• Journal of Institute of Control, Robotics and Systems
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• v.17 no.7
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• pp.659-667
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• 2011

The study of bipedal robot is towards similar shape and function with human. In this paper, we propose a human-like walking pattern compatible to the flexible foot with toe and heel structure. The new walking pattern for a bipedal robot consists of ZMP, center of mass (CoM), and ankle trajectory and is drawn by considering human kinesiology. First, the ZMP trajectory moves forward without stopping at a point even in the single support phase. The corresponding CoM trajectory to the ZMP one is derived by solving differential equations. As well, a CoM trajectory for the vertical axis is added by following the idea of human motion. The ankle trajectory closely mimics the rotational motion of human ankles during taking off and landing on the ground. The advantages of the proposed walking pattern are demonstrated by showing improved stability, decreased ankle torque, and the longer step length capability. Specifically, it is interesting to know that the vertical CoM motion is able to compensate for the initial transient response.

• Journal of Electrical Engineering and Technology
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• v.11 no.6
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• pp.1787-1792
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• 2016

Previous walking pattern generation methods could generate walking patterns that allow only straight walking on flat and uneven terrain. They were unable to generate modifiable walking patterns whereby the sagittal and lateral step lengths and walking direction can be changed at every footstep. This paper proposes a novel walking pattern generation method to realize modifiable walking of humanoid robots on unknown uneven terrain. The proposed method employs a walking pattern generator based on the 3-D linear inverted pendulum model (LIPM), which enables a humanoid robot to vary its walking patterns at every footstep. A control strategy for walking on unknown uneven terrain is proposed. Virtual spring-damper (VSD) models are used to compensate for the disturbances that occur between the robot and the terrain when the robot walks on uneven terrain with unknown height. In addition, methods for generating the foot and vertical center of mass (COM) of the 3-D LIPM trajectories are developed to realize stable walking on unknown uneven terrain. The proposed method is implemented on a small-sized humanoid robot platform, DARwIn-OP and its effectiveness is demonstrated experimentally.

• Journal of Energy Engineering
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• v.5 no.2
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• pp.183-192
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• 1996

This paper presents a numerical model of the optimal operation pattern of the CHP system built for duel-purpose of power generation and district heat production. The model can be differently formulated in accordance with the view of planner: society, electric utility or district-heating company. Here, the operation pattern of the system components and the effect of heat price are of major interest in the study. From the case study, it was found that the optimal use of auxiliary heating equipment is very important to achieve the minimum societal cost. And, the multi-step heat pricing scheme is desirable to induce the voluntary behavior of both companies towards the societal optimal pattern.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.12
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• pp.991-995
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• 2005

Sensor networks are the results of convergence of very important technologies such as wireless communication and micro electromechanical systems. In recent years, sensor networks found a wide applicability in various fields such as health, environment and habitat monitoring, military, etc. A very important step for these many applications is pattern classification and recognition of data collected by sensors installed or deployed in different ways. But, pattern classification and recognition are sometimes difficult to perform. Systematic approach to pattern classification based on modern teaming techniques like Multivariate Gaussian mixture models, can greatly simplify the process of developing and implementing real-time classification models. This paper proposes a new recognition system which is hierarchically composed of many sensor nodes haying the capability of simple processing and wireless communication. The proposed system is able to perform classification of sensed data using the Multivariate Gaussian function. In order to verify the usefulness of the proposed system, it was applied to hand gesture recognition system.

• Journal of Environmental Impact Assessment
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• v.18 no.3
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• pp.161-170
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• 2009

As urban growth continues, the earth ecosystem is increasingly dependent on the patterns of urban growth. The impact intensity from urban growth is expected to change predictably with distance from the urban center. However we can't fully understand yet how urban development pattern affects urban ecosystem. In researches about urban ecosystem, it is important to relate the spatial pattern of urbanization to ecological processes. So we used gradient analysis with time data; 1980's, 1990's and 2000's. We attempted to quantify the urban spatiotemporal impacts in Daejeon-city and Cheonan-city, Korea, along a 75km long and 3km wide transect. Through the results, we found the impacts range of urbanization with urban development process of two cities. When the urban growth was concentrated on in both cities, the impacts intensity and range were much stronger and wider. As a result, in urban planning or green space planning, we have to consider suitable urban development forms with surrounding areas, and make legal clauses which limits landuse change. This quantifying the urban gradient is an important step in understanding urban ecology.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.284-287
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• 2001

In this paper, we designed and implemented a precise pulse motor control chip that generates the parabolic speed pattern. This chip can control step motor[1], DC servo[2] and AC servo motors at high speed and precisely. It can reduce the mechanical vibration to the minimum at the change point of a degree of acceleration. Because the parabolic speed pattern has the continuous acceleration change. In this paper, we present the pulse generation algorithm and the parabolic pattern speed generation. We verify these algorithm using visual C++. We designed this chip with VHDL(Very High Speed Integrated Circuit Hardware Description Language) and executed a logic simulation and synthesis using Synopsys synthesis tool. We executed the pre-layout simulation and post-layout simulation with Verilog-XL simulation tool. This chip was produced with 100 pins, PQFP package by 0.35 um CMOS process and implemented by completely digital logic. We developed the hardware test board and test program using visual C++. We verify the performance of this chip by driving the servo motor and the function by GUI(Graphic User Interface) environment.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.5
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• pp.520-525
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• 1997

This paper presents a fault detection and diagnosis methodology based on weighted symptom model and pattern matching between the coming fault propagation trend and the simulated one. In the first step, backward chaining is used to find the possible cause candidates for the faults. The weighted symptom model is used to generate those candidates. The weight is determined from dynamic simulation. Using WSM, the methodology can generate the cause candidates and rank them according to the probability. Second, the fault propagation trends identified from the partial or complete sequence of measurements are compared with the standard fault propagation trends stored a priori. A pattern matching algorithm based on a number of triangular episodes is used to effectively match those trends. The standard trends have been generated using dynamic simulation and stored a priori. The proposed methodology has been illustrated using two case studies, and the results showed satisfactory diagnostic resolution.

• Proceedings of the IEEK Conference
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• 2002.07b
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• pp.1256-1259
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• 2002

In this paper, we have proposed license plate recognition system for multi-national vehicle license plate using geometric features along with hybrid and seven segment pattern vectors. In the proposed system, we suggested to find horizontal and vertical relation after going through preparation process with inputted real-time license plate image of Korea and Japan, and then to classify license plate with using characteristic and geometric information of license plates. It classifies the extracted license plate images into letters and numbers, such as local name, local number, classification character and license consecutive numbers, and recognize license plate of Korea and Japan by applying hybrid and seven segments pattern vectors to classified letter and number region. License plate extraction step of the proposed system uses width and length information along with relative rate of Korean and Japanese license plate. Moreover, it exactly segmentation by letters with using each letter and number position information within license plate region, and recognizes Korean and Japanese license plates by applying hybrid and seven segment pattern vectors, containing characteristics related to letter size and movement within segmented letter area. As the result of testing the proposed system in real experiment, it recognized regardless of external lighting conditions as well as classifying license plates by nations, Korea and Japan. We have developed a system, recognizing regardless of inputted structural character of vehicle licenses and external environment.

• Journal of the Korea Society of Computer and Information
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• v.11 no.1 s.39
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• pp.11-18
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• 2006

The logical analysis of data(LAD) is a Boolean-logic based data mining tool. A critical step in analyzing data by LAD is the pattern generation stage where useful knowledge and hidden structural information in data is discovered in the form of patterns. A conventional method for pattern generation in LAD is based on term enumeration that renders the generation of higher degree patterns practically impossible. In this paper, we present a novel optimization-based pattern generation methodology and propose two mathematical programming models, a mixed 0-1 integer and linear programming (MILP) formulation and a well-studied set covering problem (SCP) formulation for the generation of optimal and heuristic patterns, respectively. With benchmark datasets, we demonstrate the effectiveness of our models by automatically generating with ease patterns of high complexity that cannot be generated with the conventional approach.

• Journal of the Korean Society for information Management
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• v.27 no.4
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• pp.109-130
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• 2010

The purpose of this study is to identify th patterns in the news reporters' information seeking behaviors by observing their web activities. For this purpose, transaction logs collected from 23 news reporters were analyzed. Web tracking software was installed to collect the data from their PCs, and a total of 39,860 web logs were collected in two weeks. Start and end pattern of sessions, transitional pattern by step, sequence rule model was analyzed and the pattern of Internet use was compared with the general public. the analysis of pattern derived a web information seeking behavior modes that consists of four types of behaviors: fact-checking browsing, fact-checking search, investigative browsing and investigative search.