations. The uncertain parameters of the system are considered as a disturbance input. A disturbance observer(DOB) has been designed to alleviate disturbance effects and to compensate performance degradation owing to the time-delay. This paper employs a new DOB structure for non-minimum phase systems together with the Smith predictor. We propose a new controller for reducing the both effects of disturbance and time-delay. In order to test the performance of proposed controller, four different other control laws are compared with the proposed one by computer simulations. The simulation results show the effectiveness of the proposed control method.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2006.04a
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• pp.813-819
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• 2006

The state of the art for the design of swing ann actuators for optical disc drives is to obtain the high efficient dynamic characteristics, especially for the small size for the mobile information devices, It is affected by the need of consumers who wants the portable digital storage devices maintaining highly functional and removable characteristics of the optical disk drive (ODD). As a necessary consequence, the need of the small form factor (SFF) storage device has been considered as an important part in the information storage technology. In this paper. we suggest a new conceptual miniaturized swing arm type actuator that has high efficient dynamic characteristics as well as satisfies the sensitivity and the heat emission requirements for the SFF-ODD. It also uses a tracking electromagnetic (EM) circuit for a focusing motion. Due to the size constraint, the thermal problem of optical head arises; therefore, we design an efficiently heat emitted structure for the actuator.

• Proceedings of the Microbiological Society of Korea Conference
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• 2002.10a
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• pp.159-161
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• 2002

Bacteriophage lambda integrase carries out the site-specific recombination of lambda. Integrase contains two DNA binding domains with distinct sequence specificity, namely arm-type binding and core-type binding domains. The amino-terminal arm-binding domain is structurally related to the three-stranded $\beta-sheet$ family of DNA-binding domains. Integrase binding to the high affinity arm-type site by the amino-terminal domain facilitates Int binding to the low affinity core-type site, where the cleavage and strand exchange occurs. The amino-terminal domain of Int also modulates the core-binding and catalysis through intramolecular domain-domain interaction and/or intermolecular interactions between Int monomers. In addition, the amino-terminal domain interacts cooperatively with excisionase during excision. This indicates that amino-terminal domain of Int plays an important role in formation of proper higher-order nucleoprotein structure required for lambda site-specific recombination.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.7
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• pp.40-50
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• 1996

An unified compliant control algorithm to regulate the force by dual arms is proposed, where tow arms are treated as one arm in a kinematic viewpoint. The force error calculated form the information of two force/torque sensors attached to the end of each arm is transferred to minimum actuator coordinates, and then is distributed to total system actuator coordinates. The position adjustment at the total actuator coordinates is computed based on the effective computed based on the effective compliance matrix with respect to total actuator coordinates, which is obtained by coordinate transformation between the task coordinates and the total actuator coordinates. An experiment is carried out for dual arms with asymmetric kinematic structure to control an interaction force between manipulators and the environment. The performances of the proposed control algorithm are experimentally compared to those of dual arms employing master/slave scheme. The proposed compliant control algorithm not only ouperforms other algorithms, but also can be treated as an unified approach n the sense that it can be applied to arbitrary dual arm systems with general kinematic structures.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.357-358
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• 2006

We propose the robust PBFLMS in noises, which is the enhanced acoustic echo canceller using ACPBF-LMS(Alternative Constrained Partitioned Block Frequency domain Least Mean Square) algorithm. The defect of the block structure filtering is the deterioration of convergence efficiency from noise and interference. To improve the performance of convergence efficiency, noise effect should be reduced. The new method of reducing noise effect is proposed, which apply the estimated background noise to adaptive filter step size. By experiments, the proposed acoustic echo canceller has TCL of 50dB, and always provides faster convergence speed and lower complexity than the full-tap NLMS. We also carried out an implementation of PBFLMS using ARM9EJ-S.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.7 no.1
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• pp.17-21
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• 2008

Recently developed automotive components are of lightweight nature, providing automobiles with a high fuel efficiency and performance. In response to those trends of car developments, this study proposes a structural optimization method for the lower control ann. Lightweight design of lower control am can be achieved through two approaches: design and material technology. In this research, the former includes optimization technology, and the latter the technologies for selecting aluminum as a steel-substitute material. In this research, the design of experiments(DOE) built in ANSYS WORKBENCH are utilized to determine the optimum shape of a Lower Control Arm. And optimum design is compared first model and reduced design variable model that considered sensitivity using orthogonal array.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37C no.10
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• pp.940-948
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• 2012

Android program is developed with JAVA SDK and executed over virtual machine. For this reason, programming is easier than traditional C language but performance of operating speed decreases. To enhance the performance, NDK development tool, which provides C language, assembly language environment, was proposed. Furthermore, with NEON function provided by ARM, we can utilize the vector operation and enhance performance. In the paper, we explore effectiveness of NDK and then propose advanced multiplication structure with NEON function.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.30 no.5A
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• pp.376-381
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• 2005

In this paper, we propose a new wavelength locking structure which uses the Michelson interferometer equipped with a movable arm. The proposed one consists of LD driver, Michelson interferometer, automatic temperature controller, automatic power controller, and signal processor. This structure can provide the wavelength locking capability of a resolution below 0.0005nm(=62.4MHz) and cope easily with an external environment variation using movable arm of Michelson interferometer to give a good stability.

• Journal of the Korean Society of Costume
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• v.28
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• pp.19-30
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• 1996

This study investigate through the Balin-banchado in the Kookjangdogameuigue how the system of banchado ceremony exchanged during the middle late the Yi dynasty and in the period of introducing Wastern civilization The Balinbanchado is carry a coffin out of the house to the royal mausoleum. The characteristic in the general strucutre share banchado with rites of introduction rites of center and rites of finishing. Balin-banchado varies according to the objects and the times of a state funeral. In comparsion with Karaebanchado there are investigate the general structure cer-emonial arms and ceremonial costumes. The special feature of two banchado varies rites of center among rites of three. in the ceremonial arms aspect the characteristic of two ban-chado differ from the objects and the times. In the ceremonial costumes the peculiarity of two banchado can be divided into the guard costumes and the ceremonial arm costumes. The most formal attire of the guard costumes. were murning dress and yang-kwan-chobok and samo-danryeong In the ceremonial arm costumes the most outstanding was hongkun-hongeui baik-kun-baikeui in two banchado.