• Journal of the Korea Society of Computer and Information
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• v.16 no.7
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• pp.157-163
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• 2011

In this paper, configuration control for the Horizontal Maintenance and driving of the mobile inverted pendulum robot has been studied using ARS(Attitude Refrence System). The inverted pendulum technique is getting attention and there have been many researches on the seg-way since the US. Using its 2 freedom, a mobile inverted pendulum robot can move in various modes and Our robot performs goal reaching ARS. Mobile inverted pendulum robot fall down to the forward or reverse direction to converge to the stable point. Kalman Filter is normally used for the algorithm and numerous research is progressing at the moment. To calculate the attitude in ARS using 2 axis gyro(roll, pitch) and 3 axis accelerometers (x, y, z). In this paper we present a two wheel robot system for an autonomous mobile robot. This paper realized the robot control method which is much simpler but able to get desired performance by using the IMU and PID control.

• Korean Journal of Crystallography
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• v.9 no.1
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• pp.71-76
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• 1998

Crystal structure of Bis(ethylenediamine)palladium(II)-Bis(oxalato)palladate(II0 has been determined by X-ray crystallography. Crystal data : (Pd(C2H8N2)2.Pd(C2O4)2), Fw=509.04, Monocline, Space Group P21/c (no=14), a=6.959(2), b=13.506(2), c=15.339(2) Å, β=99.94(3), Z=4, V=1420 Å3, Dc=2.380 gcm-3, μ=25.46cm-1, F(000)=992. The intensity data were collected with Mo-Kα radiation (λ=0.7107 Å) on an automatic four-circle diffractometer with a graphite monochromater. The structure was solved by Patterson method and refined by full matrix least-square methods using unit weights. The final R and S values were R=0.021, Rw=0.030, Rall=0.032 abd S=2.1 for 1472 observed reflections. The essentially planar complex anions form diade of interplanar distances of 3.41 Å and their diads are stacked along aaxis with interplanar separation of 3.44 Å.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.3
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• pp.305-311
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• 2012

In this paper, we propose a gait generation method for quadruped robots using the xz-axis sway of the quadruped robot, which minimizes the shake of the quadruped robot and maximizes the stability margin. In the proposed method, the gait is generated based on wave gaits and the stability analysis uses the body tilt information of the quadruped robot according to the leg's height of leg. In addition, to reduce the impact on the body caused by the z-axis sway while walking, the proposed method generates the smooth walking movement trajectory with less impact by using Fourier series. Finally, to verify the applicability and effectiveness of the proposed method, we carry out the computer simulations and the real walking experiments with the implemented quadruped robot.

• Journal of the Korea Society of Computer and Information
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• v.28 no.9
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• pp.105-111
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• 2023

Currently, most of content restoration using artificial intelligence learning is 2D learning. However, 3D form of artificial intelligence learning is in an incomplete state due to the disadvantage of requiring a lot of computation and learning speed from the existing 2 axes (X, Y) to 3 axes (X, Y, Z). The purpose of this paper is to secure a data-set for artificial intelligence learning by analyzing and 3D modeling the stone pagodas of ourinari by era based on the two-dimensional information (image) of cultural assets. In addition, we analyzed the differences and characteristics of towers in each era in Korea, and proposed a feature modeling method suitable for artificial intelligence learning. Restoration of cultural properties relies on a variety of materials, expert techniques and historical archives. By recording and managing the information necessary for the restoration of cultural properties through this study, it is expected that it will be used as an important documentary heritage for restoring and maintaining Korean traditional pagodas in the future.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.8
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• pp.2001-2011
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• 1993

This study deals with the machining of sculptured surfaces on 5-axis CNC milling machine with end mill cutter. The study (I) has the following contents. In 5-axis CNC milling, CL-data consist of CC-data and cutter axis direction vector at the CC-point. Thus, in machining of the sculptured surface on 5-axis CNC milling machine, determination of the direction vector of the milling cutter is very important. The direction vector is obtained by the fact that bottom plane of the milling cutter must not interfere with the free-form surface being machined. The interference is checked by the z-map method which can be applied in all geometric types of the sculptured surfaces. After generating NC part programs from 5-axis post-processing algorithms, sculptured surfaces were machined with 5-axis CNC milling machine (CINCINNATI MILACRON, 20V-80). From these machining tests, it was shown that the machining of the free-form surfaces on 5-axis CNC milling machine with the end mill has smaller cusp heights and shorter cutting time than on 3-axis CNC milling machine with the ball-end mill. Thus, 5-axis CNC end milling was effective machining method for sculptured surfaces. The study (II) deals with the prediction of cusp height and the determination of tool path interval for the 5-axis machining of sculptured surfaces on the basis of study(I).

• Journal of Internet Computing and Services
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• v.12 no.3
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• pp.17-26
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• 2011

We have developed a wearable device that can convert sensor data into real-time step counts. Sensor data on gait were acquired using a triaxial accelerometer. A test was performed according to a test protocol for different walking speeds, e.g., slow walking, walking, fast walking, slow running, running, and fast running. Each test was carried out for 36 min on a treadmill with the participant wearing an Actical device, and the device developed in this study. The signal vector magnitude (SVM) was used to process the X, Y, and Z values output by the triaxial accelerometer into one representative value. In addition, for accurate step-count detection, we used three algorithms: an heuristic algorithm (HA), the adaptive threshold algorithm (ATA), and the adaptive locking period algorithm (ALPA). The recognition rate of our algorithm was 97.34% better than that of the Actical device(91.74%) by 5.6%.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.6 no.1
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• pp.1-8
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• 2012

Estimating algorithm of physical activity energy expenditure was implemented by using a tri-axial accelerometer motion detector of the SVM(Signal Vector Magnitude) of 3-axis(x, y, z). A total of 33 participants(15 males and 18 females) that performed walking and running on treadmill at 2 ~ 11 km/h speeds(each stage increase 1km/h). Algorithm for energy expenditure of physical activities were implemented with $VO_2$ consumption and SVM correlation between the data. Algorithm consists of three kinds and hip, wrist, waist and hip can be used to apply.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.10
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• pp.851-856
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• 2016

Despite all the recent advances in biodegradable material-based microneedles, the bending and failure (especially buckling) of a biodegradable microneedle during skin tissue insertion remains a major technical hurdle for its large-scale commercialization. A reduction in skin tissue puncture force during microneedle insertion remains an essential issue in successfully developing a biodegradable microneedle. Here, we consider uniaxial and equibiaxial prestrains applied to a skin tissue as mechanophysical stimuli that can reduce the skin tissue puncture force, and investigate the effect of prestrain on the changes in skin tissue puncture force. For a porcine skin tissue similar to that of humans, the skin tissue puncture force of a flat-end microneedle is measured with a z-axis stage equipped with a load cell, which provides a force-time curve during microneedle insertion. The findings of this study lead to a quantitative characterization of the relationship between prestrain and the skin tissue puncture force.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• v.36 no.1
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• pp.23-27
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• 2010

The purpose of this study was to evaluate the reliability of 6-axis model surgery simulator (6AMSS) for orthognathic surgery. A rectangular parallelepiped plastic block was assembled to model-mounting plate of 6AMSS. Left-right (X), anterior-posterior (Y), up-down (Z) translation and pitching (${\phi}X$), rolling (${\phi}Y$) and yawing (${\phi}Z$) rotation was planned and performed using 6AMSS. The actual translation and rotation were measured with dial gauge and precisional protractor, respectively. Comparison between the planned and actual movements of plastic block for each variable were made using paired t- test. Statistical analysis for X, Y, Z, ${\phi}X$, ${\phi}Y$ and ${\phi}Z$ movement have shown no significant differences between planned and actual movement (P > 0.05). This indicate that model surgery performed with the aid of the 6AMSS is accurate in 3D translation and rotation. The 6AMSS is practically useful for accurate fabrication of surgical splint for orthognathic surgery.

• Journal of the Korean Geotechnical Society
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• v.21 no.8
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• pp.5-12
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• 2005

In early days, to analyze the behavior of single pile under axial load, many assumptions were made and field tests were performed. But in recent days, the development of computers led the use of the numerical analysis resulting in more realistic and correct results. The numerical methods are classified into Load Transfer Method and Elastic Solid Approach. In this study a numerical program applying t-z model to Load Transfer Method suggested by Coyle & Reese was developed. And another finite difference program using matrix based on this load transfer was developed. As a result, it is found that the values of the F.D.M. were similar to the values measured in-situ.