This paper presents optimal robust PID controller design method for second order systems to satisfy the design specifications in time domain. The parameters of PID controller are determinated by the weighting factors Q and R of cost function. It is suggested that the selection of Q and R matrix can be determinated by its relationship with the natural frequency of ITAE criterion.

일반적으로 슬라이딩모드 제어는 강인한 특성을 가지나, 시스템 제어의 설계자는 외란이나 변수변화에 대한 최대 값을 알아야 한다. 그러나, 이와 같은 최대 값은 종종 쉽게 구할 수가 없다. 이에 반해 퍼지제어는 불확실한 외란이나 변수변화를 가지는 시스템의 제어기를 설계하는 효과적인 방법을 제시하고 있다. 본 논문에서는 이 두 가지 제어이론의 장점을 결합하여 자기부상시스템에 적용할 고성능의 제어기를 설계하고자 한다.

원자력 발전소의 증기 발생기는 증기량과 급수량에 대한 비 최소위상 특성과 비선형성, 그리고 입력 제한 특성을 가지고 있다. 이러한 특성들은 증기 발생기의 효과적인 수위 제어에 어려움을 주고 있다. 본 논문에서는 게인 스케줄링 기법과 변형된 슬라이딩 모드 제어 기법을 이용한 원전 증기 발생기 제어기를 제안한다. 또한 앞먹임 구조를 가진 PI 제어기를 설계하여 저출력 영역에서 제안된 슬라이딩 모드 제어기와 성능을 비교한다. 모의 실험 결과 제안된 슬라이딩 모드 제어기가 최대 수위, 최소 수위, 그리고 안정화 시간 면에서 개선된 성능을 보였다.

This paper deals with a design problem of a switching-type fuzzy-model-based controller for a nonlinear system. Takagi-Sugeno(TS) fuzzy model and duffing forced-oscillation system are employed in designing the switching-type fuzzy controller. Finally, we analyze the stability of the global system controlled by the proposed controller.

In this paper, some geometric condition for a stochastic nonlinear system and an adaptive control method for minimum-phase stochastic nonlinear system using neural network me provided. The state feedback linearization is widely used technique for excluding nonlinear terms in nonlinear system. However, in the stochastic environment, even if the minimum phase linear system derived by the feedback linearization is not sufficient to be controlled robustly. In the viewpoint of that, it is necessary to make an additional condition for observation of nonlinear stochastic system, called perfect filtering condition. In addition, on the above stochastic nonlinear observation condition, I propose an adaptive control law using neural network. Computer simulation shoo's that the stochastic nonlinear system satisfying perfect filtering condition is controllable and the proposed neural adaptive controller is more efficient than the conventional adaptive controller.

In this paper, a fuzzy advance angle control method is described to drive an industrial low voltage SRM (Switched Reluctance Motor) for 10kW forklift truck. SRM has a highly non-linear characteristic that is due to change the rotor and stator. And low voltage SRM is designed that its phase resistance and phase inductance is very low to inject high current into the phase windings. In this reason, the proper current control is necessary to drive the low voltage SRM efficiently. SRM has positive torque at increasing inductance region and negative torque at decreasing inductance region. Due to this reason, the current has to be built up in the increasing phase inductance part as soon as possible. Therefore, the phase switch must be turned on before the phase inductance increases, and this angle is called as the advance angle. Also, the phase current has to be dropped before the phase inductance decreases. Fuzzy logic is a flexible and general-purposed method of implementing non-linear functions and as such it is useful in control applications. Consequently, we designed a fuzzy advance angle controller to control the phase current appropriately.

In a target tracking problem the radar glint noise has non-Gaussian heavy-tailed distribution and will seriously affect the target tracking performance. In most nonlinear situations an Extended Robust Kalman Filter(ERKF) can yield acceptable performance as long as the noises are white Gaussian. However, an Extended Robust $H_{\infty}$ Filter (ERHF) can yield acceptable performance when the noises are Laplacian. In this paper, we use the Interacting Multiple Model(IMM) estimator for the problem of target tracking with glint noise. In the IMM method, two filters(ERKF and ERHF) are used in parallel to estimate the state. Computer simulations of a real target tracking shows that hybrid filter used the IMM algorithm has superior performance than a single type filter.

This paper discusses the system design of a synthetic aperture radar system based on a pulse-echo radar. The design consists of an ultra-wide bandwidth antenna, an amplitude modulation, timing stabilities, and high speed a/d conversions with an equivalent-time sampling. Experiment results show that GPR(Ground Penetrating Radar) can be used to explore buried electric facilities.

In this paper, we designed and implemented the 60W DC characteristic measurement system for semiconductor devices. The proposed system is composed of 2 SMU(Source and Measure Unit)s, 2 HPU(High power Unit)s, 2VSU(Voltage Source Unit)s, and 2 VMU(Voltage Measurement Unit)s. HPU can source/measure voltage from -200V to 200V and source/measure current from -3A to 3A within 60W. Experimental results show that the implemented system can measure the power devices such as power BJT, regulator IC, and voltage detector.

To reduce the wasted power with using an OP-AMP, 3 circuit supplying the same amount of power to load through overall voltage range can able proposed. With this type of design, the power that induced to the devices in the circuit will be reduced, we can also develope a small size power supply with the OP-AMP developed using this design. If we need a OP-AMP needed to handle higher power than usual, another design technique can be proposed. With substituting one device with the devices connected in series, the power loaded to each devices in the series devices can be reduced. This thesis contents the design of an OP-AMP to use in high power fields with small thermal dissipation.

In the speed-sensorless induction motor control systems, only a few percents of error in current measurement badly deteriorates the control performance. And early detection and accomodation of the faults of current sensor is very important to enhance the reliability of the induction motor control system. In this paper, we propose two sensor fault detection schemes having desired functions; fault detection, isolation of failed sensor and compensation of fault effect. The two schemes operate in real-time and employ EKFs (Extended Kalman Filter) for residual generation. Simulation results show that the proposed schemes are very useful in maintaining the control performance of the induction motor driven servo systems even in the face of sensor faults.

EMV(electromagnetic valve) 시스템은 자동차에서 기계식 캠을 사용하지 않고 전자기력을 이용하여 흡 배기 밸브를 작동시키고 타이밍을 조절하기 위한 것이다. 본 논문에서는 EMV 시스템을 위한 전자기와 기계적 모델을 사용하여 그에 대한 동역학 모델을 유도하였다. EMV 시스템의 최대 동작주파수가 가솔린엔진의 최대 회전수 6000rpm에 대응한 valve의 주파수가 50Hz 되기 위한 제어기를 설계하였고, 실험을 통하여 문제점들을 파악하고자 한다.

반도체 장비간 통신의 표준인 SECS(SEMI Equipment Communication Standard)는 반도체 제조 업체에서 많이 사용되고 있다. SECS-I의 단점을 보완하기 위해 제안된 HSMS (High-speed SECS Message Services)는, TCP/IP를 지원하고 SECS-I에 비해 통신 속도가 높다. 사용자는 HSMS를 이용하여 LAN을 통한 장비 제어 및 모니터링이 가능하게 되었다. 그러나, 네트워크의 확장에 대한 관심 고조로 기존의 제한된 영역의 네트워크 구성에 대한 변화가 필요하게 되었다. 또한 사용자가 항상 LAN의 범위 내에서 장비 모니터링 및 제어하기에는 위치적 제약이 많다. 그렇지만 HSMS는 Web을 통한 데이터 전송 요구를 수용하지 못하고 있다. 따라서 SECS-II message가 Web을 통해 전송될 수 있는 새로운 포맷이 필요하다. 본 논문에서는, 구조화된 데이터를 정의하기 유리한 마크업 언어인 XML을 이용하여, SECS-II message를 Web으로 전송할 수 있는 포맷을 정의하고 이를 구현한다.

In this paper we discuss a direct satellite broadcasting system for vehicle. The proposed satellite-steering algorithm and controller based on it are designed for a communication and broadcasting system which uses the Mugungwha satellite. The Mugungwha satellite that the proposed system should steer is a geostationary orbit device. The satellite-steering algorithm computes azimuth and elevation with reference to a stationary point on earth. This is extended to a real satellite steering algorithm that considers position and attitude. Real moving position and attitude are represented by latitude, longitude, roll, pitch and yaw. To apply these five pieces of information to the reference satellite steering algorithm, we introduce Euler's degree coordinates that express independently the rotation of each axis relative to an axis. There are two ways a basic algorithm of the antenna of a vehicle can track and orient to satellite. One way is a feedback loop method for broadcasting gain, while the other is a feedback loop method for position and attitude of a vehicle. In the present paper, we design a controller of satellite broadcasting system for a vehicle using an algorithm that combines the two methods. We performed a simulation and experiment to prove effectiveness.

In the distributed control systems where the control components, controllers and sensors are distributed on a communications network, there exit network time delays on communication lines between the system components. This paper deals with the 2 D.O.F. ramp tracking controller design issue for such system. Time delay terms are converted into rational terms using Pade approximation method and the system is augmented with two integrators for ramp tracking. For this system, $\mu$-controller design method, which enables to meet not only performance requirements but robust stabilities simultaneously, is employed.

The electric power load during the peak time in summer is strongly affected by cooling load. which decreases the preparation ratio of electricity and brings about the failure in the supply of electricity in the electric power system. The ice-storage system and heat pump system etc are used to settle this problem. In this study, the method of estimating temperature and humidity to forecast the cooling load of ice-storage system is suggested. And also the method of forecasting the cooling load using neural network is suggested. For the simulation, the cooling load is calculated using actual temperature and humidity. The forecast of the temperature, humidity and cooling load are simulated. As a result of the simulation, the forecasted data approached to the actual data.

PLC (Power Line Communication) is the communication method using the existing power line installed in houses and offices to convert and transmit high frequency communication signal from tens of KHz to tens of MHz, and receive the filtered signal using high frequency filter. The advantage of PLC is that PLC uses the existing power line installed in houses and offices so it does not require separate power line. Easy and convenient access using electric outlets is another advantage of PLC. However, PLC has some disadvantages such as limited transmission power, high load interference and noise, variable signal attenuation, characteristic of impedance selective possibility of frequency property. This study designed the boiler temperature control system by unit using the modem designed on the basis of technology used for PLC modem, and designed remote control system using internet. After conducting experiments with those two systems, it was possible to control stably. By commercializing this product, we can avoid unnecessary heating of separate temperature control unit, and save the cost according1y, and it is possible to control on a remote site using internet in a more convenient way.

This paper has been studied for a comparison of the propagation and noise characteristics between ultrasonic and electromagnetic wave for the high speed communication of the short range telemetry. We analyze the propagation depth of electromagnetic and ultrasonic wave by skin depth effect and by ultrasonic loss ratio. We also studied several effects such as near field effect in electromagnetic wave and Rayleigh scattering noise of ultrasonic wave, etc. We show the experimental results of their propagation loss and modulation experiments in water. The experimental results show that both method is good for the implementation of short range telemetry.

In this paper, the kinematic model and motion control of a joint-actuated mobile robot are analyzed. To take an efficient approach to the wheeled mobile robots, the relationship between wheel rotation and the contact point of the wheel is considered. It is shown that each addition of a joint to a mobile robot increases the degree of freedom(DOF) of mobile robot, and the way of joint attachment to a mobile robot is proposed. To get a solution of inverse kinematics of mobile robot, two types of approaches are proposed.

This paper is concerned with a stability analysis of Madam Type fuzzy systems. It Introduces the canonical form of an unforced fuzzy system and its stability theorem suggested in the previous study. Then it gives new simplified stability conditions based on the Lyapunov function method. A common positive definite matrix in the stability conditions is searched by the LMI method.

이족로봇이 stand-alone 형태를 가지기 위해서는 기계적인 구조가 중요할 뿐만 아니라 하드웨어시스템이 간결하게 잘 설계되어야 한다. 이렇게 하드웨어시스템이 가볍고 간결하여 설계되어야 쉽게 로봇에 장착할 수가 있다. 본 논문에서는 FPGA(Field Programmable Gate Array)를 이용해 모터 제어기를 구성해서 이족로봇을 설계하는 방법을 다루고자 한다. 본 논문에서 구성하는 하드웨어 시스템은 메인 CPU로 AM186ES를 사용하며 FPGA는 Altera사의 FLEX EPF10K20TC144-3을 사용하였다. 이와 같이 FPGA를 사용하는 하드웨어시스템은 기본적으로 VHDL언어를 사용하여 유연하게 하드웨어를 구성 할 수 있으며, 이족로봇의 여러 가지 보행 알고리즘에 능동적으로 대처할 수 있다. 뿐만 아니라 하드웨어가 간단해 지면서 가볍고 전력소모가 적으며 신뢰성 있는 시스템을 구축할 수 있다.

A new navigation method is developed and implemented for mobile robot. The mobile robot navigation problem has traditionally been decomposed into the path planning and path following. Unlike tracking-based system, which minimize intercept time and moved mobile robot distance for optimal rendezvous point selection. To research of random moving object uses algorithm of Adaptive Control using Auto-regressive Model. A fine motion tracking object's trajectory is predicted of Auto-regressive Algorithm. Thus, the mobile robot can travel faster than the target wi thin the robot's workspace. The can select optimal rendezvous point of various intercept time.

This paper presents a design of new type biped robot and dynamic walking simulation for this system. The robot is distinguished from other one by which has a parallel mechanism type trunk and lead-screw type actuators to drive the joints of the trunk, knee and ankle. The basic consideration on the design is that it is able to accommodate itself to human's daily environments without any other modification of around and also to operate its upper limbs more smoothly with a spine functional trunk. It is designed according to a human with about 130 cm height and about 30 kg weight. And it also is able to dynamically walk on an even ground. It has constructed with total 14 DOFs which have two legs, a hip, and a trunk. The joints of each leg and trunk are adopted with a parallel structure which has good kinematic characteristics and take light weight. To test of the capacity of joint actuators and to analysis of the dynamic properties of the biped robot, optimized trunk trajectory is determined by means of an approximated FFT method based on ZMP criteria, and dynamic simulation is performed using DADS with a 1.1 time/step velocity on the even ground during four steps.

In this paper, we proposed localization method of mobile robot using color landmark mounted on ceiling. This work is composed 2 parts : landmark recognition part which finds the position of multiple landmarks in image and identifies them and absolute position estimation part which estimates the location and orientation of mobile robot in indoor environment. In landmark recognition part, mobile robot detects artificial color landmarks using simple histogram intersection method in rg color space which is insensitive to the change of illumination. Then absolute position estimation part calculates relative position of the mobile robot to the detected landmarks. For the verification of proposed algorithm, ceiling-orientated camera was installed on a mobile robot and performance of localization was examined by designed artificial color landmarks. As the result of test, mobile robot could achieve the reliable landmark detection and accurately estimate the position of mobile robot in indoor environment.

A hierarchical structure for the cooperative control of multiple mobile robots using coordinates of objects obtained from vision system is proposed. The order-level perceives environments represented by workspace sets. The algorithm selects an object to be moved using an object discrimination part and determines the robot actions. The action-level generates a trajectory of each wheel velocity of robot. The simulation results show the effectiveness of the proposed algorithm.

본 논문에서는 파라미터 불확실성이 유한한 로봇 매니퓰레이터에 대한 비선형 강인 제어기법을 제안한다. 파라미터의 불확실성을 보상하는 강인제어시 발생되는 정강 상태 오차를 개선시키기 위하여 오차 관련 함수에 추종오차의 적분항을 추가시키고 제어입력에 이 적분항이 포함되도록 한다. 설계된 제어시스템의 안정도는 Lyapunov 기법에 의하여 해석한다. 파라미터 불확실성을 가지는 로봇 매니퓰레이터에 대한 컴퓨터 시뮬레이션을 통하여 제안된 기법의 성능을 확인하고 5 링크 2 자 유도의 FARA 로봇에 대한 실험을 통하여 제안된 기법이 실용 로봇제어에 적용될 수 있음을 보이고자 한다.

A new control method for a redundant manipulator is developed using a local optimal torque and null space joint velocity. By solving the dynamic control equations of the system, the local optimal torque is obtained. If only the local optimal torque is used for controlling the robot there is a possibility that the system is unstable. To eliminate the characteristics of instability during the movements, the control law with a null space concept is used. The new method is applied to the 3-DOF planar manipulator. The simulation results show the effectiveness of the proposed algorithm.

Recently, there are lots of concerning on robot agent system working for itself with the trends of the research of bio-mimetic system and intelligent robot. In this paper, a virtual 3D interface system is proposed based on Internet for remote controlling and monitoring of mobile robot. The proposed system is constructed as manager-agent model. A worker can order the robot agent move to a new position by clicking the destination on virtual space of 3D graphic interface in manager. Then the robot agent move to the position automatically with avoiding collision by using range finding and autonomous control algorithm. The proposed robot agent system lets us control the mobile robot remotely located more conveniently.

In this paper, we supposed teller following algorithm that using sound localization for developing dialog type humanoid robot. A sound localization is studied for develop the techniques of an efficient 3-D sound system based on the psychoacoustics of spatial hearing with multimedia or virtual reality. When a robot talk with human, it is necessary that robot follow human for improved human interface and adaptive noise canceling. We apply this algorithm to robot system.

일반적으로 반도체 제조 공정은 매우 복잡하고 다양한 공정들로 구성된다. 이러한 공정 중 Stage 부분은 웨이퍼에 회로 패턴을 기입하기 위하여 웨이퍼를 미리 지정된 위치로 이송하는 공정으로 매우 높은 정밀도가 요구되고 있다. Stage에 대해서는 x, y, z축 뿐아니라 각 축에 대한 회전까지도 고려한 6축 제어가 수행되어야 한다. 본 논문에서는 stage에 대한 정밀제어의 기반기술로서 선형 BLDC 모터를 이용하여 1축 위치제어 시스템의 제어에 관하여 연구하였다. 선형 BLDC 모터의 이동 중 발생하는 추럭리플을 보상하여 제어기 설계시 선형 시스템으로 고려하여 제어기를 설계할 수 있도록 하는 방법을 제안하였으며 실험을 통하여 1[${\mu}m$]의 해상도를 갖는 위치검출 엔코더를 이용하여 5[${\mu}m$]의 정밀도를 얻을 수 있었다.

This paper discusses the peg-in-hole task of chamferless parts using force/moment/vision sensors. The directional error occurring during the task are categorized into two cases according to the degree of initial errors, And different Mechanical analysis has been accomplished for each cases. This paper proposes an algorithm which enables to reduce intial directional error using digital Images acquired from hand-eyed vision sensor, And to continue the task even with the large directional error by adjusting the error using digital image processing. The effectiveness of the algorithm has been demonstrated through experimentation using 5-axis robot equipped with a developed controller force/moment sensor and color digital camera on its hand.

종합적인 공정 제어 자동화 시스템 구현을 위해 계층적이고 개방형 방식에 의한 시스템 구축이 이루어지고 있다. 상위 계층 시스템은 하위 계층 제어 시스템의 제어기 설정치를 결정하는 방법으로 다양한 의사결정(Decision Making)방법을 도입하여 하위 계층 시스템과 연계하여 계층적인 종합 공정 제어 자동화 시스템 구축을 시도하고 있다. 본 연구에서는 상위 계층 시스템 구현을 위해 신경회로망 방식을 채택한 상위 지능형 제어 시스템을 제안하여 연속형 프로세스의 최적 의사 결정을 효과적으로 할 수 있도록 하였고 이를 실현화 하는데 있어 UML방식의 객체지향 설계방식을 도입함으로써 시스템의 재 사용성 및 확장성을 가지는 개방형 상위 의사 결정 시스템을 개발하였다. 개발된 시스템을 수처리 연속 공정인 약품주입 공정에 적용하였다.

CAN 통신은 네트워크 시스템 제어를 통한 각종 산업설비에서 제어 및 자동화 관련 장비들간에 데이터 교환을 위한 통신망으로 널리 사용되고 있다. 이러한 CAN통신을 응용하여 실시간 메시지 송수신이 가능한 시스템을 구성하려면 메시지의 특성분류 및 메시지의 증가에 따른 트레픽 발생을 고려해야 한다. CAN의 제한된 속도에 따른 실시간 메시지 전송의 여부는 데드라인을 통한 메시지 설계로 성능을 보장받고 있다. 하지만 이러한 메시지의 송수신에 있어 단순 CAN네트워크 망에 의존한 설계만으로 메시지의 신뢰성을 보장받을 수 없다. 네트워크 상황에 따른 버퍼를 통한 능동적인 메시지 스케줄링 방법을 통하여 성능효과를 보장받을 수 있는 방법을 제안한다.

VoIP(voice over internet protocol) technology is based on IP protocol. The IP protocol can be involved in two types of communication: unicasting and multicasting. Unicasting is the communication between one sender and one receiver. It is one-to-one communication. Multicasting is one-to-many communication. So that, many receivers can get same data from one sender simultaneously. and, the different protocol are proposed for VoIP; H.323, SIP and MGCP. MGCP is perfect server-client protocol, so MGCP is very attractive VoIP protocol to ISP. This paper uses MGCP and offers modified MGCP for conference call. So that, Modified MGCP is compatible to MGCP, and supports conference call using IP-multicast.

A variable bandwidth filter (VBF) is proposed for cleaning signals with known instantaneous bandwidth (IB). Also, the behaviors and the characteristics of the VBF are examined in time-frequency domain (TFD). The proposed VBF clips a noisy signal along the boundaries of IB and rejects noise in the outside of the IB of the signal in TFD. It is possible to construct four kinds of VBF that are low-pass VBF, high-pass VBF, band-pass VBF and band-stop VBF.

In this paper, a VBF(variable bandwidth filter) is suggested and analyzed in time-frequency domain. There are four kinds of VBF, which are low-pass VBF, high-pass VBF, band-pass VBF and band-stop VBF. The proposed VBF can extract the components of signals within variable instantaneous bandwidth at a specific time instant. Instantaneous bandwidth is estimated in time-frequency domain. The VBF is represented by rational form in extended Fourier frequency domain.

In the double-talk situation where both the near-end and far-end signal present, the performance of echo cancellation using the NLMS algorithm is degraded easily since it freezes the adaptation in this situation. To solve this problem, which utilize the correlation function values of input signal instead of the input signal itself, have been proposed. Because this algorithm could be used to adapt the filter's parameters continuously even in the double-talk situation, give good convergence property compared with the NLMS. In this paper, we compare and analyze its performance. The computer simulation was performed and the results showed as that ECLMS algorithms were robust and kept the desirable performance even in the double-talk situation.

Pressures on the development of embedded control systems with higher performance and quality are increasing now, and the development of embedded control systems are still difficult. Hence, fast and reliable development method for implementing embedded control systems are necessary. Rapid prototyping is a powerful method to solve these problems. With the use of this method, the graphical representation of a model is converted to code that executes the model. In this paper, the development procedure of embedded control systems has been automated using this new technology. Also, an application example about lambda control in automotive engine has been carried out.

In real-time control system, it is essential to confirm the timing behavior of all tasks because these tasks of real-time controller have to finish their processes within the specified time intervals called a deadline. In order to satisfy this objective, the timing analysis of a real-time system such as a schedulability test must be performed during the system design phase. This paper presents a Matlab toolbox for simulation of real-time control system based on OSEK-OS, which is one of the most widely adopted real-time operating systems in automotive industry. The toolbox allows the user to explore the timely behavior of control algorithms, and to study the interaction between the object of the OSEK-OS, such as task, scheduler and resource etc.

This paper analyzes the 74LS381 ALU and designs its equivalent circuit. The 74LS381 ALU is arithmetic logic units(ALUs)/function generators that perform eight binary arithmetic/logic operations on two 4-bit words. However there are only little information to understand and design this circuit. Thus, we not only analyzed it but also designed an equivalent circuit to the 74LS381.

This paper presents A Design of WMR Controller that being composed of cooperative relation between PID controller and optimized neural network algorithm, it operate a variable control by velocity. Some proposed algorithm in the past just depended on PID controller for the control of position of WMR but for more efficient control we design a variable controller that operate control by PD controller using neural network if it is satisfied with any given condition. it adjust gain of PD controller for real time control using a fast feedforward algorithm which is different with Form of the standard backpropagation algorithm.

생명체의 면역계는 외부에서 침입해 세포나 장기에 피해를 주는 물질인 항원을 스스로 자기세포와 구분해 인식하고 제거하는 기능을 가지고 있다. 이러한 면역계의 특징 중의 하나는 항원과 구별되는 자기 세포의 확실한 인식을 가지고 구분하는 자기/비자기(self/non-self) 인식방법이다. 이러한 기능을 가장 잘 보여주는 면역 T세포 중의 하나인 세포독성 T세포(T-cytotoxic Cell)는 자기세포를 인식하는 부분과 항원으로 인식하는 부분으로 구성되어 항원에 의해 감염된 자기세포를 찾아 제거하는 역할을 한다. 본 논문에서는 생명체의 면역계에서 중요한 역할을 하는 세포독성 T세포의 생성중의 자기인식 과정의 하나인 Positive Selection을 모델링하여 자기-인식 알고리즘 구현하였다. 구현한 알고리즘을 자기 공간의 국소변경과 블록변경에 대한 자기인식률을 통해 알고리즘의 유효성을 검증하며 응용 시스템으로 지문 인식에 적용하였다.

This paper presents a design of a divide unit supporting IEEE-754 floating point standard single-precision with 32-bit word length. Its functions have been verified with ALTERA MAX PLUS II tool. For a high-speed division operation, the radix-4 non-restoring algorithm has been applied and CLA(carry-look -ahead) adders has been used in order to improve the area efficiency and the speed of performance for the fraction division part. The prevention of the speed decrement of operations due to clocking has been achieved by taking advantage of combinational logic. A quotient select block which is very complicated and significant in the high-radix part was designed by using P-D plot in order to select the fast and accurate quotient. Also, we designed all division steps with Gate-level which visualize the operations and delay time.

Unlike rigid objects, the edge intensity of a gaseous object is various along the object boundary (edge intensities of some pixels on a gaseous object boundary are weaker than those of small rigid objects or noise itself). Therefore, the conventional edge detectors may not adequately detect boundary-like edge pixels for gaseous objects. In this paper A new methodology for segmenting gaseous object images is introduced. Proposed method consists of fuzzy-based boundary detector applicable to gaseous as well as rigid objects and concave region filling to recover object regions.

쾌속조형기술은 제품 설계나 기타 물체의 형상 데이터로부터 광경화성 수지, 금속 등 다양한 재료를 이용하여 수 시간 내에 실물 모형을 제작할 수 있는 기술이다. 쾌속조형기술은 주로 자동차나 제품의 모형제작에 주로 사용되어 왔다. 사이버메드에서는 인체에 대한 3차원 형상화 기술과 쾌속조형기술을 이용하여 개인별로 상이한 인체 골격에 대한 비교적 저렴한 비용으로 실물 모형을 제작할 수 있는 기술을 개발하여, 국내 및 일본의 병원에서 수술 계획 및 모형 수술에 직접 적용하고 있다. 이 논문은 쾌속 조형 기술, 인체의 3차원 형상화 기술의 개요와 그 동향, 그리고 이를 결합한 수술용 인체 골격모형의 제작 기술과 적용 사례에 대해서 기술하였다.

A portable bio-signal measurement system for 24-hours continuous health monitoring of the elderly and the disabled is presented. The measurement system has the functions of acquisition of various bio-signals such as ECG, EMG and EEG, wireless data transmission/receive and adjustment of parameters such as gain and cut-off frequency. The data is sent to a host computer or other device via a Bluetooth. The design targets of the developing system for volume and power consumption are $20{\times}30{\times}5(mm^3)$ and 8mW.

In modem city life, the citizen get insufficient exercise and has high levels of stress. Increased Stress causes such minor things as tiredness, disease and mental fatigue, and increase brain blood pressure too. In this paper trying to design the multi-functional blood pressure monitor with airo-dynamic brain hemokinesis improvement function. So this system have developed for the improvement of flows in the capillary blood vessel of head and limbs. Also This system is able to measure brain blood pressure(BBP) which need diagnosis circulation state of brain blood. So, we extracted correlativity of blood pressure(BP) and BBP through clinical experiment. We confirmed that compare factor of BP with BBP is more useful factors for diagnosis state of brain hemokinesis.

This paper describes a method of human sensibility evaluation for pleasant and unpleasant environments. Conditions of the environment are room temperature and humidity. Changing the conditions, 10-channel EEG signals for 4 subjects are collected. Linear predictor coefficients of the recorded EEGs are extracted as the feature parameter of human sensibility. A neural network-based human sensibility estimation algorithm is developed. The developed algorithm showed good performance in the pleasantness evaluation. The neural network output produced accurate states of pleasantness sensibility. Subject-independent test showed similar results with subject-dependent test.

A new ultrasound imaging technique based on simultaneous multiple transmit focusing using orthogonal modified Golay codes is presented. modified Golay codes are used to increase signal-to-noise-ratio(SNR) and maximize the transmit power efficiency(TPE). Conventional Golay codes consist of a pair of complementary codes with same length and can be compressed into a delta-like signal due to their complementary property. In the present work, two modified Golay codes focused at different depths are transmitted at the same time, which are mutually orthogonal. On receive, these orthogonal modified Golay codes are separately compressed into two short pulses and individually focused. These two focused beam are combined to form a frame of image with improved lateral resolution. Computer simulations are performed to verity the proposed method improves the lateral resolution of image compared with the conventional echo system.

In this paper we designed CAMC-SP, the microprocessor embedded 2-axis motor control chip which controls a precise pulse motor by generating the pulse needed to control step motor, DC servo and AC servo motor. This design enables to decrease costs and to minimize a size. First we designed risc type 8-bit microprocessor compatible with PIC16C84, second we designed pulse motor controller. CAMC-SP is integrated of those two block. We designed CAMC-SP by VHDL and we testified to the Performance of it by performing functional simulation.

본 논문에서는 특정한 형태의 제약 즉, 매니퓰레이터의 자유도와 주어진 제약조건의 차원의 차이가 1이며, 매니퓰레이터의 동역학을 작업영역에서의 축차모델로 나타내었을 때, 변환행렬이 단위행렬로 나타나는 제약을 가지는 불확실한 로봇 매니퓰레이터의 위치/힘 추종을 위한 적응제어기를 제안한다. 제안된 제어기는 비선형 좌표변환을 통하여 얻어진 로봇의 축차모델(reduced-order model)을 이용하여 위치제어와 힘제어의 문제를 분리한다. 특히, 비선형 동적 필터를 이용하여 위치의 측정만을 필요로 하며, 적응제어 기법을 통하여 전역 점근적인 안정성을 보장한다.

Safety is emphasized in nuclear power plant system for its characteristic. One of the most important systems to guarantee the safety of nuclear power plant is the PPS(Power protection system). The measurement control system includes PPS, which is similar to the human nervous system, is very important factor not only for the safety but also for the operation. Therefore, developing a technology to level up the performance of measurement system and reliability of the plant will bring cost-effective and safe generation of nuclear power. In this study, I researched composition of digitized PPS and algorithm for cyclic inspection.

In this paper, we induce the linear transfer function of Downcomer water level of NPP(Nuclear Power Plant) Steam Generator using Genetic Algorithm and Levenberg-Marquardt Algorithm. The characteristic of NPP S/G mechanism is so high-non-linear that it is hard to achieve mathematical expression. So we use non-mathematical Algorithms to get the model function of NPP S/G water level. S/G level controller would be designed with this transfer function as the plant.

The core in developing the transformer-operated 3 phase solid state meter is to design a single chip IC, that incorporates all the necessary features required for development of the 3 phase solid state meter. Using this technology, the solid state meter can be mass produced at lower cost and higher quality. This report deals with the performance of the prototype FPGA board, which is the final step before actual IC fabrication in fabrication LAB. All the features of FPGA board, shown in this report will be included in the final ASIC IC product.

Siphons and traps are special structures of Petri nets with closely related to liveness for the deadlock analysis of Discrete Event Dynamic Systems. It can analysis the liveness of Petri nets using the siphon and trap without to check reachability.[1] Deadlock analysis approach we proposed is based on the notion of potential deadlock which are siphons that eventually become empty. And in this paper, we proposed a initial marking method by siphon to avoid and to prevent deadlock. It is shown that our approach is more efficient than classical state enumeration approach.

To improve the performance of PID controller of high order systems by model reduction, we proposed a new model reduction method in frequency domain. A new model reduction method we proposed, considered four points (${\angle}G(jw)=0$, $-{\pi}/2$, $-{\pi}$, $-3{\pi}/2$) in stead of two points (${\angle}G(jw)=-{\pi}/2$, and $-{\pi}$) in Nyquist curve. And for high order systems that it have not two point (${\angle}G(jw)=-{\pi}/2$, and $-{\pi}$) in Nyquist curve, we proposed a method to annex very small dead time. This method has a annexed very small dead time on the base model for reduction, and we cancel it after to get the reduced model. It is shown that the performance of proposed method is better than any other methods.

A SMA actuator fabricated in this paper generates the large force and it's structure is very simple. The SMA actuator was fabricated by small size with diameter of 4mm and length of 38mm and also it's actuations toward all the directions can be acquired because of three SMA springs which was fabricated with diameter of 1.2mm and 30 turns. We showed into applicability to smart catheter by analyzing accurately the dynamic characteristics such as heading angle, bending angle, force, displacement. For verifying control capacity of the fuzzy controller, we compared Fuzzy controller with PID controller by simulation.

본 논문에서는 엘리베이터의 수직 이동 수단에 대한 기능을 최대한 활용하면서 안락한 승차감을 보장하는 엘리베이터의 속도 패턴의 생성에 중점을 두었다. 속도 패턴 발생의 중요한 방법으로 엘리베이터의 사용량과 무게에 따른 부하를 예측 또는 측정하여 부하의 변동량에 따라 필요시 되는 저크의 결정에 퍼지 이론을 적용하며 엘리베이터 탑승객의 승차감에 손상을 주지 않는 범위 내에서 능동적인 모터 속도 패턴을 생성함으로써 부하 해소율를 높이면서 엘리베이터의 움직임을 효율적으로 움직이게 하였다. 또한 승객의 쾌적한 승차감을 위해서 능동적인 감속 절환을 적용하였다. 이러한 여러가지의 속도 패턴 발생을 시뮬레이션하여 각각에 대한 속도 패턴과 효율성, 승차감등을 비교 분석하였다.

Insulation aging diagnosis system provides early warning regarding electrical equipment defect. Early warning is very important in that it can avoid great losses resulting from unexpected shutdown of the production line. Since relations of insulation aging and partial discharge dynamics are non-linear, it is very difficult to provide early warning in an electrical equipment. In this paper, we propose the design method of insulation aging diagnosis system that use a magnetic wave and acoustic signal to diagnoses an electrical equipment. Proposed system measures the partial discharge on-line from DAS(Data Acquisition System) and acquires 2D Patterns from analyzing it. For fettering the noise contained in sensor signals we used ICA algorithms. Using this data design of the neuro-fuzzy model that diagnoses an electrical equipment is investigated. Validity of the new method is asserted by numerical simulation.

In this paper, we present the new PI-type VSC(variable structure control). In general, conventional VSCs with a discontinuous reaching law have a chattering problem, and with a PI-type reaching law have a slow reaching speed characteristic. To solve this problem, we propose the reaching law consists of a discontinuous and a PI-type reaching law to obtain a high speed reaching mode and a non-chattering characteristic at the same time. Simulation results show the effectiveness of a proposed scheme.

A conventional PID controller does not provide a proper response in face of various kinds of load variation. In this paper, Fuzzy-PID Control scheme are proposed in order to improve the performance of the PID Controller. The proposed control schemes are applied to the speed controller of AC servo motor systems. The effectiveness of the proposed methods is shown by implementation and the advantage of each control scheme is discussed.

진동을 감소시키는 방법에는 최적의 설계 변수를 선정하는 수동 제어 방법과 피드백 루프(Feedback loop)를 이용하는 능동제어 방법 두 가지가 있다. 이 중 능동제어에 대한 연구가 최근에 활발히 진행되고 있다. 본 연구에서는 능동제어를 위한 진동시스템의 동적해석과 시스템의 모델링에 대해 연구하고자 한다. 진동체로는 외팔보를 선택하였으며 진동체의 진동을 제어하는 장치로는 제어코일과 베이스코일로 구성된 Push-Pull 타입의 전자석 제어회로를 직접 제작하였고 시스템을 모델링하여 전달함수를 구하고자 한다.

논문에서는 유도전동기의 동특성을 효율적으로 제어하기 위해서 고정자 전류를 토크성분 전류와 자속성분 전류로 나누어 독립적으로 제어하는 우수한 벡터제어 기법을 사용하고 있는 유도전동기 제어 시스템에 광범위한 영역에서도 제어성능과 부하특성을 향상시킬 수 있게 하는 지능형 뉴로-퍼지 알고리즘에 의한 고성능의 속도 제어기를 설계한다. 그리고 제안한 뉴로-퍼지속도 제어기의 우수성을 시뮬레이션과 실제 시스템에의 적용을 통하여 입증한다.

본 논문은 단일 도립 진자 계통(single pendulum systems)의 경우 계통의 에너지를 슬라이딩 평면을 구성하는데 이용한 슬라이딩 모드 제어기를 설계하고 기존의 에너지 기반 제어 기법의 결과와 비교, 그 성능에서 우위에 있음을 보인다.

본 논문에서는 블록 삼각구조를 갖는 다변수 비선형 시스템의 상태 관측기의 설계 문제를 다룬다. 이를 위해 단일 입출력 삼각구조 시스템에 대한 기존의 설계 기법을 다변수 시스템으로 확장한다. 특히, 제안한 관측기의 이득은 시스템의 선형 부분뿐만 아니라 비선형성을 기반으로 설계되어지기 때문에 기존의 고이득 관측기에 비해 과도응답 특성을 개선한다. 또한 오차방정식에 대한 유사 변화을 이용하여 제안한 관측기가 전역 지수적 수렴성을 보임을 증명한다. 마지막으로, 시뮬레이션 예제를 통해 본 논문에서 제안한 설계 기법의 타당성을 입증한다.

This paper is to develop the sensing system for opening-force measurement such as O-Ring muscular meridian. We designed to overcome the functional limit that the conventional force-sensor can measure just the closing-force. Therefore, the new sensor can meet a variety of application as well as O-Ring test. The structure of the new sensor is an actuator-type system using an electromagnet. That is made up of mechanical system, electromagnet, current transformer and computer interface circuit. Driving software and user interface program of the new sensor system also is explained in this paper.

In this paper, we are trying to think over the integration of domestic burner management system for thermal power plant. The detailed contents are the power plant system overview and the integration of system and the hardware explanation and changing the burner management system in the local equipments.

This paper presents observer-based on-line overload monitoring scheme for a PMSM(Permanent Magnet Synchronous Motor) drive system. Proposed scheme is to monitor overload status of motor drive system at remote place. The drive system is previously installed on main system and has no communication function. Proposed scheme consists of intelligent sensing head and monitoring part. Intelligent sensing head acquire motor 3-Phase currents and transmit data to monitoring part over serial communication interface. Monitoring part estimates motor speed using state observer. By comparing estimated speed with reference speed, we can detect motor fault. In this scheme observed information must coded and transmitted over a digital communication channel with finite capacity. We consider communication constraint as time delay and we design discrete-time observer. The proposed scheme is tested on the actual drive system.

본 논문에서는 안테나의 위치를 원격에서 제어하고 안테나의 상태를 실시간으로 모니터링할 수 있는 안테나 구동 시스템을 설계하였다. 안테나 구동 시스템은 안테나 포시셔너와 호스트 컴퓨터에서 운용되는 종합관리 소프트웨어로 구성된다. 일반적으로 안테나 포지셔너와 호스트컴퓨터는 멀리 떨어져서 설치가되며 모뎀을 통하여 데이터를 전송하므로, 데이터의 신뢰성을 높이기 위하여 안테나 포지셔너와 호스트컴퓨터간에 주기적인 통신이 이루어지도록 설계하였으며 또한, 데이터 전송 프레임에 오류 검사 바이트를 추가하였다. 종합관리 소프트웨어는 사용자의 편리성을 높이기 위하여 윈도우즈 환경에서 운용되도록 설계하였으며 전자지도에 표시되는 위도, 경도정보를 이용하여 안테나 포지셔너의 구동명령을 계산하고, 사용된 정보를 데이터베이스에 저장할 수 있도록 설계하였다.

차량용 에어컨시스템은 그림2.1과 같이 온도제어를 위하여 각Door의 위치를 제어하고 있는데 현재 적용중인 위치제어 방법은 주로 접점식Encoder 및 전위차계(Potentiometer)를 사용하여 구현하고 있다. 이는 접점식Encoder 및 전위차계를 사용하여 Position Sensing을 하는 Servo 위치제어 System이나 접점식Encoder의 분해능이 낮아 임의위치 제어가 곤란하고, 전위차계의 저항 비선형 특성에 의하여 출력에 영향을 주게되므로 정밀위치제어가 어렵다. 또한, 에어컨시스템 제어를 위해 D.I.O(Direct In Out)제어방법을 적용하고 있어 시스템전체가 복잡하게 구성되는 문제점이 있다. 따라서 본 논문에서는 그림2.2와같이 자기저항(M.R센서)Type 엔코더를 사용하여 D.C Motor Actuator를 임의위치제어가 가능하게 하였고, 직렬통신(Serial Communication)방식을 사용하여 복잡한 시스템을 컴펙트하게 설계하여 차량용 에어컨에서 기존의 제어방법에 비하여 온도제어성 및 각토출구간 온도편차를 향상시켰다.

Recently Many technologies of the Powerline communication are proposed these technologies used high carrier frequency for high speed and stability, but high carrier frequency is restricted by the low of electric wave. So we will propose electric monitoring system that used the commercial powerline communication modem, isn't restricted by the low. Our objects are, first, we compared the low in korea, EU(CENELEC), and USA(FCC). second, proposed a spec of the powerline communication modem. third, design that the electric monitoring system using commercial A/D converter control and manage the electric equipment.

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.

This paper present effective odometry error compensation using multisensor fusion for the accurate positioning of mobile robot in navigation. During obstacle avoidance and wall following of mobile robot, position estimates obtained by odometry become unrealistic and useless because of its accumulated errors. To measure the position and heading direction of mobile robot accurately, odometry sensor a gyroscope and an azimuth sensor are mounted on mobile robot and Complementary-filter is designed and implemented in order to compensate complementary drawback of each sensor and fuse their information. The experimental results show that the multisensor fusion system is more accurate than odometry only in estimation of the position and direction of mobile robot.

Nuclear regulation requires a periodic visual test for inside structures of reactor to guarantee safe operation of nuclear power plant. However, existing visual test, which is proceeded manually, needs lots of time and labor. Even more, test workers should be exposed in radioactive environment during the test. An underwater robot system has being studied for more efficient and safer test. The position and pose estimation are important issue for the movement control of the robot. An algorithm was presented in this paper, which estimate the location and pose of the underwater robot clearly using vision system.

본 논문에서는 로봇 매니퓰레이터의 제어에 사용할 수 있는 신경망 외란 관측기를 제안하도록 한다. 제안한 신경망 외란 관측기는 다층신경 망의 구조로 신경망 외란관측기의 오차와 제어 오차가 충분히 작은 콤팩트 집합에 절대 상시 유계된다. 본 논문에서 제안하는 신경망 외란 관측기는 기존의 적응 제어기의 단점을 해결한 방식으로 복잡한 회귀 모델을 필요로 하지 않는다. 끝으로 제안한 방식을 3관절 로봇에 적용하여 그 타당성을 확인한다.

This paper deals with the biped robot gait on changing the initial postures. Gait of a biped robot depends on the constraints of mechanical kinematics and initial posture. Also biped robot's dynamic walking stability is investigated by ZMP(Zero Moment Point). The path trajectory. with the knee joint bent like a human, is generated and applied with the above considerations. To decrease trajectory tracking error, in this paper, a new initial posture similar to bird's case is proposed and realized with the real robot.

This paper presents the obstacle avoidance of a biped walking robot using GA-Fuzzy algorithm. In the case of our previous studies the surface has been assumed to be flat. For the case of the environment with obstacles, however, the walking robot might be unnatural. Thus, we considered the surface contained obstacles that the robot can pass through. We propose the optimal leg trajectory data-base by using genetic algorithm and optimal leg trajectory movement about obstacles that exist in front of the robot using fuzzy approach. It is shown that the robot can move more naturally on the surface that contains obstacles.

Mobile AGV is one of the nonholon-omic systems. The integration of the kinematic adaptive controller for the dynamic in this pa-per introduction a motion control problem's dynamic state feedback as well as output feedback tracking laws will be constructed with the adaptive extension of the controller is proposed. Feedback control strategies for mobile AGV are important to compensate for disturabances and errors in the initial condition. The problems of path following or tracking and of stabilization about a constant configuration have been treated as separate problems for nonholonomic mobile AGV.

The objectives of this paper include the development of an agile prototype of SFFS, the $CAFL^{VM}$(Computer Aided fabrication of Lamination for Various Material), which is suitable for the multi-item and small-quantity production and various material fabrication. This paper includes remodeling of the layer slices for the 2D cutting, supplementing information of the layer slices and developing process conditions to fabricate products of various shape. And also includes developing control hardware as well as software by enhancing BOF of the manipulator to 3 degree for the precise 2D cutting. It will generate optimal layer trajectory considering the dynamic characteristics of the laser beam. The system can be used as a competitive agile protype system in terms of various materials, fabrication speed, and accuracy by CAD modeling precise layer slicing, material development, robot path control, and optimization of the support structure.

In this paper recommends the development of automated silo dry & storage system. Most of existing round shaped iron silo arc used for only storage after dry and have many problems in storing. So We have developed an automated dry system which used the previously equipped silo and enables it to be used for storage after dry. The system features high frequency-resistance water sensor in Hopper scale that is in general use within the country its silo that is manufactured by the nerve DSP(TMS320C32) system water compensator and visualization that is finally realized with a personal computer.

본 논문에서는 고층빌딩의 화재감지/모니터링 시스템에 대한 기준 모델을 제시하고 제시된 모델의 성능을 시뮬레이션을 통하여 검증하였다. 본 논문에서 제시하는 화재감지/모니터링 시스템 모델은 CSMA/CD 방식으로 동작하며 100 Mbps의 전송속도로 동작하는 Fast Ethernet을 백본망으로 사용하고 하부망으로는 MS/TP를 사용한다. 또한 시스템의 확장성과 유연성을 확보하기 위하여 현재 국내 빌딩 자동화 통신망의 표준 프로토콜로 제정된 BACnet을 기반으로 동작한다. 본 논문에서는 제시된 화재감지/모니터링 시스템 모델의 성능을 분석하기 위하여 이산사건 시스템 모델링 전용 툴인 ARENA를 사용한 시뮬레이션 모델을 개발하였다. 개발된 시뮬레이션 모델을 이용하여 네트워크 지연시간이 화재감지/모니터링 시스템의 성능에 미치는 영향을 분석하였으며, 분석된 결과를 바탕으로 본 논문에서 제시한 화재감지/모니터링 시스템 모델이 고층빌딩의 방화 설비 요구사항을 만족시킬 수 있음을 검증하였다.

In this Paper, we are trying to think over the operation window of application to a domestic burner management system and the softwares. The detailed contents are the power plant system overview and the integration of operation window and the software[man-machine interface software and logic editing software] digest and the difficulty in changing the burner management system.

본 논문에서는 위험요소를 내재하고 있는 로켓시스템에 대해 원거리에서 실시간 모니터링 및 제어를 할 수 있도록 원격 제어시스템을 설계, 개발하였다. 뿐만 아니라 로켓 근처에 위치한 무인 시설물 내에는 원격제어에 따른 로켓내부 시스템의 각종 센서 출력값을 멀티채널방식을 이용하여 장시간에 걸쳐 저장하고 원격지에 위치한 유인 시설물 내에서 LAN 통신을 통해 데이터를 분석할 수 있도록 DAS(Data Acquisition System)을 설계하고 개발하였다. 개발된 시스템은 간이 연계시험을 통해 입증하였으며, 향후 3단형 과학로켓발사통제시스템에 적용할 예정이다.

원통 모양의 선형 유도 전동기를 구성하고 코일의 밖에 위치한 코일에 전류가 유도되며 이때 코일의 축방향과 이에 수직인 방향으로 힘이 유도되며, 이때 힘의 특성이 유도 전동기의 특성을 지님을 밝혀 내었다. 이 힘은 두 코일의 축이 어긋나서 생기는 힘과, 드라이브 코일의 open slit의 정도에 따라 다른 것을 밝혔다.

In this paper we implemented DDFS and gam-phase dectector which use output of DDFS or any sinusoidal signal input to broaden the usability of DDFS. DDFS is composed of a 32 bits phase accumulator, phase increment registers, ROM and several registers for controlling the operations. It generates the digital data for sine wave up to the half of the clock frequency. To reduce the ROM size and increase the speed, we adopt the algorithms based on Taylor's series expansion method. Data at sparse phase intervals are stored in ROM and sine data between intervals are calculated in hardware. Function of Gain-Phase Extraction consists of sine lookup of DDFS and the optimized multipliers.

Power factor improved for single-phase buck-converter is studied in the paper. To sinusoidal waveform the input current with a near-unity power factor over a wide variety of operating conditions, the output capacitor is operated with voltage reversibility for the supply by arranging the auxiliary diode and power switching device. Then the output voltage is superposed on the input voltage during on time duration of power switching devices in order to minimize the input current distortion caused by the small input voltage when changing the polarity. The tested setup, using two insulated gate bipolar transistors(IGBT) and a microcomputer, is implemented and IGBT are switched with 20[kHz], which is out of the audible band. Moreover, a rigorous state-space analysis is introduced to predict the operation of the rectifier. The simulated results confirm that the input current can be sinusoidal waveform with a near-unity power factor and a satisfactory output voltage regulation can be achieved.

In this paper, the characteristics of the proposed converter are show by simulation. As a result, the power factor is improved and the results show the usefulness of the proposed circuit. To improve the hard switching at turn-off of the basic circuit, the circuit using a current resonant switch is proposed. In the proposed circuit, THD of the input current is reduced to 1.8 of the basic circuit. The mechanism of the THD reduction is clarified. That is because the on period becomes shorter at the peak of the source voltage. Using the simulation, the characteristics of the output voltage, current flowing the switch, and THD of the input current are investigated by changing the resonant circuit parameters. Criteria for choosing resonant parameters of smaller THD are obtained.

전력선 모뎀을 구현함에 있어 신호를 수신할 경우와 송신할 경우에 Line-Coupler는 펄터링의 측면에서 서로 다른 구조를 가져야 한다. 또한 다른 구조를 채택하였지만 단일형으로 구성하였을 경우 송, 수신단은 서로 영향을 받을 수 있어 그 특성이 나빠질 수 있다. 본 논문에서는 송, 수신단을 분리하여 통신을 할 경우 단일형 보다 그 송, 수신 특성이 향상됨을 알 수 있었다.

In this paper, the Gm-C filter for low voltage and low power applications using a fully-differential transconductor is presented. The designed transconductor using the series composite transistors and the low voltage composite transistors has wide input range at low supply voltage. A negative resistor load (NRL) technology for high DC gain of the transconductor is employed with a common mode feedback(CMFB). As a design example, the third-order Elliptic lowpass filter is designed. The designed filter is simulated and examined by HSPICE using TSMC $0.35{\mu}m$ CMOS n-well parameters. The simulation results show 138kHz cutoff frequency and 11.05mW power dissipation with a 3.3V supply voltage.

In this paper, we proposed measurement error reduction technique for the semiconductor device DC characteristic measurement system. Implemented system is composed of 4 SMUs, 2 VSUs, and 2 VMUs. Various efforts in hardware and software have been made to reduce the measurement errors due to the leakage current in measurement circuits. Internal and external sources of errors in measurement system especially in pA range measurement have been identified and removed. Experimental results show that the implemented system can be measure the DC characteristic of semiconductor devices in pA level.

Voltage sags are known as a serious problem causing mal-operation of equipment, process controllers and adjustable-speed drives. We understand problems of the voltage sag that have a bad effect to the load and then we design for a new model of the compensator. We accomplished system modeling for both sensorless part and sensing part, and compare the merits and demerits of both.

This paper reports on the development of Micro optical cross connector(MOXC) performance evaluation system using DAQ board and Labview. The system is composed of optical part, driving circuit and software part, this evaluation system can measure insertion loss, response time and life time of MOXC, this system canbe used in mass production of MOXC.

This paper presents the establishment of the wavelet transform domain sign algorithm and performance analysis by using wavelet filter such as multiplier-free QMF which don't require multiple computation.

This work describes a real-time method, based on motion energy detection, for detecting and tracking moving object in the consecutive image sequences. The motion of moving objects is detected by taking the difference of the two consecutive image frames. In addition an edge information of the current image is utilized in order to further increase the accuracy of detection. We can track the moving objects continuously by detecting the motion of objects from the sequence of image frames. A prototype system has been implemented using a TI TMS320C6201 EVM fixed-point DSP board, which can successfully track a moving human in real-time.

이 논문에서는 디지털 시그널 프로세싱에 적합하지 않은 RISC타입의 DB-X 마이크로콘트롤러를 이용하여 MP3 플레이어를 구현한 방법을 제안한다. DB-X 에는 DSPA 모듈이 있어 FIR, FFT 등 계산이 많이 요구되는 부분을 DSP 수준으로 빨리 연산해 줄 수가 있으며 SSI 모듈이 있어서 44.1khz의 샘플링 주기를 가지는 D/A 코덱과 연결할 수가 있다. 또한 SSI와 음성 데이터가 저장되어 있는 메모리 사이를 CPU 부담없이 데이터를 전송하기 위한 DMA 모듈이 있어 MP3 데이터를 프레임 단위로 디코딩할 때 더블 버퍼링 기법을 쉽게 사용할 수가 있다.

본 논문에서는 고속데이터 전송을 위한 CDMA 모뎀를 구현하였다. 데이터율 1Mbps의 트래픽 5채널에 직교부호를 곱하여 채널을 구분한 후 하나의 채널로 처리하였다. I,Q로 입력된 신호는 복소 곱셈기에서 칩 레이트 8Mcps로 OCQPSK(또는 HPSK) 변조하였다. 복조기는 I,Q의 신호를 역확산한 후 직교부호를 다시 곱하여 각 채널의 데이터를 분리한다. 변복조기의 구현은 클럭 속도 167MHz의 부동 소수점형 프로세서인 TI사의 TMS320C6701 DSP(Digital Signal Processor)를 사용하었고, long code 및 I,Q 채널 PN 코드는 IMT-2000 동기방식과 비동기방식의 규격에 정의된 2가지의 PN코드 발생기를 모두 구현하였다.

In this paper, I design the control chip that controls inner test sequence of Logic Tester to test chip. Logic tester has the thirteen inner instructions to control test sequence in test. And these instructions are saved in memory with test pattern data. Control chip generates address and control signal such as read, write signal of memory. Before testing, necessary data such as start address, end address, etc. are written to inner register of control chip. When test started, control chip receives the instruction in start address and executes, and generates address and control signals to access tester' inner memory. So whole test sequence is controlled by making the address and control signal in tester's inner memory. Control chip designs instruction's execution blocks, respectively. So if inner instruction is added from now on, a revision is easy. The control chip will be made using FPGA of Xilinx Co. in future.

This paper presents the implementation of IEEE 802.11 Medium Access Control and Physical Layer Protocol that can be applied to wireless LAN system. We have used PRISM2 chipsets from Intersil to build the baseband, IF, and RF parts. DSSS(Direct Sequence Spread Spectrum) physical layer at 2.4GHz ISM band is adopted in the hardware prototype. To meet the high-speed requirement of physical layer, we have designed the MAC protocol layer with embedded firmware and FPGA. The prototype board is shown to be able to support the physical layer of 5GHz and 600Hz wireless LAN systems.

본 논문에서는 전력과 대역특이 제한된 환경에서 효율적인 트렐리스 부호화 변조방식을 적용한 QAM 모뎀을 구현하였다. 입력되는 데이터를 트렐리스 부호화 변조한 후 I, Q로 분리된 신호는 신호 사상기를 통하여 해당하는 성 상점으로 변환된다. 복조기는 I, Q의 신호를 트렐리스 복호기에 입력하여 데이터를 복구한다. 변복조기의 구현은 Xilinx사의 FPGA 디자인툴인 Foundation을 사용하여 VHDL simulation과 Chip Targeting을 수행하였다.

The railway signaling systems are computerized vital equipments for safety guarantee of train running. And also it is important to prepare the reliable communication link between signalling equipments. In this paper the review of network technology for railway signalling is presented and reliable network technology for network is represented. And also the direction for our further study on these is discussed.

집안에서 사용하는 가전제품이 점차 늘어나고 또한 이들 가전에 대한 상호 네트워킹의 필요성이 절실해지는 요즘 홈 네트워킹의 시장이 점차 열리고 있는 추세이다. 실제적인 홈 네트워크를 구성하기 위해서는 집안에서뿐만 아니라 집 밖에서도 이들 가전제품을 제어할 수 있도록 만들어야하는데 그러기 위해서는 홈 게이트웨이의 구성이 필수라 할 수 있다. 그러기 위해서는 집안까지 들어오는 통신라인이 있어야 하는데 지금 현재 가장 많이 사용하고 있는 방법은 전화선과 케이블 망을 이용하는 것이다. 본 논문에서는 케이블 망을 이용한 홈 게이트웨이의 접속모듈을 구현하여 가정에서도 쉽게 네트워크를 구성할 수 있는 환경을 만들 수 있게 하였다.

There are several methods of measuring position. For example GPS, AOA, TDOA and using radio camera. In this Paper I used TDOA method in position measuring system. TDOA method uses arrival time difference. In position measuring system, three transfers which is placed in different position transfer signal to receiver in fixed time interval and receiver records arrival time of signal. Because receiver knows idle signal's arrival time, receiver can calculate the difference of the signal's arrival time between idle and real. When we obtain time difference we can know the receiver position by Newton Raphson method.

There is explosive increase of traffic with economic growth and high level of civilization, and the increase causes so many complicated traffic problems. To solve these problem, the best way is expansion of road. bridges and some kind of traffic establishments. But this way need so many investment of time and money. So We must use the bounded roads and bounded establishments very effective way. To do so we have to gather the information about the road, vehicles, and etc. In this study, I will introduce you the way of gathering the information about vehicles, and transferring database server.

인터넷 환경의 발달로 인해 컴퓨터 산업분야에서는 각 컴퓨터 시스템과 멀티미디어 기기들 상호간의 색 정보 처리의 호환성을 필요로 하게 되었다. 이에 따라 제안된 standard RGB (SRGB) color space는 각 컴퓨터 시스템 및 기기들 간에 명백하고 효율적인 하나의 단일 color space로 색 정보가 표현될 수 있게 하였다. 한편 칼라 디스플레이 모니터에서의 색재현에 있어 궁극적인 목적은 원 화상의 색과 동일한 색으로 화상을 재현하는 것으로 인간 시각 특성을 고려한 색 재현이 바람직하다. 따라서 본 연구에서는 인터넷 환경의 비표준 모니터 상에 화상을 재현함에 있어 sRGB 표준과의 차이에 의해 발생되는 좌표적 색도 오차를 정정 매트릭스를 사용하여 색도 오차가 저감되는 보정 방법을 제안하였다. 또한 모니터 주변 밝기에 따른 시각 특성 변화에 따라 인지되는 콘트라스트의 변화에 대한 상관관계를 유도함으로써 그 변화를 보정할 수 있는 방안도 함께 제안하였다.

In this thesis, a video tracker with a TMS320C31 DSP is designed and implemented. It is intended to work with PC through PCI Bus and can be used in real-time applications. The DSP board is capable of grabbing image data from camera, and calculating the position of a target, and tracking its movement. The tracking situation can be displayed in a PC monitor and displacement of the movement is fed back to pan and tilt the camera. Experimental results show that the tracker implemented here works well in real applications.

This paper decides provision of brightness by average value of horizontal pixel, vertical pixel association. Give weight at association value calculation to improve diagonal line characteristics, and applied method to add average of vertical pixel and average of diagonal line pixel at interpolation. Therefore it improves PSNR, and it proposed algorithm that improve horizontal outline and vortical outline characteristics in big area of luminance contrast. It changed scanning line of serial scan based on proposed algorithm and designed variable image system for efficient data transmission through PCI interface circuit.

In this paper, Polynomial Neural Networks(PNN) is proposed to overcome some problems, such as the conflict between overfitting and good generation, and low reliability and to control nonlinearity and unknown parameter of complex system. PNN structure is consisted of layers and nodes like conventional neural networks but is not fixed and can be generated according to the system environments. The performances depend on two factors, number of inputs and order of polynomials in each node directly. In most cases these factors are decided by the trial and error of designer so optimization is needed in deciding procedure of the factors. Evolutionary algorithm is applied to decide the factors in PNN. The study is illustrated with the aid of representative time series data for gas furnace process used widely for performance comparison, and shows the designed PNN architecture with evolutionary algorithm.

In this paper a new approach to estimate scaling factors of fuzzy controllers such as the fuzzy PID controller and the fuzzy PD controller is presented. The performance of the fuzzy controller is sensitive to the variety of scaling factors[1]. The desist procedure dwells on the use of evolutionary computing(a genetic algorithm) and estimation algorithm for dynamic systems (the inverted pendulum). The tuning of the scaling factors of the fuzzy controller is essential to the entire optimization process. And then we estimate scaling factors of the fuzzy controller by means of two types of estimation algorithms such as Neuro-Fuzzy model, and regression polynomial [7]. This method can be applied to the nonlinear system as the inverted pendulum. Numerical studies are presented and a detailed comparative analysis is also included.

In this paper, the Multi-FNNs(Fuzzy-Neural Networks) architecture is identified and optimized using HCM(Hard C-Means) clustering method and genetic algorithms. The proposed Multi-FNNs architecture uses simplified inference and linear inference as fuzzy inference method and error back propagation algorithm as learning rules. Here, HCM clustering method, which is carried out for the process data preprocessing of system modeling, is utilized to determine the structure of Multi-FNNs according to the divisions of input-output space using I/O process data. Also, the parameters of Multi-FNNs model such as apexes of membership function, learning rates and momentum coefficients are adjusted using genetic algorithms. An aggregate performance index with a weighting factor is used to achieve a sound balance between approximation and generalization abilities of the model. To evaluate the performance of the proposed model we use the time series data for gas furnace and the NOx emission process data of gas turbine power plant.

In this study, we introduce a concept of neurofuzzy polynomial networks (NFPN), a hybrid modeling architecture combining neurofuzzy networks (NFN) and polynomial neural networks(PNN). NFN contributes to the formation of the premise part of the rule-based structure of the NFPN. The consequence part of the NFPN is designed using PNN. The parameters of the membership functions, learning rates and momentum coefficients are adjusted with the use of genetic optimization. We introduce two kinds of NFPN architectures, namely the basic and the modified one. Owing to the specific features of two combined architectures, it is possible to consider the nonlinear characteristics of process system and to obtain the better output performance with superb predictive ability.

다수의 자율이동로봇으로 구성되는 다개체 시스템에서의 협조행동을 위해서 각 개체는 주변환경의 인식뿐만 아니라 환경변화에 적응할 수 있는 추론능력이 요구된다. 이에 본 논문에서는 강화학습을 이용하여 동적으로 변화하는 환경 하에서 개체들이 스스로 학습하고 대처할 수 있는 협조행동 방법을 제시한다. 제안한 방법을 먹이와 포식자 문제에 적용하여 포식자 로봇간의 협조행동을 구현하였다. 여러 대로 구성된 포식자 로봇은 회피가 목적인 먹이로봇을 추적하여 포획하는 것이 임무이며 포식자 로봇들 간의 협조행동을 위해 각 상태에 따른 최적의 행동방식을 찾는데 강화학습을 이용한다.

단층 퍼셉트론이 처음 개발되었을 때, 간단한 패턴을 인식하는 학습 기능을 가지고 있기 장점 때문에 학자들의 관심을 끌었다. 단층 퍼셉트론은 한 개의 소자를 이용해서 이진 논리를 가중치(weight)의 변경만으로 모두 표현할 수 있는 장점 때문에 영상처리, 패턴인식, 장면인식 등에 이용되어 왔다. 최근에, 역전파학습(Back-Propagation Learning)알고리즘이 이진 공간내의 매핑 문제에 적용되고 있다. 그러나, 역전파 학습알고리즘은 연속공간 내에서 긴 학습시간과 비효율적인 수행의 문제를 가지고 있다. 일반적으로 역전파 학습 알고리즘은 간단한 이진 공간에서 매핑하기 위해서 많은 반복과정을 요구한다. 역전파 학습 알고리즘에서는 은닉층의 뉴런의 수는 주어진 문제를 해결하기 위해서 우선순위(prior)를 알지 못하기 때문에 입력층과 출력층내의 뉴런의 수에 의존한다. 따라서, 3층 신경회로망의 적용에 있어 가장 중요한 문제중의 하나는 은닉층내의 필요한 뉴런수를 결정하는 것이고, 회로망 합성과 가중치 결정에 대한 적절한 방법을 찾지 못해 실제로 그 사용 영역이 한정되어 있었다. 본 논문에서는 패턴 분류를 위한 새로운 학습방법을 제시한다. 훈련입력의 기하학적인 분석에 기반을 둔 이진 신경회로망내의 은닉층내의 뉴런의 수를 자동적으로 결정할 수 있는 NETLA(Newly Expand and Truncate Learning Algorithm)라 불리우는 기하학적 학습알고리즘을 제시하고, 시뮬레이션을 통하여, 제안한 알고리즘의 우수성을 증명한다.

본 논문은 BMI (Background Marking 1)을 개선하여 차량의 번호판정 보를 보다 신속히 추출하는 방법에 대한 연구이다. BMI은 입력된 영상에서 각각의 화소를 비교하여 특정색상을 최고치인 255로 지정하고, 그 이외의 화소는 최저치인 0으로 표시하는 방법이다. 하지만 이 방법은 모든 화소를 처리함으로써 검색시간이 많이 소요된다는 단점을 가지고 있다. BM2는 이러한 단점을 개선하여 빠른 차량 번호판 검색 및 추출을 가능하도록 하였다. 또한 기존에 제시된 히스토그램에 기초한 검색방법은 명암의 변화에 따른 추론방법으로 조명과 잡음에 약하다는 단점을 가진다. BM2는 기존 방법과 달리 특정색상을 추출함으로써 명암의 변화에 강한 특징을 가지도록 하였다. 제안된 방법을 여러 가지지 차량 종류에 따른 영상에 적용하여 BMI보다 우수한 성능을 검증하였다.

This paper describes a system for tracking a face in a input video sequence using facial convex hull based facial segmentation and a robust hausdorff distance. The algorithm adapts YCbCr color model for classifying face region by [l]. Then, we obtain an initial face model with preprocessing and convex hull. For tracking, a Robust Hausdorff distance is computed and the best possible displacement is selected. Finally, the previous face model is updated using the displacement t. It is robust to some noises and outliers. We provide an example to illustrate the proposed tracking algorithm in video sequences obtained from CCD camera.

오디오 워터마킹기법에는 스프레드 스펙트럼방식, 패치워크방식과 echo hiding방식 등이 있다. 본 논문에서는 실시간 처리를 고려하여 오디오 워터마킹기법을 제안하고자 한다. 실시간 측면에서는 될 수 있으면 계산상의 간략화가 요구된다. 이와 관련하여 정수 웨이브릿 변환을 이용한 오디오 워터마킹 방법을 제안한다. 워터마킹을 추출할 때는 스프레드 스펙트럼을 이용한다. 이 오디오 알고리즘은 음악에 연동하는 전기기기를 구성할 때 유용한 알고리즘이 된다. 즉 음악에 워터마크를 삽입하여 이 워터마크를 전기기기 동작제어 비트열로 이용할 수 있다.

본 논문에서는 태풍의 진로와 세기를 ES_BLRNN을 이용해 예측하였다. 기존의 방법인 수치모델이나. CLIPER모델을 사용함에 있어서, 통계적 방법인 CLIPER모델은 예측성능면에서 수치모델보다 그 성능이 떨어지고, 반면에 수치모델의 성능은 CLIPER 모델에 비해 우수하나 슈퍼컴퓨터(Cray-2S, FUSITSU)를 이용하여야만 예보가 가능한 제약점을 가지고 있다. 또한 수치모델을 슈퍼컴퓨터로 계산할 경우 약 30분 정도가 소요되는 점을 감안할 때, ES_BLRNN은 이들의 단점을 보안할 수 있는 하나의 방편이라 생각된다. 게다가 ES_BLRNN의 경우 개인용 컴퓨터로도 충분히 사용 가능할 만큼 비용이 저렴하고, 681개의 태풍을 학습할 때 결리는 시간은 약 5분 정도이며, 146개의 태풍을 예측하는데 걸리는 시간은 약 3초 정도(Pentium MMX 200 Processor, RAM 64m, OS: RedHat LINUX 5.2. language ; ANSI-C)로써, 슈퍼컴퓨터나 CLIPER모델에 비해 훨씬 빠르게 결과를 볼 수 있다.

In this paper, we proposed the automatic postal drop-off system based on the microprocessor board or PC. The weight of the small postal package is transmitted from the electronic scale and user-entered addresses and delivery rate are processed by the controller to calculate the fee. For 24 hour out-door operation and maintenance, non-cash payment methods such as credit card payment is used. The post stamp and receipt are printed by the thermal printer. For the electronic processing of the parcel, serial code is also printed on the stamp and receipts in bar code format. The parcel information obtained by the automatic postal drop-off system is transferred to remote central system by dial-up modem shared by the on site office. The proposed system and its control software are built for prototype model operation and the result met the design requirements. For real time processing, data reception through three serial ports is handled by interrupt routine. The proposed system is expected to be applied for commercial logistics system and pc automation system.

웹 사용자들의 서비스 사용 분석에 환한 기존의 연구는, 웹서버가 기록하는 표준로그파일과 쿠키정보를 분석하는데 바탕을 두고 이루어져왔다. 이러한 방법으로는 웹사이트 방문자의 행동에 관한 상세한 정보를 파악할 수 없다. 본 연구에서는 네트웍 상에서 오고가는 패킷들을 캡처하고 HTTP에 관한 패킷들을 걸러내어 저장함으로써 웹서버로그파일이나 쿠키정보만으로는 파악할 수 없는 웹사용정보를 취한다. 또한 얻어낸 정보들에 대해 데이터마이닝 기법을 적용하여 웹 사용자의 행동을 분석하여 VRM(visitor relationship management)이 가능하게 한다. 이를 위해 패킷의 캡쳐 및 필터링 기법, 패킷정보로부터 웹사용정보의 구성방법 실시간으로 증가하는 정보들의 저장 및 처리기법, VRM을 위한 데이터마이닝 기법을 고안하였다.

본 논문은 가정 내나 소호용의 멀티미디어 게이트웨이 서버 시스템에 관한 것이다. 가정 내 컴퓨터 시스템의 보급률이 높아지고 그 활용에 대한 관심이 많아지고 있다. 현재는 가정 내까지 ADSL망이 들어와 있고 가정 내에나 소호에 컴퓨터 유사 시스템들이 사용되므로 이들을 연결하는 망의 구성이 필요하다 본 논문의 장비는 이러한 망의 구성과 내부에서 외부의 망으로 접근을 하는 방법을 제공할 뿐아니라 외부망에서 내부망을 접근하여 내부기기를 통제하는 서어비스에 관해서도 논한다. 또한 DVD나 DTV 등의 멀티미디어 서어비스에 관한 것도 논하기로 한다. 가정이나 소호에 관련한 장비로는 무선랜, 블루투스, HomePNA, IEEE1394, DVD, Ethernet 등으로 구성되며 PLC에 관해서도 간략하게 논하도록 한다. 이러한 멀티미디어 게이트웨이 서버는 인터넷 게이트웨이로서 뿐만아니라 서어비스 게이트웨이로서의 역할을 하게된다.

In this paper, we analyze algorithms for diagnosing of VEP(visual evoked potential) signal. We used wavelet transform for the preprocessing of VEP signal data and back propagation neural network for the pattern recognition. We used several wavelets to study their effects and efficiency in the preprocessing of VEP. The diagnosis system led to good results. We obtained the noise reduced and compressed signal with the wavelet transform of the training VEP signal. So it is possible to train the neural network faster and exact diagnosis processing is possible in the neural network. From the experimental results, we know that the discrimination ability of the neural network is changed by the type of basis vector and the proposed system is good to the diagnosis of VEP.

본 연구에서는 생체 임피던스를 이용하여 3채널 상지(upper arm) 운동 분석 시스템을 제작하였다. 각 채널은 상지의 외전(supination)과 내전(pronation), 팔꿈치(elbow)의 폄과 굽힘, 손목(wrist)의 평과 굽힘에 따른 각 관절의 임피던스 변화를 얻을 수 있도록 설계되었다. 상체 임피던스는 전극의 부착위치에 의존하므로 정밀한 감지를 위해 상지 운동에 대한 임피던스의 변화와 각도계(goniometer)의 각도 변화와의 상관관계를 통하여 상관 관계가 높고, 변화량이 가장 크고 다른 관절의 움직임에 따른 영향이 최소인 곳을 찾아 이를 최적의 전극 위치로 정하였다. 그리고, 선정된 최적의 전극 위치에서 임피던스 변화를 얻어 상지 운동을 분석해 보았다. 최적의 전극 위치에서 손목과 팔꿈치의 각도 변화와 임피던스 변화의 상관 계수는 각각 0.94, -0.97로 아주 높은 상관 관계를 보였다. 또한 이전의 다른 연구에서 임피던스 방법으로 구현해 본적이 없는 팔의 회전(rotation)도 분석이 가능하였다. 이 시스템은 피검자의 동작에 거의 제한을 주지 않고, 가벼우며, 장시간 측정이 용이할 뿐만 아니라 시스템 구성이 영상 분석기에 비해서 단순하다는 장점을 가지고 있다. 본 연구에서 제안하는 방법은 재활과 생체역학, 로봇의 원격 제어, 그리고 가상 현실에서의 동작 구현 등에 활용 할 수 있을 것으로 사료된다.