• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.3
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• pp.395-402
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• 2015

In this paper, we propose an efficient gait trajectory generation method for the static stair climbing of a quadruped robot with mechanism of insectile legs, which has no collision with staris. First, we derive the kinematic and inverse models of a quadruped robot using the algebraic and geometrical methods, respectively. In the proposed method, we generate the stair locomotion trajectory of a sine wave after lifting a leg from the start position, and then determine the coefficient of the generated trajectory to avoid the collision with stairs. In addition, we make the gait sequence for the stable stair locomotion. Finally, we verify the effectiveness and applicability of the proposed stair locomotion method through computer simulations.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.21 no.4
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• pp.401-410
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• 2008

The natural frequency of a beam plays an important role in not only vibration analysis but also understanding its dynamic characteristics. It is complicated to analyse the natural frequency of a stepped beam with discontinuously varying section. Approximate analysis methods such as Rayleigh-Ritz method, FEM, etc. are frequently used for the vibration analysis of stepped beams. In such a case, accuracy of these methods depends upon the number of partitioned elements, the number of the iterations in calculation and the assumed mode shape. This study presents an approximate analysis method for the fundamental natural frequency analysis of stepped cantilever beam, using equivalent beam transformation technique. Validity and usefulness are verified by comparing the proposed method with FEM for several example problems.

• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.9
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• pp.1039-1048
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• 2015

In this paper, we propose an efficient stair locomotion method for a quadruped robot with mechanism of insectile legs using genetic algorithm(GA). In the proposed method, we first define the factors and the reachable region for the stair locomotion. In addition, we set the gene and the fitness function for GA and generate the gait trajectory by searching the landing position of a quadruped robot, which has the minimun distance of movement and the optimal energy stability margin(ESM). Finally, we verify the effectiveness and superiority of the proposed stair locomotion method through the computer simulations.

• Proceedings of the Korea Water Resources Association Conference
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• 2016.05a
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• pp.339-339
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• 2016

하천의 수질 개선을 위한 방법 중에서도 하천 구조체를 활용하는 방법은 기존의 하천 구조체가 가지는 고유의 기능을 훼손하지 않으면서 하천 수질을 개선할 수 있는 방법으로 점차로 그 영역이 확대되고 있는 추세이다. 이러한 방법의 대부분은 하천 구조체를 통과하는 흐름에 공기유입 기능을 강화하여 물의 용존산소량을 증가시킴으로써 수질의 개선을 유도한다. 따라서 하천 구조체를 통과하는 물에 공기유입을 향상시킬 수 있는 구조체 형상의 개발은 하천의 수질개선에 영향을 줄 수 있는 중요한 연구 주제이다. 본 연구에서는 하천 구조체 중에서도 댐의 여수로와 보에 사용되어지는 계단형 구조물의 흐름에 대해 공기연행 해석이 가능한 난류모형을 적용하여 수치모의를 이용한 검토를 수행하였다. 그 결과 연구에 사용된 모형이 계단형 흐름 구조체의 수리적 특성과 공기유입의 변화를 각각의 형태에 따라 적절히 모의하는 것을 확인 할 수 있었다.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.10B
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• pp.919-928
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• 2006

A periodic broadcasting is known as an efficient technique for delivering popular videos to reduce bandwidth requirements for transmitting streaming video to viewers in video-on-demand (VoD) services. However, the most periodic VoD schemes approach needs frequency channel hopping, many segments of video managing, and using many channel at the same time. These make it difficult to implement. In this paper, we propose a Staircase Staggered broadcasting scheme which has a simple structure and substantially improved VoD efficiency. The numerical results demonstrate that the viewer's waiting time of the Staircase Staggered broadcasting scheme is close to the staircase broadcasting scheme and the maximum buffer requirements of this can be adapted for demanding rate by adjusting the short front part of a video sizes.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.7A
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• pp.686-693
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• 2007

In this paper, we describe how to set up/down step-size in open loop power control for WiBro reverse link. Since open loop power control does not use feedback information, it is difficult to efficiently use wireless resource with accurate power control. We also provides a method of estimating levels of noise and interference. With numerical investigation, asymmetric up/down power-control step-size is shown to be promising to achieve high sector throughput as well as low error rate.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.47 no.1
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• pp.14-19
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• 2010

In this paper, a novel architecture for device miniaturization of multimode interference-based couplers (MMICs) is proposed by replacing conventionally designed MMICs by cascaded two-section stepped-width or stepped-index MMICs. For the 82% cross coupling efficiency in a stepped-width MMIC, the coupling length of device results in just 6.7% length reduction. However, for a stepped-width and stepped-index MMIC, the coupling efficiency increases to 93% and the length reduction of 9% occurs. Furthermore, with additional incorporation of tapered devices, it shows that a compact MMIC can be designed in which the coupling efficiency is 90% and the length is reduced to 25%.

• Journal of Korea Water Resources Association
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• v.36 no.6
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• pp.971-984
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• 2003

This paper presents the hydraulic analysis of the air entrainment by the weir types. For the weir types, the stepped weir, the labyrinth weir and the gate underflow weir were selected, and the oxygen transfer efficiency was estimated by the site investigation and the hydraulic model tests. The most effective type for the oxygen transfer was stepped weir The more steps the stepped weir had, the higher efficiency it revealed. Oxygen transfer was proportional to the flow velocity, the Froude number, and the flow discharge in order. Hydraulic model tests showed that a nappe flow occurred at small flow rates. The concurrent condition of a nappe flow and a skimming flow occurred as flow rate increases, nappe flow at the upper part and skimming flow at the lower part. In the region of nappe flow, air inception occurred from the step edges due to flow separation, and air entrainment was made through a free-falling nappe, an air pocket, a nappe impact and a subsequent hydraulic jump. In the region of skimming flow, air entrainment occurred by the variation of water surface over the steps, but it was relatively small compared with nappe flow.

• Proceedings of the Korea Multimedia Society Conference
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• 2002.05d
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• pp.574-578
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• 2002

층 단위로 가공하는 RP(Rapid Prototype) 시스템에서 가공되는 물체의 표면에서는 계단형의 윤곽이 나타난다. 이러한 문제점을 보완하기 위해 경사절단 방법으로 3D 모델을 가공하여 기존의 가공방법에 의해 발생하는 계단형 윤곽 모습과 표면 왜곡 둥의 문제를 보완할 수 있다. 최적의 경사선분의 집합을 구하기 위해 경사절단 선분의 길이와 중간층 점의 거리를 정의하여 이를 최소화하는 에너지 함수를 구현한다. 그러나 이 방법은 경사절단 선분이 에너지가 작아지는 방향으로만 움직이기 때문에 레이어의 윤곽이 복잡한 경우 최적의 위치가 아닌 다른 위치에서 더 이상 움직이지 않는 국부적 최적해(Local Minima)가 발생할 수 있다. 본 논문에서는 국부적 최적해를 벗어나기 위해 경사절단 선분 추출 알고리즘에 시뮬레이티드 어니얼링(Simulated Annealing) 방법을 적용하였다. 제안된 방법으로 테스트한 결과 복잡한 레이어 윤곽에서 생길 수 있는 국부적 최적해가 어느 정도 해결되었다.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.11 no.7
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• pp.1240-1246
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• 2000

The finite-difference time-domain (FDTD) method is applied to analyze a single step microstrip discontinuity in the substrate, and an equivalent circuit model comprised of two inductors and a capacitor has been developed using the numerical results. The microstrip discontinuity newly introduced in this paper has a thickness change of the substrate in the longitudinal direction with a uniform strip width. The discontinuity can be applied to the feeding circuit design for the patch antennas and interconnections between microwave circuit modules. The simulation results are compared with those computed by HFSS, and two results showed a good agreement. An equivalent circuit developed from the FDTD results, which is accurate within 2.4% in magnitudes of $S_{11}$ and $S_{21}$,can be applied for the computer-aided design of microwave circuits.