• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.6
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• pp.50-63
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• 2000

In this paper, a new EMG pattern classification method based on soft computing techniques is proposed to help the disabled and the elderly handle rehabilitation robotic arm systems. First, it is shown that EMG is more useful than existing input devices such as voice, a laser pointer and a keypad in view of naturality, extensibility, and applicability. Then, a new procedure is proposed to select the minimal feature set. As methods of classifying the pre-defined motions, a fuzzy pattern classification and fuzzy min-max neural networks (FMMNN) are designed using the selected features. As results, the motions are recognized with success rates of 83 percent and 90 Percent using fuzzy pattern classification and FMMNN, respectively.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.6
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• pp.64-72
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• 2000

This paper deals with the parallel operation of two PWM converters for auxiliary block of high speed train. The parallel operation of AC/DC PWM converter controlled by 3-level PWM switching method to operate switching devices to realize a high power factor and reduce the primary side of the transformer current harmonics is proposed. In this paper, it is presented the phase shift technique between two converters switching phase, solution to eliminate the coupling effects due to the transformer and zero crossing detection method for synchronized with the source and controller. Experimental results for laboratory system with TMS320C31 microprocessor and 10［kVA］PWM converter confirm the validity of the proposed algorithm.

• The Journal of Korean Academy of Prosthodontics
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• v.38 no.1
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• pp.38-49
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• 2000

The purpose of this study was to evaluate the effects of thermocycling on the shear bond strength of Co-Cr alloy to denture base resin. PMMA denture base resin such as heat-cured $Vertex-RS^{(R)}$, self-cured $Vertex-SC^{(R)}$ and 4-META denture base resin such as heat-cured $Meta-Dent^{(R)}$, self-cured $Meta-Fast^{(R)}$ was bonded to Co-Cr alloy. Samples were divided into 3 groups : no thermocycling group as control, thermocycling between $5^{\circ}C\;and\;55^{\circ}C$ with 15 second dwell time as group 1, thermocycling with 1 minute dwell time as group 2. The shear bond strength was measured and the interface between metal and resin was observed by SEM. The results were as follows. 1. The shear bond strength decreased significantly according to thermocycling and dwell time(P<0.001). 2. The bond strength of Co-Cr alloy and 4-META denture base resin was significantly higher than that of Co-Cr alloy and PMMA denture base resin(P<0.001) 3. In SEM, there was no gap in control group, but there was much and large gap in group 1, 2. The longer dwell times, the lower bond strength. PMMA denture base resin had more gap than 4-META denture base resin in the interface. These results revealed that thermocycling decreased the bond strength between Co-Cr alloy and denture base resin and dwell time of thermocycling changed the effect of thermocycling. The results suggested that oral temperature change affect the bond strength of prosthesis.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.4
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• pp.11-21
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• 2000

This paper proposes a new algorithm for a mobile robot that detects and tracks a moving target, keeping it in the view range of the robot. The sensor system consists of a camera and a line light source. The camera system is placed so that the line light projected into the ground from the light source forms its image along the horizontal center line of the CCD array of the camera. The deformation of the line image from the horizontal center line contains the information on existence of a moving object, its velocity, and position. Since the proposed algorithm reduces the region of the image to be searched, it reduces the computational complexity significantly comparing to the conventional image processing algorithms. The performance of the proposed algorithm has been tested by implementing on a mobile robot.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.4
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• pp.28-34
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• 2000

In this paper, a continuous-time filter for low voltage and high frequency applications using fully-balanced current integrators is presented. As the balanced structure of integrator circuits, the designed filter has improved noise characteristics and wide dynamic range since even-order harmonics are cancelled and the input signal range is doubled. Using complementary current mirrors, bias circuits are simplified and the cutoff frequency of filters can be controlled easily by a single DC bias current. As a design example, the 3rd-order lowpass Butterworth filter with a leapfrog realization is designed. The designed fully-balanced current-mode filter is simulated and examined by SPICE using 0.65${\mu}{\textrm}{m}$ CMOS n-well process parameters. The simulation results show 50MHz cutoff frequency, 69㏈ dynamic range with 1% total harmonic distortion(THD), and 4㎽ power dissipation with a 3V supply voltage.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.4
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• pp.42-48
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• 2000

Generally an operator would take notice at putting a patient under anesthesia. If the operation is executed in mistake, the patient is exposed to danger. The object of this Paper is that a system is developed for an accuracy of system and a convenience of user interface to prevent an operation of several elements of risk by mistake. The part of electrical system particularly is made for convenience of a manipulation using electrical switch and encoder. A real-time monitoring system is developed for an airway pressure and a gas concentration of carbon dioxide of patient using graphic LCD(liquid crystal display). Moreover, this flow control system could be developed control with accuracy by feedback control method. This is implemented using flow control valve and flow sensor. The implemented system gives convenience and precision of a manipulation of variable value using developed technique. This system shows guaranteed stabilization and confidence of anesthesia ventilator by notifying us that patient's state and information in case of being out of alarm range of variable value.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.4
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• pp.49-54
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• 2000

A new functional organic thin film optical waveguide ion sensor is designed, which can select a specific ion, i.e., $Ca^{2+}$ -ion. The sensing membrane was composed of PVC-PVAC-PVA copolymer matrix based on anionic cation-selective chromoionophor(ETH5294), neutral ionophore(K23El), anionic site and plasticizer and it was coated on the etched glass substrate as embeded type optical waveguide itself. The sensor sensitivity dependence on waveguide length and thickness, contence of chromoionophore, and each mode was investigated. And this sensor could detect $Ca^{2+}$ ion in concentrations ranging from 1$\times$10­6~1M(with 0.05M tris-HCI buffer solution of pH7.4) by measuring the absorbance change at 514nm of light. Utilizing thin film membrane, the fast response time and high sensitivity are obtained. Also, it is expected that this sensor can be applied to various biochemical important ions.ons.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.5
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• pp.46-55
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• 2000

This paper presents a direct adaptive control of robot system using chaotic neural networks and PD controller. The chaotic neural networks have robust nonlinear dynamic characteristics because of the sufficient nonlinearity in neuron itself, and the additional self-feedback and inter-connecting weights between neurons in same layer. Since the structure and the learning method are not appropriate for applying in control system, this neural networks have not been applied. In this paper, a modified chaotic neural networks is presented for dynamic control system. To evaluate the performance of the proposed neural networks, these networks are applied to the trajectory control of the three-axis PUMA robot. The structure of controller consists of PD controller and chaotic neural networks in parallel for conforming the stability in initial learning phase. Therefore, the chaotic neural network controller acts as a compensating controller of PD controller.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.5
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• pp.1-12
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• 2000

In this paper we propose a design method of the adaptive fuzzy controller for autonomous navigation of mobile robots based on the fuzzy theory. We present two improvements. First, unnecessary rules in the fuzzy inference process make data processing time increase. We reduce this data processing time by generating suitable fuzzy inference rules and membership functions according to the current state of a mobile robot. It is implemented with the clustering method using input and output data pairs, and then it is possible for a mobile robot to navigate in shorter processing time with less fuzzy inference rules. Second, existing algorithms used fixed membership functions of input and output variables, hence converged slowly. We improve convergence time via scaling membership functions generated by the clustering method. To evaluate and compare the performance of the proposed method with the existing fuzzy navigation controller, computer simulations and navigation experiments of a mobile robot are Presented.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.5
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• pp.22-33
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• 2000

Since the heavy-duty power manipulator generally has high ratio gear reducers at its joints, its dynamic characteristics is much slower than that of the master manipulator and it is likely to encounter the saturation in the input magnitude when it is used as the slave manipulator in telemanipulation systems. This paper proposes a force reflecting and compliant control scheme for the heavy-duty power telemanipulator. The main advantage of the proposed scheme is that it provides a precise position and compliant control performance for a telemanipulator with control input saturation. The stability of the proposed scheme is analyzed and a series of experiments shows its performance.