• Proceedings of the Korean Information Science Society Conference
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• 2001.10b
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• pp.40-42
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• 2001

Most people have to deal with color and color problems occasionally. There are many strange things about color and color vision that most people do not notice. Even though color seems intuitive and simple it is not. In this paper, we modeled the color using fuzzy set theory. The proposed fuzzy color model is based on the Munsell color space. We defined several fuzzy color terminologies, and proposed a extended center of gravity defuzzification mthod for fuzzy color set. Finally, three distance measures between fuzzy colors were also formulated.

• Journal of Institute of Convergence Technology
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• v.9 no.1
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• pp.25-30
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• 2019

Normal cranes cannot be used to move the fan inside the high-rise factories. Due to the size of the fan and safety accidents, there is a need for a structure capable of lifting and transporting. In this study, the safety of the structure was evaluated by considering the center of gravity of the fan and the effect of the fan being tilted up. An analysis of the buckling was performed by hand calculation. Nonlinear analysis was performed using ABAQUS to evaluate the safety of the structure. The safety factor for buckling is above 4.0 and the safety factor for stress is calculated to be 1.31 under the worst load distribution conditions.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1971-1972
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• 2006

본 논문에서는 휴머노이드 로봇의 예기치 않은 불규칙한 지면 환경 하에서 안정성을 확보하기위한 보행 전략을 제시한다. 휴머노이드 로봇의 안정성에 관한 지표로 널리 사용되는 ZMP(Zero Moment Point)나 COG(Center Of Gravity)를 이용한 방법은 많은 양의 연산을 필요로 하고, 주로 외부에서 가해지는 임의의 힘에 대처하는데 초점을 맞추고 있다. 휴머노이드 로봇의 불안정성을 유발하는 또 다른 주요한 원인으로 예기치 못한 지면 환경을 꼽을 수 있는데, 본 논문에서는 이러한 불규칙한 지형을 보행하는 휴머노이드 로봇의 실시간 안정성을 확보하는데 있어 ZMP나 COG가 아닌 지면으로부터의 반발력을 이용한 직관적인 알고리즘을 제시하며, 자체 개발된 휴머노이드 로봇 ISHURO II를 이용한 시뮬레이션으로 제시된 알고리즘을 검증한다.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1157-1160
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• 1996

Control of a biped robot which has compliant ankle joints is dealt in this paper. Simulated version of a human ankle joint is built using springs and mechanical constraints, which gives a flexibility of joint and compliance against the touching ground. The biped robot with compliant ankle joints proposed here gives a good contact between its sole and the ground and makes foot landing soft. As a result, installing force sensors for measuring the center of gravity of the biped becomes easier. A motor to drive an ankle joint is not needed which makes legs light. However, the control problem becomes more difficult because the torque of the ankle joint to put the biped in a desired walking gait cannot be provided from the compliant ankle joint. To solve this problem, we proposed a dynamic gait modification method by adjusting the position of a hip joint. Simulation results for the mathematical model of the SD-2 biped in the Ohio State University are given to show the validity of the proposed controller.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1928-1933
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• 2005

This Paper is about landing control of legged robot. Body stiffness and damping is used as landing strategy of a legged robot. First, we only used stiffness control method to control legged robot landing. Second control method,sliding mode controller and feedback linearization controller is applied to enhance position control performance. Through these control algorithm, body center of gravity behaves like mass with spring & damping in vertical direction on contact regime.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2350-2355
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• 2005

In this paper, we introduce biped walking robot which can static walking with 22 degree-of-freedoms. The developed biped walking robot is 480mm tall and 2500g, and 22 RC servo motors are used to actuate. Before made an active algorithm, we generated the motions of robot with the motion simulator which developed using by C language. The two dimension simulator is Based on the inverse kinematics and D-H transform. The simulator implements various motions as inputted the ankle's trajectory. Also we developed a simulator which is applied the principle of inverted pendulum to acquires the center of gravity. As we use this simulator, we can get the best appropriate angle of ankle and pelvis when the robot lifts up its one side leg during the working. We implement the walking motions which is based on the data(angle) getting from both of simulators. The robot can be controlled by text shaped command through RF signal of wireless modem which connected with laptop computer by serial cable.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.1
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• pp.1-6
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• 2007

The similarity measure is derived with distance measure, and the proposed similarity measure is proved to verily the usefulness. Conventional similarity measure which is constructed through fuzzy number and Center of Gravity(COG) is introduced, furthermore two similarity measures are compared through various types of membership function.

• Journal of Information Display
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• v.12 no.4
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• pp.179-190
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• 2011

A complete analysis of the color-viewing-angle properties of different displays is presented herein using color-viewing-angle measurements made with a Fourier-optics system. The color gamut in the CIE u'v' chromatic plane was computed for all the viewing angles. The introduction of the lightness using the $L^*a^*b^*$ color space allowed a more precise analysis of the emissive properties of each display. The displays can be directly compared using a common reference. The viewing-angle dependence can be analyzed in full detail using the on-axis values as reference. The gravity center behavior and area of the color hull were computed for a more precise evaluation and comparison.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2004.05a
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• pp.146-149
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• 2004

We have studied a liquid crystal (LC) mode (named locked super homeotropic (LSH)) in which the LCs aligned homeotropically are locked by surrounding walls such as cubic, hexagonal and cylinder. In the device, the vertically aligned LCs tilt down symmetrically around the center of the cell when a voltage is applied and thus it exhibits wide viewing angle. The structure of this LSH mode is suitable for large-sized display panels. since the LCs are locked in micro domains the LCs do not flow to the bottom of the panel by gravity. This mode is applicable to achieve high performance TFT-LCD TV because of high performance characteristics such as high contrast, high brightness, wide-viewing angle.

• 유체기계공업학회:학술대회논문집
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• 2006.08a
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• pp.423-426
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• 2006

An analysis is made of flow and rocket motion during a supersonic separation stage of air-launching rocket(ALR) from the mother plane. Three-dimensional compressible Navier-Stokes equations is numerically solved to analyze the steady/unsteady flow field around the rocket which is being separated from the mother plane configuration(F-4E Phantom). The simulation results clearly demonstrate the effect of shock-expansion wave interaction between the rocket and the mother plane. To predict the behavior of the ALR according to the change of the C.G., three cases of numerical analysis are performed. As a result, a design-guideline of supersonic air-launching rocket for the safe separation is proposed.