• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.824-828
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• 2003

This paper explains problems of force-reflecting teleoperation grinding work and proposes some methods to solve those. For stable contact between robot tool(grindstone) and contact surface the mechanical impedance force control is used. The sliding phenomenon of grindstone has been appeared at the contact surface during the grinding work. The sliding problems caused by friction and rotation of grindstone are eliminated by using tangential direction sliding compensation control. The rotation force of grindstone makes the tool move to tangential direction along the surface suddenly even though an operator pushes the tool only in normal direction to the surface. Normal direction force control is applied for grinder not to roll and fracture on the grinding surface. Vibration problem of grindstone is decreased by second order low-pass filter. Therefore we can precise grinding work at the grinding surface and feel the reality

• Journal of KSNVE
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• v.10 no.4
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• pp.584-595
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• 2000

We design a new actuator for high density optical device in order to control the radial tilting motion. The newly designed actuator makes it possible to control the tilting motion actively, while the coventional actuator compress tilting motion with passive spring. First of all, We present 3-dimensional modeling of actuator and accomplish the modal analysis and magnetic analysis of actuator. Due to these results, a new designed actuator has performance of high sensitivity and high second resonance frequency. Secondly, We present the 3-DOF dynamic modeling of the 4-wire spring type actuator. sensitivity analysis is performed to consider the assembling error, such as the difference of mass center and force center. From these results, the sensitivities of rotation due to the assembly error are revealed and design criteria of rotation is presented. And experimental results of a newly designed actuator are presented and compared with theoretical results. Finally, We propose a dynamic tilt compensation and high acceleration actuator for high density optical storage devices.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.30 no.5C
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• pp.364-370
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• 2005

The first step of face recognition is to align an input face picture with database images. We propose a new algorithm of removing registration error in eigenspace. Our algorithm can correct for translation, rotation and scale changes. Linear matrix modeling of registration error enables us to compensate for subpixel errors in eigenspace. After calculating derivative of a weighting vector in eigenspace we can obtain the amount of translation or rotation without time consuming search. We verify that the correction enhances the recognition rate dramatically.

• International Journal of Precision Engineering and Manufacturing
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• v.4 no.5
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• pp.15-21
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• 2003

In order to improve the quality of a spindle unit it is important to increase its rotational accuracy. The rotational accuracy of a spindle unit can be defined as the stability or immobility of its spindle axis while rotating. Spindle rotation in the rolling bearings causes the disturbing influence, which leads to the oscillation of a rotation axis. The purpose of this study is to investigate the oscillation sources and find a way to decrease the runout without additional expenses. The main source of oscillation is the interaction between rolling bodies and ring races. The first oscillation source was the out-of-shape imperfection of inner bearing ring. The mutual compensation of oscillation by proper rings orientation was proposed, which sometimes allow to decrease the radial runout of spindle rotation axis by approximate 40％ down. Also the outer ring harmonics were explored as the second oscillation source. The analysis shows the dependency between the number of rolling bodies and the outer ring race harmonics. The conclusion on the orientation of bearing cages and the bearing rings was made, which makes possible to obtain the optimal variant of their mounting in the spindle unit when the rotational accuracy of the spindle is maximal, and the spindle runout considerably less.

• Journal of the Korea Society for Simulation
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• v.9 no.4
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• pp.51-58
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• 2000

The control of the data retention time is a main issue for realizing future high density dynamic random access memory. The novel junction process scheme in sub-micron DRAM cell with STI(Shallow Trench Isolation) has been investigated to improve the tail component in the retention time distribution which is of great importance in DRAM characteristics. In this' paper, we propose the new implantation scheme by gate-related ion beam shadowing effect and buffer-enhanced ${\Delta}Rp$ (projected standard deviation) increase using buffered N-implantation with tilt and 4X(4 times)-rotation that is designed on the basis of the local-field-enhancement model of the tail component. We report an excellent tail improvement of the retention time distribution attributed to the reduction of electric field across the cell junction due to the redistribution of N-concentration which is Intentionally caused by ion Beam Shadowing and Buffering Effect using tilt implantation with 4X-rotation. And also, we suggest the least requirements for adoption of this new implantation scheme and the method to optimize the key parameters such as tilt angle, rotation number, Rp compensation and Nd/Na ratio. We used MEDICI Simulator to confirm the junction device characteristics. And measured the refresh time using the ADVAN Probe tester.

• The Journal of Korean Physical Therapy
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• v.31 no.2
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• pp.134-139
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• 2019

Purpose: This study examined the most effective exercise while performing shoulder abduction below ninety degrees. Methods: Thirty two healthy individuals (17 males, 15 females) participated and performed four exercises, 1) Posterior fly, 2) Prone row, 3) Modified prone cobra, and 4) External rotation in the prone position. Surface electromyography (sEMG) was used to measure the electrical activities for the lower, middle and upper fiber of trapezius and serratus anterior. Results: A significant difference in the muscle activities of the upper/middle/lower trapezius and serratus anterior was observed among the three different positions in terms of the PF (posterior fly), PR (prone row), and MPC (modified prone cobra) (p<0.05). In post-hoc analysis, the activities of the lower and upper trapezius were significantly higher than those of the upper trapezius and serratus anterior (p<0.05). In addition, in ERP (external rotation in prone), there was a significant difference in each activity of the muscles. Post-hoc results indicated that the upper trapezius showed greater EMG activity than the other three muscles. Conclusion: External rotation in the prone position revealed the highest activation of the lower trapezius compared to upper trapezius muscle activity. This may be particularly useful in isolating the lower trapezius in cases where excessive scapular elevation is noted. Therefore, the most effective lower trapezius exercise should be performed below ninety degrees of shoulder abduction.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.21 no.1
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• pp.14-19
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• 2010

In this paper, an efficient algorithm is developed to perform target rotational motion compensation to achieve the clear inverse synthetic aperture radar(ISAR) image. The algorithm is based on a time-frequency technique. This algorithm provides an efficient method to resolve the blurring image caused by the time-varying behavior of the target scattering centers and leads to a well-focused ISAR image. Results demonstrate that the time-frequency techniques can improve the blurring ISAR image when an aircraft is in complex motion, such as maneuvering, rotation and acceleration.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.883-890
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• 2006

Nowadays, CPS is used widely, especially in cases which need more precise position information, such as car navigation systems and even in the mobile robot for position measuring in the outdoor environment. RTK (Real-Time Kinematics) and DGPS (Differential Global Positioning System) have more precise accuracy than the general-purposed GPS. However can't easily use them because of high prices and large size of equipments. In order fur the mobile robot to obtain precise position information it is important that CPS receiver has portability and low price. In this study, we introduce a new GPS data acquisition system that offers the precise position data using the DGPS mechanism and satisfying low cost and portability. In addition to this, we propose an improved data compensation algorithm that offers more accurate position information to the outdoor mobile robot by compensating the error rate of CPS data measured from the three points with geometrical rotation and distance formula. Proposed method is verified by comparing with the precise real position data obtained by RTK. Proposed method has more than 70% performance enhancement.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2004.11a
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• pp.518-521
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• 2004

We have investigated about compensation film to reduce the light leakage at an oblique angle in-plane switching mode. It is well known that uncompensated in-plane switching (US) and fringe field switching (FFS) liquid crystal displays (LCDs) have much better viewing angle than other modes owing to the in-plane rotation of the LC director. However, to accomplish optimal viewing angle characteristics in these devices, they must be compensated by one or more films. So, in this paper, we have studied how to reduce the light leakage with viewing angle using discotic film in dark state.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.105.2-105
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• 2002

$\textbullet$ Statically stable walk with COG(center of gravity) $\textbullet$ Dynamically stable walk with ZMP(zero moment point) $\textbullet$ Dynamically adaptational stable walk with FRI(foot ratation indicator) $\textbullet$ Simplified inverted pendulum model approach $\textbullet$ Analysis posture of biped's foot as passive joint $\textbullet$ Stability compensation method of FRI against falling down $\textbullet$ Simulation of ZMP and FRI to real biped robot IWR-III