• 제어로봇시스템학회논문지
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• 제18권9호
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• pp.887-893
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• 2012

In this paper, we propose a new approach to extract directional features based on directional patterns of each region in fingerprint images. The proposed approach computes the center of gravity to extract features from fingerprint images of various shapes. According to it, we divide a fingerprint image into four regions and compute the directional values of each region. To extract directional features of each region from a fingerprint image, we spilt direction values of ridges in a region into 18 classes and compute frequency distribution of each region. Through the result of our experiment using FVC2002 DB database acquired by electronic devices, we show that directional features are effectively extracted from various fingerprint images of exceptional inputs which lost all or part of singularities. To verify the performance of the proposed approach, we explained the process to model Arch, Left, Right and Whorl class using the extracted directional features of four regions and analyzed the classification result.

• 한국기계가공학회지
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• 제16권6호
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• pp.15-20
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• 2017

This study analyzed the load change of the gear generated by the operation of the vehicle recliner through Finite Element Analysis. The basic model of the recliner used was a commercial product, and the effect of the seat frame was excluded. The load conditions applied to the recliner were set considering gravity, the mass of the seat's back frame, and the weight of a person. The operating mode was set to move the seat back from the vertical to the reclined position. As a result, it was found that the tooth bending amount of the gear rim and wheel increased from the cam rotation angle of 450 degrees, and a change in the contact ratio occurred. Furthermore, excessive torque fluctuations occurred in the ranges of 390 to 450 and 750 to 710 degrees. It was found that this occurred in the region of about 30 degrees before and after the point where the x-axis direction load is larger than the y-direction load. From this torque fluctuation it was determined to likely to cause chattering noise.

• 제어로봇시스템학회논문지
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• 제8권2호
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• pp.142-150
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• 2002

This paper presents a systematic method of the zigzag gait planning for quadruped walking robots. When a robot walks with a zigzag gait, its body is allowed to move from side to side, while the body movement is restricted along a moving direction in conventional continuous gaits. The zigzag movement of the body is effective to improve the gait stability margin. To plan a zigzag gait in a systematic way, the relationship between the center of gravity(COG) and the stability margin is firstly investigated. Then, new geometrical method is introduced to plan a sequence of the body movement which guarantees a maximum stability margin as well as monotonicity along a moving direction. Finally, an optimal swing-leg sequence is chosen for a given arbitrary configuration of the robot. To verify the proposed method, computer simulations have been performed for both cases of a periodic gait and a non-periodic gait.

• Journal of the Korean Wood Science and Technology
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• 제6권2호
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• pp.3-19
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• 1978

우리나라에서 아직 이용개발(利用開發)되고 있지 아니한 구상나무, 구실잣밤나무, 후박나무, 때죽나무 및 북가시나무등(等) 5수종(樹種)에 대(對)한 해부학적성질(解剖學的性質), 물리적성질(物理的性質), 기계적성질(機械的性質), 접착성능(接着性能), 목리(木理) 무늬정미성(精緻性), 가공성(加工性), 건조특성(乾燥特性), 프로링제작성(製作性), 목재(木材)의 조성분(組成分), 펄프화특성(化特性) 및 박피성등(剝皮性等)을 조사(調査)한 결과(結果)를 요약(要約)하면 다음과 같다. 1. 원료목재(原料木材)의 형질(形質)은 구상나무가 통직(通直)하나 옹이가 과다(過多)하였고, 잣밤나무와 때쭉나무는 굽음이 심(甚)하였다. 2. 섬유장(纖維長)은 구상나무가 2.97mm로 가장 컷으며, 때죽나무가 1.49mm였으며, 기타(其他) 수종(樹種)도 1.07~1.19mm에 속하였다. 섬유폭(纖維幅)은 구상나무가 39.3${\mu}$으로 가장 컸고, 때죽나무가 18.4${\mu}$으로 최소(最小)였으며 기타(其他) 수종(樹種)들은 23~29${\mu}$의 범위(範圍)에 속하나 대체(大體)로 타활엽수(他闊葉樹)에 비(比)해 섬유폭(纖維幅)이 컸다. 3. 북가시나무의 전건비중(全乾比重)은 0.74${\pm}$0.03으로서 한국산(韓國産) 참나무류(類)의 비중(比重)과 유사(類似)하였으며 구상나무는 0.34${\pm}$0.02로 최소(最小)였으며 기타(其他) 수종(樹種)은 0.47~0.51의 범위(範圍)에 있었다. 4. 흡수량(吸水量)은 대체(大體)로 비중(比重)에 역비례(逆比例)하여 감소(減少)되나 흡습량(吸濕量)은 비중(比重) 증가(增加)에 따라서 증가(增加)하는 경향(傾向)을 나타냈다. 또한 횡단면(橫斷面)의 흡수량(吸水量)은 경단면(經斷面) 접선단면(接線斷面)의 그것들에 비(比)해 2배(倍) 이상(以上)에 달(達)하나, 후박나무는 1.7배(倍)였으며, 경단면(經斷面)과 접선단면(接線斷面)의 흡수량(吸水量)은 수종(樹種)에 따라서 달랐다. 5. 전건수축율(全乾收縮率)은 접선방향(接線方向)에서 5.36~10.24%, 반경방향(半徑方向)에서 2.83~6.13%에 범위(範圍)에 속하며 구상나무가 가장 적고, 북가시나무가 가장 컸다. 수축율(收縮率)은 비중(比重)이 큰 수종(樹種)일수록 컸다. 6. 공시수종(供試樹種)의 제강도(諸强度)는 북가시나무의 경우 강원도산(江原道産) 신갈나무와 유사(類似)하였으며, 구실잣밤나무, 후박나무 구상나무는 비중(比重)이 유사(類似)한 한국산수종(韓國産樹種)의 재질(材質)들과 유사(類似)하였으나, 때쭉나무는 일반적(一般的)으로 비중(比重)에 비(比)해 높은 강도치(强度値)를 기록(記錄)하였다. 7. 요소수지(尿素樹脂) 및 석탄산수지(石炭酸樹脂)에 대(對)한 접착(接着)은 후박나무와 구실잣밤나무가 최대치(最大値)를 기록(記錄)하였으나, 비중(比重)이 큰 북가시나무와 비중(比重)이 작은 구상나무는 그렇지 못하였다. 8. 목리(木理)와 무늬정치성(精緻性)은 후박나무는 파상(波狀)으로 굴곡(屈曲)되어 목재공예적(木材工藝的)으로 진용(珍用)될 수 있으며 기타(其他) 수종(樹種)들은 건축(建築) 및 가구용재(家具用材)로서 적합(適合)한 무늬였다. 6. 가공성(加工性)은 북가시나무를 제외(除外)하곤 기타 수종(樹種)은 양호(良好)할 것으로 판단(判斷)된다. 10. 비중(比重)이 큰 수종(樹種)일수록 건조(乾燥)의 곤란성(困難性)을 노정(露呈)하였으나, 후박나무는 비중(比重)에 비(比)해 건조(乾燥)가 용이(容易)치 않고, 심(甚)한 트위스팅 및 커핑 등(等) 건조결함(乾燥缺陷)을 발생(發生)하였다. 11. 구상나무를 제외(除外)한 모든 공시수종(供試樹種)은 플로링제작(製作)에 적합(適合)한 것으로 판단(判斷)된다. 12. 화학적(化學的) 조성분(組成分)은 5수종(樹種) 공(共)히 펜토산 함량(含量)이 많았고 북가시나무는 추출물(抽出物)의 함량(含量)이 최대(最大)였다. 13. 크라프트 펄프화(化)는 5수종(樹種) 공(共)히 경제수율(經濟收率)인 45% 이상(以上)을 기록(記錄)하였다. 14. 박피(剝皮)는 구상나무와 후박나무가 용이(容易)하였으며, 5수종(樹種) 모두 자비(煮沸)한 후(後) 박피(剝皮)한 것이 가장 능율적(能率的)이었다.

• 한국실내디자인학회논문집
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• 제16호
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• pp.106-115
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• 1998

Latest modernism shows general idea of phenomenal space through nature of place motility and experience sinceded from standard form and it has general idea of space. therefore this study presents the tension and the relaxation as a method looking for spatal change and value that in spatial experience. For the analysis of work the Conference Pavillon of Tadoa Ando in the furniture company in Vitra Fire Station of Zaha Hidid is analyzed in spatial experence. As the result the result the systematic straight mixture that has a superrimotion with long retangle which the space acts independently and is shown in the drawing of absolutism is formed and collapses theregularity of construction form by decomposition annexation mixing collision and ambivalence. The spatial experiance in this unstable form changes the grade of rank of space by opposite phenomenon by the change of spatial flowing the disorted and vague space that is occurred by superrimotion which has no direction and change of lirht and place and consolidates dynamic strain makes possible to construct against the gravity. And it also creates experienced space thatis reaxed with maintenance of organization of unity harmony, and stsbility.

• 제어로봇시스템학회논문지
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• 제18권7호
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• pp.680-687
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• 2012

One of the frequent problems in the stabilized gimbal system is the rejection of disturbances associated with moving components. Very often such disturbances have non-linear characteristics. In a typical gimbal system, each gimbal and platform are connected by a mutual bearing which induces inevitable friction. Particularly, the non-linear Coulomb friction causes position errors as well as slow responses that lead to unfavorable performance. In this paper, a modified PID controller that is augmented by Coulomb friction estimator is presented. Through constantly estimating the Coulomb friction torque, it is applied to the output of the existing PID controller. The effectiveness of the proposed controller is evaluated through a series of experiments.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집E
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• pp.142-147
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• 2001

Natural convection of a magnetic fluid is different from that of Newtonian fluids because magnetic body force exists in an addition to gravity and buoyancy. In this paper, natural convection of a magnetic fluids(W-40) in a cubic cavity is examined by numerical and experimental method. One side wall was kept at a constant temperature($25^{\circ}C$), and the opposite side wall was also held at a constant but lower temperature($20^{\circ}C$). Under above conditions, various magnitudes of the magnetic fields were applied up. GSMAC scheme is used for a numerical method, and the thermo-sensitive liquid crystal film(R20C5A) is utilized in order to visualize wall-temperature distributions as an experimental method. This study has resulted in the following fact that the natural convection of a magnetic fluids is controlled by the direction and intensity of the magnetic fields.

• 한국해양공학회지
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• 제4권1호
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• pp.35-42
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• 1990

The area where age dating of the seafloor and interpretation of geomagnetic basic structure are conducted is also important in the aspect of geophysics. Near the sea mount (water depth to the top is 3900m and 6500m to the bottom), there are Mesozoic magnetic lineations at the sea-side flank along the trench axis. A two dimensional model analysis of Talwani and Heirtzler(1964) and a three dimensional model analysis of Talwani are performed by using data obtained from the marine proton magnetometer. Distribution, direction of the lineation, amplitude and period of magnetic anomaly are correlated and analysed with speed of the plate movement and lineation of the sea mount. In the west and north-west Pacific there are lots of huge sea mounts retaining the history of oceanic crust. This indicates that geomagnetic basis subsided into the oceanic crust and has interest in the aspects of the isostasy theory of the gravity.

• Coupled systems mechanics
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• 제7권3호
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• pp.353-371
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• 2018

The Wavenumber or more accurately Wavenumber-FD approach was initially introduced for two-dimensional dynamic analysis of concrete gravity dam-reservoir systems. The technique was formulated in the context of pure finite element programming in frequency domain. Later on, a variation of the method was proposed which was referred to as Wavenumber-TD approach suitable for time domain type of analysis. Recently, it is also shown that Wavenumber-FD approach may be applied for three-dimensional dynamic analysis of concrete arch dam-reservoir systems. In the present study, application of its variation (i.e., Wavenumber-TD approach) is investigated for three-dimensional problems. The method is initially described. Subsequently, the response of idealized Morrow Point arch dam-reservoir system is obtained by this method and its special cases (i.e., two other well-known absorbing conditions) for time harmonic excitation in stream direction. All results for various considered cases are compared against the exact response for models with different values of normalized reservoir length and reservoir base/sidewalls absorptive conditions.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1928-1933
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• 2005

This Paper is about landing control of legged robot. Body stiffness and damping is used as landing strategy of a legged robot. First, we only used stiffness control method to control legged robot landing. Second control method,sliding mode controller and feedback linearization controller is applied to enhance position control performance. Through these control algorithm, body center of gravity behaves like mass with spring & damping in vertical direction on contact regime.