• Journal of Electrical Engineering and Technology
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• v.9 no.1
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• pp.344-351
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• 2014

In order to accomplish complex navigational commands, humanoid robot should be able to modify its walking period, step length and direction independently. In this paper, a novel walking pattern generation algorithm is proposed to satisfy these requirements. Modification of the walking pattern can be considered as a transition between two periodic walking patterns, which follows each navigational command. By assuming the robot as a linear inverted pendulum, the equations of motion between ZMP(Zero Moment Point) and CM(Center of Mass) state is easily derived and analyzed. After navigational command is translated into the desired CM state, corresponding CM motion is generated to achieve the desired state by using simple ZMP functions. Moreover, when the command is not feasible, feasible command is alternated by using binary search algorithm. Subsequently, corresponding CM motion is generated. The effectiveness of the proposed algorithm is verified by computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.115-115
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• 2000

A gait pattern classification method using electromyography(EMG) signal is presented. The gait pattern with four stages such as stance, heel-off, swing and heel-strike is analyzed and classified using feature parameters such as zero-crossing, integral absolute value and variance of the EMG signal. The EMG signal from Tibialis Anterior and Gastrocnemius muscles was obtained using the surface electrodes, and low-pass filtered at 10kHz. The filtered analog signal was sampled at every 0.5msec and converted to digital signal with 12-bit resolution. The obtained data is analyzed and classified in terms of feature parameters. Analysis results are given to show that the gait patterns classified by the proposed method are feasible.

• KIEE International Transactions on Electrophysics and Applications
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• v.11C no.4
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• pp.120-126
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• 2001

For the past five years, Inha University has been observing the electric fields produced by cloud-to-ground return strokes. This paper presents the summary of most recent results. Statistics on the zero-to-peak rise time, the zero-to-zero crossing time and the amplitude ratio of the second peak in the opposite polarity to the first peak were examined. The radiation electric fields produced by distant cloud-to-ground return strokes were substantially same pattern. The first return stroke field starts with a slowly increasing front and rises abruptly to peak. The rising portions of the electric fields produced by cloud-to-ground return strokes last 1 $mutextrm{s}$ to a few $mutextrm{s}$. The mean values of the zero-to-peak rise times of electric fields were 5.72 $mutextrm{s}$ and 4.12 $mutextrm{s}$ for the positive and the negative cloud-to-ground return strokes, respectively. The mean of the zero-to-zero crossing time for the positive return strokes was 29.48 $mutextrm{s}$ compared with 38.54 $mutextrm{s}$ for the negative return strokes. The depths of the dip after the peak of return stroke electric fields also have the dependence on the polarity of cloud-to-ground return stroke, and the mean values for the positive and negative cloud-to-ground return strokes were 33.55 and 28.19%, respectively.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.41 no.1
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• pp.50-58
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• 2018

Intermittent demand is a demand with a pattern in which zero demands occur frequently and non-zero demands occur sporadically. This type of demand mainly appears in spare parts with very low demand. Croston's method, which is an initiative intermittent demand forecasting method, estimates the average demand by separately estimating the size of non-zero demands and the interval between non-zero demands. Such smoothing type of forecasting methods can be suitable for mid-term or long-term demand forecasting because those provides the same demand forecasts during the forecasting horizon. However, the smoothing type of forecasting methods aims at short-term forecasting, so the estimated average forecast is a factor to decrease accuracy. In this paper, we propose a forecasting method to improve short-term accuracy by improving Croston's method for intermittent demand forecasting. The proposed forecasting method estimates both the non-zero demand size and the zero demands' interval separately, as in Croston's method, but the forecast at a future period adjusted by binomial weight according to occurrence probability. This serves to improve the accuracy of short-term forecasts. In this paper, we first prove the unbiasedness of the proposed method as an important attribute in forecasting. The performance of the proposed method is compared with those of five existing forecasting methods via eight evaluation criteria. The simulation results show that the proposed forecasting method is superior to other methods in terms of all evaluation criteria in short-term forecasting regardless of average size and dispersion parameter of demands. However, the larger the average demand size and dispersion are, that is, the closer to continuous demand, the less the performance gap with other forecasting methods.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.11 no.5
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• pp.332-339
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• 1986

This paper proposes a new method for the normalization of shape pattern based on Gaussian probability density function to increase automatic recognition rate of hand-written Hangul pattern. The sizes of hand-written Hangul pattern are detected from the input images, and pattern sizes are normalized by two variables interpolation. The pattrn shapes are noralized by letting correlation coefficients equal to zero. It is analyzed theoretically and verified through computer simulation for the relation between input image and normaized shape pattern. It is confirmed that this method is effective and reasonable for deformed hand-written Hangul pattern. Experimental resu results show that the declination. size and stroke width of hand-written Hangul patterns are mych improved.

• Proceedings of the KIEE Conference
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• 2001.07b
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• pp.1015-1019
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• 2001

This paper presents a novel three-phase current-fed Pulse Width Modulation converter with switched capacitor type resonant DC link commutation circuit operating PWM pattern strategy under a design consideration of low-pass filter, which can operate on the basis of the principle of zero current soft switching commutation. In the first place, the steady state operating principle of this converter with a new resonant DC link snubber circuit is described in connection with the equivalent operation circuit, together with the practical design procedure of the switched-capacitor type resonant DC link circuit is discussed from a theoretical viewpoint on the basis of a design example for high-power applications. The actively delayed time correction method to compensate distorted currents due to a relatively long resonant commutation time is newly implemented in the open loop control scheme so as to acquire the new optimum PWM pattern. Finally, the experiment of set-up in laboratory system of this converter is concretely demonstrated herein to confirm a zero current soft-switching commutation of this converter. The comparative evaluations between current-fed hard switching PWM and soft-switching PWM converters are carried out from a viewpoint of their PWM converter characteristics.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.6
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• pp.376-382
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• 2005

In this paper, practical biped humanoid robot is presented, designed, and modeled by fuzzy system. The humanoid robot is a popular research area in robotics because of the high adaptability of a walking robot in an unstructured environment. But owing to the lots of circumstances which have to be taken into account it is difficult to generate stable and natural walking motion in various environments. As a significant criterion for the stability of the walk, ZMP (zero moment point) has been used. If the ZMP during walking can be measured, it is possible for a biped humanoid robot to realize stable walking by a control method that makes use of the measured ZMP. In this study, measuring the ZMP trajectories in real time situations throughout the whole walking phase on the flat floor and slope are conducted. And the obtained ZMP data are modeled by fuzzy system to explain empirical laws of the humanoid robot. By the simulation results, the fuzzy system can be effectively used to model practical humanoid robot and the acquired trajectories will be applied to the humanoid robot for the human-like walking motions.

• Proceedings of the KIEE Conference
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• 2002.06a
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• pp.55-59
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• 2002

This paper presents a novel three-phase current-fed Pulse Width Modulation converter with switched capacitor type resonant DC link commutation circuit operating PWM pattern strategy under a design consideration of low-pass filter, which can operate on the basis of the principle of zero current soft switching commutation. In the first place, the steady state operating principle of this converter with a new resonant DC link snubber circuit is described in connection with the equivalent operation circuit, together with the practical design procedure of the switched-capacitor type resonant DC link circuit is discussed from a theoretical viewpoint on the basis of a design example for high-power applications. The actively delayed time correction method to compensate distorted currents due to a relatively long resonant commutation time is newly implemented in the open loop control scheme so as to acquire the new optimum PWM pattern. Finally, the experiment of set-up in laboratory system of this converter is concretely demonstrated herein to confirm a zero current soft-switching commutation of this converter. The comparative evaluations between current -fed hard switching PWM and soft-switching PWM converters are carried out from a viewpoint of their PWM converter characteristics.

• Electrical & Electronic Materials
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• v.8 no.6
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• pp.780-786
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• 1995

For the execution of RIETAN program adopting Rietveld Analysis Method, the sample superconductor is made according to the solid state synthesis method at 920.deg. C for 24hrs, and was examined for the optimization of parameters needed to analyze Rietveld method with the input of the measured pattern data after measuring the pattern resulted from the X-ray diffraction. It was proven that the lattice constant of the superconductor which was consisted of Pmmm orthorhombic crystal structure in the analyzed space group correspond to the presented theoretical lattice constant a=3.8887(8).angs., b=3.8238(4).angs., c=11.7079.angs.. Therefore, it was examined and confin-ned that the R factor, which was compensated after analyzing the structure of superconductor resulted from this experimented data with the computer simulation, was refined to $R_{wp}$=8.83[%], $R_{P}$=6.47[%], $R_{I}$=10.08[%], $R_{F}$=7.19[%], $R_{E}$=3.76[%]. On the basis of these experimental data, the significant parameter such as the scale factor(S) and the zero point shift(Z) and FWHM value(U,V,W) were optimized as follows; S=2.0827E-3, Z=0.2146, U=4.2761E-2, V=1.7983E-2, and W=2.6768E-2.2.2.2.2.2.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.52 no.2
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• pp.49-55
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• 2003

This paper presents a novel three-phase current-fed Pulse Width Modulation converter with switched capacitor type resonant DC link commutation circuit operating PWM pattern strategy under a design consideration of low-pass filter, which can operate on the basis of the principle of zero current soft switching commutation. In the first place, the steady state operating principle of this converter with a new resonant DC link snubber circuit is described in connection with the equivalent operation circuit, together with the practical design procedure of the switched-capacitor type resonant DC link circuit is discussed from a theoretical viewpoint on the basis of a design example for high-power applications. The actively delayed time correction method to compensate distorted currents due to a relatively long resonant commutation time is newly implemented in the open loop control scheme so as to acquire the new optimum PWM pattern. Finally, the experiment of set-up in laboratory system of this converter is concretely demonstrated herein to confirm a zero current soft-switching commutation of this converter. The comparative evaluations between current-fed hard switching PWM and soft-switching PWM converters are carried out from a viewpoint of their PWM converter characteristics.