• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.1
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• pp.69-74
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• 2012

In this research equations of motion of a Wheeled Inverted Pendulum (WIP) which is running on the inclined road and changing its center of gravity. Difference between a conventional cart inverted pendulum and the WIP is also considered. The WIP has small planar size so that it has been used as a mobile platform for several applications which require slender frame in order to travel on the narrow road. The WIP has almost the same unstable properties as conventional inverted pendulums have. There needs an aggressive control scheme for the WIP not to fall down. In order to design a high performance control scheme, equations of motion of the WIP, which is running under various environment and operating conditions, should be derived and considering its properties is necessary.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2164-2166
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• 2004

QFT는 플랜트의 변동을 고려하여 주파수 영역에서 설계하는 제어기법으로 파라미터의 변화 및 외란에 강인한 제어기 설계에 적합한 제어기 설계 방법이다. 본 논문에서는 종축 방향의 항공기 무게 중심이 변화하는 범위에 대하여 요구 비행성(Flying Quality)을 만족하도록 하는 강인한 QFT 제어기의 설계기법을 제안하였다. 시뮬레이션을 통하여 제안한 QFT 제어기가 무게중심의 변화 범위에서 주어진 비행성능을 만족함을 확인하였다.

• Proceedings of the KIPE Conference
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• 2014.11a
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• pp.205-206
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• 2014

본 논문에서는 3-레벨 인버터 시스템에서 공통 모드 전압 변동 제거를 위한 새로운 Medium Vector PWM(MVPWM)을 제안한다. 제안된 MVPWM의 특징은 다음과 같다. 1) 스위칭 상태와 관계없이 공통모드 전압은 일정하게 유지된다. 2) 무게 중심좌표계 방법에 의하여 구현되므로 구현이 간단하고 직관적이다. 본 논문에서는 시뮬레이션을 통하여 제안된 MVPWM의 위와 같은 특성을 밝히고 태양광 인버터의 제어에 적합함을 입증하였다.

• Journal of Advanced Marine Engineering and Technology
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• v.34 no.4
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• pp.477-484
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• 2010

The majority of currently domestic dried sea foods is holding sanitary safety on storage and distribution, a structural problem to be in quality serious to sun drying. This paper the productive times and the on-site operation that production is fixed are easy, and it have reported the experimental results that carried out on development of a drying system toward field which can keep the highest quality and economy.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.496-501
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• 2012

An equilibrium point of a WIP (Wheeled Inverted Pendulum) with changing its center of gravity is derived and validated by various numerical simulations. Generally, the WIP has two equilibrium points which are unstable and stable one. The unstable one is interested in this study. To keep the WIP over the unstable equilibrium point, the WIP is consistently being adjusted. A state feedback controller for the WIP needs a control reference for the equilibrium point. The control reference can be obtained by studying an equilibrium point of the WIP based on statics. By using Lagrange method, this study is deriving dynamic equations of the WIP both with and without changing its center of gravity. Various numerical simulations are carried out to show the validation of the equilibrium point.

• 한국방재학회:학술대회논문집
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• 2011.02a
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• pp.207-207
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• 2011

본 연구에서는 유역 특성의 판단에 적절한 호우사상을 선별하여 사용하는 것이 어느 정도 효과적인지를 평가하였다. 토양의 습윤 정도에 따른 유역의 특성을 반영하기 위해 AMC 조건을 고려하였으며, 유역의 집중시간 및 저류상수의 추정방법으로는 Nash 모형의 구조를 이용하는 방법을 적용하였다. 아울러 강우의 공간변동 정도를 파악하기 위해 변동계수를 이용하여 평가하였으며, 추정된 매개변수들의 대푯값 및 가능범위를 도시적으로 결정하였다. 이를 유역면적이 큰 충주댐 유역의 영춘 지점과 상대적으로 작은 평창강 방림 지점을 대상유역으로 선정하여, 다양한 호우사상에 대한 분석이 유역의 규모에 대비되어 수행될 수 있도록 하였다. 그 결과를 정리하면 다음과 같다. 강우의 공간변동 정도를 변동계수로 평가한 결과 AMC-III 조건에서 강우강도의 공간적 변동폭이 작음을 확인하였다. 따라서 AMC-III 조건에서 유도한 유출특성이 단위도의 이론에 부합하는 것으로 판단된다. 아울러 AMC 조건에 따라 추정된 집중시간과 저류상수는 AMC-I보다 AMC-III 경우에서 상대적으로 변동폭도 작았으며, 선형저수지의 특성 역시 일관됨을 확인하였다. 특히, AMC-I 조건의 경우는 선행강우가 없는 상태에서의 호우사상들로서 일단 그 크기가 작을 가능성이 크다는 문제점을 가지고 있다. 따라서 AMC-I 조건의 호우사상 보다는 AMC-III 조건의 호우사상을 이용하는 게 보다 홍수 유출 해석에 유리하다고 판단된다. 추정된 매개변수의 대푯값과 그의 가능범위 결정에 앞서, AMC-III 조건에서 추정된 매개변수들이 군집해 있는 구간을 설정한 후, 이를 벗어나는 매개변수를 제외하였다. 다음으로 매개변수의 무게중심 즉, 평균을 중점으로 하여 사분위수(25%, 50%, 75%)에 해당되는 매개변수 개수가 선택되도록 사변형을 작성하였다. 이 때 집중시간과 저류상수 사이의 상관성을 고려하기 위해 사변형은 선형저수지 개수의 선과 선형저수지의 저류상수의 선이 만나는 점을 연결하여 작성하였다. 영춘 지점의 경우, 집중시간의 대푯값은 20.6 hr, 저류상수의 대푯값은 18.4 hr, 방림 지점은 각각 7.5 hr, 8.2 hr이다. 매개변수의 대푯값 가능범위는 충주댐 영춘 지점의 경우 1사분에서 집중시간 18-25 hr, 저류 상수는 17-20 hr 정도, 방림 지점의 경우 집중시간은 5-10 hr, 저류상수는 7-11 hr 정도이다. 아울러 추정된 대푯값의 가능 범위를 이용하여 기존의 경험공식을 평가하였다. 그 결과 집중시간의 경우 Kraven 공식, 정성원 공식이, 저류상수의 경우 Sabol 공식, 정성원 공식, 윤태훈 공식이 대푯값의 범위에 속하는 것으로 분석되었다. 그러나 분석 지점의 부족으로 기존의 경험공식의 정량적 평가는 어렵다. 추후에 보다 많은 지점을 대상으로 분석한다면 보다 설득력이 있는 경험공식의 평가와 다양한 유역에 적합한 경험공식의 산정도 가능할 것이다.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.16 no.2
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• pp.201-206
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• 2016

Aircraft have a cross axis of the three each other for maintenance of aircraft position. It is called roll axis, pitch axis and yaw axis. Attitude reference system is a sensor for detecting a change of the three axis. In this paper, mobile robot platform install part of Pan-tilt and HMD attitude reference system, because of we use control camera. The acceleration sensor is very weak a lot of noise to vibration, also problem with data from process of mapping to the data problems to arise. However to solve this problem, we removed the average filter and Cosine Interpolation for Pan-tilt. Using capacity evaluation for outdoor environment for we are proposing. Mobile robot has HMD and equipped Pan-tilt. We control mobile robot camera. In this experiment result is little bit delay happening, however Pan-tilt camera is relatively stable control checking. Also, we will checking any terrain and slopes is no problem for mobile robot driving skills.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.3
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• pp.423-429
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• 2018

Objective: This study was conducted to investigate the effects of WBVE on biomechanical factor analysis of drop landing jumps before and after a four week training program. Methods: Participants were divided into two group: VEG (n=5, age: $25.7{\pm}2.3yrs$, height: $170{\pm}7.6cm$, weight: $69.3{\pm}8.3kg$) and OEG (n=5, age: $24.6{\pm}3.4yrs$, height: $164{\pm}4.9cm$, weight: $58.8{\pm}9.2kg$). Ten infrared cameras (Vicon, UK) with a sampling rate of 100 Hz were used in two GRF measurement systems (AMTI, USA). Results: The variability of the center of mass was largest at the falling phase, and there was a great risk of injury when landing after the jump. Second, the jumping heights of the VEG (vibration exercise group) were higher than those of the OEG (only exercise group), regardless of training period. Third, there were significant differences in the hip joint P1 (flexion) and knee joint P2 (extension) between the exercise groups after 4 weeks of training. However, there were no significant differences among training periods or phases. Conclusion: regardless of training periods, the VEG showed increased jump height compared with the OEG, but the consistency between the jump height and the lower joint power could not be determined.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.32 no.6
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• pp.706-712
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• 1999

PSD (particle size distribution) for 2,000 mg/$\ell$ natural loess in seawater showed normal distribution cure at 0 minute settling time, accompanying with very large particle distribution range with its mean particle diameter of 31.6 $\mu$m and coencient of variance of $72.6\%$, With elapsed time it showed that the PSD was rapidly changed from normal distribution cure to abnormal distribution curve, steepened the right-hand side of it and its coefficient of variance was getting increased because of rapid settling of large size particles, Cumulative weight distribution showed that 2,000 mg/$\ell$ natural loess in seawater was almost $100\%$ constituted of particles bigger than 20 $\mu$m in diameter. Ratio of $V_s/(D_{bm})^{1/2}$ for loess particles in seawater was increased with increase of particle size in geometrical progression. Almost all loess particles in seawater had Stokes settling velocity not less than 2,255 times of Brownian diffusion coefficient, There was almost to EDL (about 0.4 nm) around natural loess particles in seawater, Thus, there was always LVDW attractive force between loess particles approaching each other in seawater, and almost no EDL repulsive force. Loess particles were not always in the condition of easy floe formation. Concentration of natural loess in seawater increasing from 400 mg/$\ell$ to 10,000 mg/$\ell$, characteristics of the settling was changed from Type I settling (discrete settling) to Type II settling (flocculation settling). PVD (particle volume distribution) showed that natural loess particles in seawater were largely constituted of two types of particles, such as rapidly settling particles and suspended and dispersed particles for a long time. Amount of the latter was much less than that of the former.