• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.30 no.7
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• pp.113-122
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• 2002

Control system modeling and optimal bending filter design for KSR-III (Korea Sounding Rocket III) are performed. Rigid rocket dynamics, aerodynamics, sloshing, structural bending, actuator dynamics, sensor dynamics and on-board computer characteristics are considered for control system modeling. Compensation for time-varying control system parameters is conducted by gain-scheduling. A filter to stabilize bending mode is designed using parameter optimization technique. Resultant attitude control system can satisfy required frequency domain stability margin.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.9
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• pp.887-893
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• 2009

In this paper, a mask-panel alignment robot system is considered for IT industry applications. Two kinds of solutions are suggested which are required in constructing a control system for the alignment robot with actuation redundancy. First, the kinematic solution for the 4PPR parallel positioning mechanism is formulated for an arbitrary initial posture, which relates the mask-panel misalignment in the task space and the desired actuator displacements in the joint space. Secondly, in order to increase the stiffness of the control motion and also to avoid the mechanical lock which may happen due to the redundant actuation, a new synchronous control method is proposed which has the merit of coordinating joint control motions while not losing individual joint control performance. In addition, the engineering process to develop a visual alignment robot system is described with the results of experimental setup and GUI software. Finally, the experimental results demonstrate the effectiveness of the proposed alignment system control methodology and how much beneficial it will be in real industrial applications.

• Progress in Medical Physics
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• v.25 no.1
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• pp.53-63
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• 2014

The objective of this study is to investigate the difference of ITV lengths and ITVs between 4DCT and Slow-CT images according to respiratory patterns using a respiratory motion phantom. The respiratory periods 1~4 s and target motion 1~3 cm were applied on each respiratory pattern. 4DCT and Slow-CT images were acquired for 3 times. 4DCT and Slow-CT ITVs were measured with contouring the target in the Eclipse RTP system. The measured ITV lenghts and ITVs in 4DCT and Slow-CT images were compared to the known values. For the ITV lengths and ITVs in the 4DCT, the difference of them were reduced as the respiratory period is longer and target motion is shorter. For the Slow-CT, there was same tendency with change in 4DCT ITV lengths and ITVs about target motion. However, the difference of ITV lengths and ITVs for the respiratory periods were the lowest in respiratory period 1 second and different slightly within respiratory period 2-4 seconds. According to the respiratory patterns, pattern A had the highest reproducibility. Pattern B, C and D were showed the difference similar to each other. However, for pattern E, the reproducibility was the lowest compared with other four patterns. The difference of ITV lengths and ITVs between Slow-CT and 4DCT was increased by increasing the respiratory periods and target motion for all respiratory patterns. When the difference of Slow-CT ITV lengths and ITVs were compared with that of 4DCT ITV lengths and ITVs, Slow-CT ITV lengths and ITVs were approximately 22 % smaller than 4DCT, and the representations of target were different in each pattern. In case of pattern A, B and C, length difference was 3 mm at S (superior) and I (inferior) direction, and the length difference of pattern D was 1.45 cm at only "I" direction whereas the length difference of pattern E was 5 mm longer in "S" direction than "I" direction. Therefore, the margin in SI directions should be determined by considering the respiratory patterns when the margin of Slow-CT is compensated for 4DCT ITV lengths. Afterward, we think that the result of this study will be useful to analyze the ITV lengths and ITVs from the CT images on the basis of the patient respiratory signals.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.3
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• pp.310-316
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• 2016

We propose a novel contact-free transportation system in which an axial electrodynamic wheel is applied as an actuator. When the electrodynamic wheel is partially overlapped by a fixed conductive plate and rotates over it, three-axis magnetic forces are generated on the wheel. Among these forces, those in the gravitational direction and the lateral direction are inherently stable. Therefore, only the force in the longitudinal direction needs to be controlled to guarantee spatial stability of the wheel. The electrodynamic wheel consists of permanent magnets that are repeated and polarized periodically along the circumferential direction. The basic geometric configuration and the pole number of the wheel influence the stability margin of a transportation system, which would include several wheels. The overlap region between the wheel and the conductive plate is a dominant factor affecting the stiffness in the lateral direction. Therefore, sensitivity analysis for the major parameters of the wheel mechanism was performed using a finite element tool. The system was manufactured based on the obtained design values, and the passive stability of a moving object with the wheels was verified experimentally.

• Journal of Energy Engineering
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• v.19 no.2
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• pp.62-72
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• 2010

Solid oxide fuel cells(SOFCs) directly convert the fuel gases to electric energy through electrochemical reactions. The advantage of SOFCs is that they easily operate with diversified fuels such as natural gases owing to their high temperature operation. However, high temperature operation also incurs the challenge in enhancing long term reliability and durability of SOFCs. The most commonly used anode material is Ni/YSZ. This has, however, some drawbacks in terms of long-term reliability at high temperatures, hydrocarbon fuel usages, and so on, therefore the need to develop the new anode materials increases. This article summarizes the trend of the novel anode materials development of SOFCs.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.10
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• pp.1173-1182
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• 1988

The stability, energetic efficiency and walking volume are affected by the geometric structure of legs of a walking robot. A quadruped walking robot is considered to have large stability margin among the walking robots and pantograph leg permits large walk stroke and mutually independent vertical and horizontal movements, but the kinematic characteristics are difficult to analyze. Graphical method may be useful to characterize three dimensional legged motion of the pantograph mechanism. We present the modelling method for three different quadruped robots with pantograph legs that have different joints mechanism. The modeled robots are animated by a path that is planned with respect to the center of body. In particular, graphical animation incorporates leg control to rotation and side walking and uses the window of Sun-3 system for displaying joint information.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.853-858
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• 2016

Cooperation and collaboration with robots are key functions of robotic utility that are currently developing. Thus, robots should be safe and resemble human beings to cope with these needs. In particular, dual-arm robots that mimic human kinetics are becoming the focus of recent industrial robotics research. Their size is similar to the size of a human adult; however, they lack natural, human-like motion. One of the critical reasons for this is the shoulder complex. Most recent dual-arm robots have only 2 degrees of freedoms (DOFs), which significantly limits the workspace and mobility of the shoulders and arms. Therefore, a redundant shoulder complex could be very important in new developments that enable new capabilities. However, constructing a kinematically redundant shoulder complex is difficult because of spatial constraints. Therefore, we propose a novel, redundant shoulder complex for a human-like robot that is driven by flexible wire tendons. This kinematically redundant shoulder complex allows human-like robots to move more naturally because of redundant DOFs. To control the proposed shoulder complex, a hybrid control scheme is used. The positioning precision has also been considered, and the ability of the shoulder complex to perform several human-like motions has been verified.

• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.5
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• pp.24-32
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• 2017

In this paper, a low power 4th order delta-sigma modulator was designed with a high resolution of 12 bits or more for the biological signal processing. Using time-interleaving technique, 4th order delta-sigma modulator was designed with one operational amplifier. So power consumption can be reduced to 1/4 than a conventional structure. To operate stably in the big difference between the two capacitor for kT/C noise and chip size, the variable-stage amplifier was designed. In the first phase and second phase, the operational amplifier is operating in a 2-stage. In the third and fourth phase, the operational amplifier is operating in a 1-stage. This was significantly improved the stability of the modulator because the phase margin exists within 60~90deg. The proposed delta-sigma modulator is designed in a standard $0.18{\mu}m$ CMOS n-well 1 poly 6 Metal technology and dissipates the power of $354{\mu}W$ with supply voltage of 1.8V. The ENOB of 11.8bit and SNDR of 72.8dB at 250Hz input frequency and 256kHz sampling frequency. From measurement results FOM1 is calculated to 49.6pJ/step and FOM2 is calculated to 154.5dB.

• Journal of Korean Society of Transportation
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• v.32 no.4
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• pp.410-420
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• 2014

This research suggests a new tram signal priority model which determines signal timings and tram intersection waiting time using analytical method. This model can calculate the signal timings for Early Green and Green Extension among the active tram signal priority techniques by tram detection time of upstream detector. Moreover, it can determine the tram intersection waiting time that means tram intersection travel time delay from a vantage point of tram travel. Under the active tram signal priority condition, priority phases can bring additional green time from variable green time of non-priority phases. In this study, the signal timing and tram intersection waiting time calculation model was set up using analytical methods. In case studies using an isolated intersection, this study checks tram intersection waiting time ranged 12.7 to 29.4 seconds when variable green times of non-priority phases are 44 to 10 seconds under 120 seconds of cycle length.

• Science of Emotion and Sensibility
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• v.14 no.1
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• pp.39-48
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• 2011

There still is a limitation in the usage of 3D clothes model in the production line due to the lack of compatibility between 3D modeling software, and its accurate 2D pattern making software, especially for free formed dress with tight fitted zone and draped part. In this study, obstacles in the 3D direct dress design process was overcome by solving the compatibility among each step of 3D virtual design process as well as adopting 3D-2D direct pattern development program called 2C-AN. Efficacy of making 2D pattern from 3D dress design using 2C-AN program developed by the authors was examined during the course of actual dress making process. Accurate ease over the fitted dress part was examined by 3D scanning technology, and the actual appearance of the draped part was compared with the simulation image of dress model. It was confirmed that the entire 3D design process and direct 2D pattern development proposed in this study was accurate enough to use in the 3D design process.