• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.12 no.2
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• pp.170-177
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• 2019

In this paper, three theories for improving the stability of quadruped robot are presented. First, the Minimum-Jerk Trajectory is used to optimize the leg trajectory. Second, we compare the newly proposed sine wave and the conventional LSM in this paper based on the Jerk value. Third, we calculate the optimum stride of the sway through repetitive robot simulation using ADAMS-MATLAB cosimulation. Through the above process, the improvement of the robot walking is compared with the existing theory. First, the average gradient of the point where the leg trajectory changes rapidly was reduced from at least 1.2 to 2.9 by using the Minimum-Jerk targetory for the movement of the body and the end of the leg during the first walk, thereby increasing the walking stability. Second, the average Jerk was reduced by 0.019 on the Z-axis, 0.457 on the X-axis, and 0.02, 3D on the Y-axis by 0.479 using the Sin wave type sways presented in this paper, rather than the LSM(Longitude Stability Margin) method. Third, the length of the optimal stride for walking at least the Jerk value was derived from the above analysis, and the 20cm width length was the most stable.

• KSBB Journal
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• v.24 no.1
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• pp.30-40
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• 2009

Statistical optimization of the production medium was carried out in order to find an optimal medium composition in itaconic acid fermentation process. Itaconic acid utilized in the manufacture of various synthetic resins is a dicarboxylic acid biosynthesized by fungal cells of Aspergillus terreus in a branch of the TCA cycle via decarboxylation of cis-aconitate. Through OFAT (one factor at a time) experiments, six components (glucose, fructose, sucrose, soluble starch, soybean meal and cottonseed flour) were found to have significant effects on itaconic production among various carbon- and nitrogen-sources. Hence, using these six factors, interactive effects were investigated via fractional factorial design, showing that the initial concentrations of sucrose and cottonseed flour should be high for enhanced production of itaconic acid. Furthermore, through full factorial design (FFD) experiments, negative effects of $KH_2PO_4$ and $MgSO_4$ on itaconic acid biosynthesis were demonstrated, when excess amounts of the each component were initially added. Based on the FFD analysis, further statistical experiments were conducted along the steepest ascent path, followed by response surface method (RSM) in order to obtain optimal concentrations of the constituent nutrients. As a result, optimized concentrations of sucrose and cottonseed flour were found to be 90.4g/L and 53.8g/L respectively, with the corresponding production level of itaconic acid to be 4.36 g/L (about 7 fold higher productivity as compared to the previous production medium). From these experimental results, it was assumed that optimum ratio of the constituent carbon (sucrose) and nitrogen (cottonseed flour) sources was one of the most important factors for the enhanced production of itaconic acid.