• Proceedings of the KIPE Conference
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• 2001.10a
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• pp.247-250
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• 2001

This paper presents a simple and cost effective circuit topology of single-ended type high frequency quasi-resonant PWM inverter using IGBTs, which can operate under wide soft switching operation range based on ZCS for main power switch as compared with a conventional active voltage-clamped ZVS-PWM high frequency quasi-resonant inverter developed previously. In principle, this new circuit topology can efficiently operate under a constant frequency PWM control-based power regulation scheme. In particular, it is noted that the zero current soft switching (ZCS) commutation can achieve for the main active power switch. On the other hand, the zero voltage soft switching (ZVS) commutation can also achieve for the auxiliary active power switch. The operating principle of this high-frequency Inverter treated here and its power regulation characteristics are illustrated on the basis of the simulation and feasible experimental results.

• Journal of Korean Academy of Fundamentals of Nursing
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• v.15 no.4
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• pp.457-466
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• 2008

Purpose: The purpose of this study was to determine the effects of low intensity exercise program with telephone coaching on the physical fitness of elderly people who are receiving home visiting nursing care. Method: This study was conducted using a non-equivalent control group pretest-posttest design. The participants were 61 elders. Elders (34) in the experimental group performed low intensity exercise and of these 16 received telephone coaching. The low intensity exercise program consisted of stretching, muscle strengthening with an elastic band, massage, and ball exercise, five days a week, for sixteen weeks. Data were collected from July 2007 to December 2007. $x^2$-test, ANCOVA with SPSS WIN 11.0 program were used to analyse the data. Results: There were statistical differences in the right grasping power in the right hand (p=0.021), Raising behind of right arm (p=0.006), Raising behind of left arm (p=0.007). Conclusion: These results indicate, that a low intensity exercise program with telephone coaching can help improve physical fitness in elders receiving served home visiting nursing care.

• Journal of Advanced Research in Ocean Engineering
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• v.3 no.3
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• pp.136-148
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• 2017

The paper presents dual arm ROV manipulation using deep reinforcement learning. The purpose of this underwater manipulator is to investigate and excavate natural resources in ocean, finding lost aircraft blackboxes and for performing other extremely dangerous tasks without endangering humans. This research work emphasizes on a self-learning approach using Deep Reinforcement Learning (DRL). DRL technique allows ROV to learn the policy of performing manipulation task directly, from raw image data. Our proposed architecture maps the visual inputs (images) to control actions (output) and get reward after each action, which allows an agent to learn manipulation skill through trial and error method. We have trained our network in simulation. The raw images and rewards are directly provided by our simple Lua simulator. Our simulator achieve accuracy by considering underwater dynamic environmental conditions. Major goal of this research is to provide a smart self-learning way to achieve manipulation in highly dynamic underwater environment. The results showed that a dual robotic arm trained for a 3DOF movement successfully achieved target reaching task in a 2D space by considering real environmental factor.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.11a
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• pp.69-74
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• 2006

It is known that the various noise sources which are engine, transmission, tire, intake system, etc exist at vehicle driving status. Specially noises which cannot be expected by a driver induce unpleasantness to all passengers. These noises are difficult to distinguish noise sources or specifications because of too many vehicle parts. Therefore in this paper, study on abnormal noise of bush on suspension system is performed by the measurement and analysis of the noises of bushings that are generated artificially. The measured noises are analyzed by two points-view of spectrum and sound quality. Finally, it is shown that the noise sources of bushings on the suspension system which are the pillow ball joint bush of a control arm and the rubber bush of a lower arm could be distinguished by the spectrum distribution and a index value based on tonality.

• Journal of Electrical Engineering and Technology
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• v.12 no.6
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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.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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• v.3 no.3
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• pp.257-268
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• 2005

In this paper, a prototype of the Bridge-Transported Servo Manipulator (BTSM) system is introduced, which has been developed to do operation and maintenance jobs remotely in a hot cell. The system consists of a telescopic transporter, a slave arm, a master arm, and a control system. Several tests such as a positional tracking, a weight handling, reliability, and operability have been performed and test results are presented. Based on the test results, an upgraded system which will be used during demonstrations of the advanced spent fuel conditioning process (ACP) has been designed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1042-1045
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• 2003

In this paper, we present a new method for the monitoring of Electric Control Unit's(ECU) self-diagnostic and the sensor signals of vehicle through Web. In order to measure the ECU's self-diagnostic and sensor signals, the interfaced circuit is designed to communicate ECU and terminal according to the ISO, SAE regulation of communication protocol standard. Microprocessor 80C196KC is used for communicating ECU's self-diagnostic signals and the results are sent to the Embedded Linux System(ELS) through RF module. ELS is developed by SA1110, RF module, Embedded Linux. All commands related in ECU communication are executed through Web. The CGI program composed in web server is executed by user and will return sensor signals from ECU Software on Embedded Linux system is developed to monitor the ECU's sensor signals using the arm compiler tool chain in which RS232 port is programmed by half duplex method. The possibility for remote measurement of ECU sensor signal through Web is verified through the developed systems and algorithms.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.2
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• pp.185-193
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• 2013

The construction automation provides safer and more productive working environment of construction site. We developed the automation system of bolting operation for high-rise building in the previous research. However, this system has a weak point that the operation has to be processed in the air with the operator in the cabin. This weakness leads operators to considerably dangerous environment. Therefore, we proposed the tele-operation system in order to supplement this weak point. Furthermore, it leads more effective operation by application of more intuitive controller; spherical coordinate based Master Arm than the joystick in the Mobile Bolting Robot system. These proposed system and controller were evaluated based on Fitts' law paradigm, which is a general estimation method of speed accuracy of task. Through the experimental results, new developed tele-operation system is compared with the actual operation and it discloses distinctions between two systems. As a result, it is found that new developed teleoperation system can be possible to replace the operation in the cabin.

• Proceedings of the KSR Conference
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• 2010.06a
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• pp.133-138
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• 2010

This paper describes on aerodynamic characteristics of pantograph system for Next generation high speed train(HEMU-400). The pantograph which supports electric power is located on the roof. Because of this, it generate high drag, severe acoustic noise and vibration which induced unstable flow due to complex configuration. Therefore, the design of high efficient pantograph needs to increase operational speed. In this research, wind tunnel tests were performed to design a high efficient pantograph system using 1/4 scaled model which were KTX-II pantograph, single arm pantograph and periscope type pantograph with square cylinder shape panhead and optimized shape panhead. For real operational condition, flow directions were adapted by rotation of pantograph. From this results of wind tunnel, it is checked that the pantograph with optimized panhead and single arm type or periscope type has better aerodynamic performance. In addition, lift control device and spoiler in pantograph were tested to investigate the validity of application.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.48 no.4
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• pp.1-5
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• 2011

We present the implementation of MAC system for MBOA UWB SoC. The implemented MBOA MAC algorithm is not master control mechanism, but distributed network mechanism. Therefore, mesh network can be easily constructed because MAC consists of distributed network and administrates network. The ARM926EJ with cache is adopted for high performnace and AMBA bus is applied for system design and reuse. In addition, the system operating clock management algorithm is implemented for low power consumption. The dedicated DMA for MAC is designed between the system memory buffer and MAC hardware, and the dedicated DMA for USB 2.0 is also implemented between system memory buffer and host for high data transaction.