• 정보교육학회논문지
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• 제13권3호
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• pp.341-349
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• 2009

본 논문에서는 정보 과학교육에서 디지털 시스템의 동작 원리를 이해하는데 기초가 되는 디지털 논리 회로에 대한 내용을 쉽게 이해할 수 있도록, 전기회로 실험 조작 활동을 통한 논리회로 결과 검증 방법을 제안하였다. 그리고 제안한 검증방법을 활용하고 실생활 디지털 기기 예제를 통해 PBL 기법에 기반한 논리회로의 개념교육 방법 및 부울 논리 교육 방법을 제안하고 실제 수업에 적용한 결과를 난이도 할당의 적절성 및 학생들의 문제해결력 측면에서 분석하였다.

• 전기학회논문지
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• 제64권8호
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• pp.1231-1239
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• 2015

We developed a robot that has four limbs, each of which has the same kinematic structure and has 6 degrees of freedom. The robot is 600mm high and weighs 4.3kg. The robot can perform walking and manipulating task by using the four limbs selectively. The robot has three walking patterns. The first one is biped walking, which uses two rear limbs as legs and two front limbs as arms. The second one is biped walking with supporting arms, which is basically biped walking but uses two arms as supporting legs for increasing stability of the robot. The last one is quadruped walking, which uses all the four limbs as legs. When a task for the robot is given, the robot approaches the task point by selecting an appropriate walking pattern among three walking patterns and performs the task. The robot has many degrees of freedom and is a redundant system for a three dimensional task. We propose a redundancy resolution method, in which the robot’s translational move to the task point is modeled as a prismatic joint and optimal solutions are obtained by optimizing some performance criteria. Several simulations are performed for the validity of the proposed method.

• 방송공학회논문지
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• 제2권2호
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• pp.125-135
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• 1997

This paper is concerned with realistic mainpulation of content in video sequences. Manipulation of content in video sequences is one of the content-based functionalities for MPEG-4 Visual standard. We present an approach to synthesizing video sequences by using the intermediate outputs of three-dimensional (3D) motion and depth analysis. For concreteness, we focus on video showing 3D motion of an observer relative to a scene containing planar runways (or roads). We first present a simple runway (or road) model. Then, we describe a method of identifying the runway (or road) boundary in the image using the Point of Heading Direction (PHD) which is defined as the image of, the ray along which a camera moves. The 3D motion of the camera is obtained from one of the existing 3D analysis methods. Then, a video sequence containing a runway is manipulated by (i) coloring the scene part above a vanishing line, say blue, to show sky, (ii) filling in the occluded scene parts, and (iii) overlaying the identified runway edges and placing yellow disks in them, simulating lights. Experimental results for a real video sequence are presented.

• 제어로봇시스템학회논문지
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• 제20권2호
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• pp.180-185
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• 2014

DC motor is a representative electric motor commonly utilized in various motion control fields. However, DC motor-based motion control systems suffer from degradation of position precision due to nonlinear static friction. In order to enhance control precision, friction model-based compensators have been introduced in previous researches, where friction models are identified and counter inputs are added to control inputs for cancelling out the identified friction forces. In this paper, a static friction compensator is proposed without use of a friction model. The proposed compensation algorithm utilizes internal state manipulation to generate compensation pulses, and related parameters are easily tuned experimentally. The proposed friction compensator is applied to a DC motor-based motion control system, and results are presented in comparison with those without a friction compensator.

• International Journal of Control, Automation, and Systems
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• 제4권2호
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• pp.217-226
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• 2006

Grasping and manipulation by hands can be considered as one of inevitable functions to achieve the performances desired in humanoid operations. When a humanoid robot manipulates an object by his hands, each finger should be well-controlled to accomplish a precise manipulation of the object grasped. So, the trajectory of each joint required for a precise finger motion is fundamentally necessary to be planned stably. In this sense, this paper proposes an effective joint motion planning method for humanoid fingers. The proposed method newly employs a bio-mimetic concept for joint motion planning. A suitable model that describes an interphalangeal coordination in a human finger is suggested and incorporated into the proposed joint motion planning method. The feature of the proposed method is illustrated by simulation results. As a result, the proposed method is useful for a facilitative finger motion. It can be applied to improve the control performance of humanoid fingers or prosthetic fingers.

• Advances in nano research
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• 제2권1호
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• pp.15-22
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• 2014

In recent years, spins of confined carriers in quantum dots are promising candidates for the logical units in quantum computers. In many concepts developed so far, the individual spin q-bits are being manipulated by magnetic fields, which is difficult to achieve. In the current research the recent developments of spin based quantum computing has been reviewed. Then, Single-hole spin in a molecular quantum dots with less energy and more speed has been electrically manipulated and the results have been compared with the magnetic manipulating of the spin.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.241-245
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• 2003

In this paper, a microassembly system based on hybrid manipulation schemes is proposed and applied to the assembly of a photonic component. In order to achieve both high precision and dexterity in microassembly, we propose a hybrid microassembly system with sensory feedbacks of vision and force. This system consists of the distributed 6-DOF micromanipulation units, the stereo microscope, and haptic interface for the force feedback-based microassembly. A hybrid assembly method, which combines the vision-based microassembly and the scaled teleoperated microassembly with force feedback, is proposed. The feasibility of the proposed method is investigated via experimental studies for assembling micro opto-electrical components. Experimental results show that the hybrid microassembly system is feasible for applications to the assembly of photonic components in the commercial market with better flexibility and efficiency.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 제39회 하계학술대회
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• pp.1965-1966
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• 2008

The manipulation of Boolean functions is a fundamental part of computer science, and many problems in the design and testing of digital systems can be expressed as a sequence of operations. It is mainly a paper of our research on the techniques of Boolean function manipulation using Binary Decision Diagram(BDDs) and their applications for VLSI CAD System. In many practical applications related to digital system design, it is a basic technique to use ternary-valued functions. In this paper, we discuss the methods for representing logical values.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 G
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• pp.3054-3056
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• 1999

There have been numerous risks for excavator operator in working space. To overcome these riske, many researchers have been studied automation of excavator system. In these studies, excavator system is introduced by many researchers based on master-slave force feedback system. In this paper, a remote manipulation excavator is introduced based on force feedback. The proposed remote manipulation excavator system can give a feeling that the operator maneuvers the object directly, resulting in improved reality and efficiency. To demonstrate its performance, experiments are carried out on a test bed which is built around a commercial Hyundai HX-60W hydraulic excavator.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1987년도 전기.전자공학 학술대회 논문집(II)
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• pp.1276-1279
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• 1987

Cardiac arrhythmias are associated with electrical Instability and, hence, with abnormal mechanical activity of the heart in many cases, arrhythmias can be treated with drugs or electric shock to control and/or stop them. Hence fast arrhythmia detection is very important. In this paper RR interval, QRS width, and morphology are used for diagnosis and QRS complex is detected by hardware system. hence diagnosing time is shorten. Moreover doctors or nurses who have little knowledge of computer manipulation can get the Information of Patient's ECG by showing characteristics of abnormal waveform and by mapping graphs of RR interval .vs. QRS width and RR interval .vs. morphology on screen.