• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1080-1085
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• 2005

A hybrid control scheme is proposed for the stabilization of backward movement along simple paths for a vehicle composed of a truck and six trailers. The hybrid comprises the combination of a linear quadratic regulator (LQR) and a neurocontroller (NC) that is trained by a genetic algorithm (GA). Acting singly, either the NC or the LQR are unable to perform satisfactorily over the entire range of the operation required, but the proposed hybrid is shown to be capable of providing good overall system performance. The evaluation function of the NC in the hybrid design has been modified from the conventional type to incorporate both the squared errors and the running steps errors. The reverse movement of the trailer-truck system can be modeled as an unstable nonlinear system, with the control problem focusing on the steering angle. Achieving good backward movement is difficult because of the restraints of physical angular limitations. Due to these constraints the system is impossible to globally stabilize with standard smooth control techniques, since some initial states necessarily lead to jack-knife locks. This paper demonstrates that a hybrid of neural networks and LQR can be used effectively for the control of nonlinear dynamical systems. Results from simulated trials are reported.

• Journal of IKEEE
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• v.9 no.1 s.16
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• pp.72-78
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• 2005

This paper describes the design of a robust output-feedback controller for a single-input single-output nonlinear dynamical system with a full relative degree. While all the previous research works on the output-feedback control are based on dynamic observers, a new state estimator which uses the past values of the measurable system output is proposed. We name it backward-difference state estimator since the derivatives of the output are estimated simply by backward difference of the present and past values of the output. The disturbance generated due to the error between the estimated and real state variables is compensated using an additional robustifying control law whose gain is tuned adaptively. Overall control system guarantees that the tracking error is asymptotically convergent and that all signals involved are uniformly bounded. Theoretical results are illustrated through a simulation example of inverted pendulum.

• The KSFM Journal of Fluid Machinery
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• v.7 no.5 s.26
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• pp.13-19
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• 2004

Centrifugal blowers are widely used for air handling units in industry applications. The blower has a centrifugal impeller and a scroll casing including a driving component such as an electric motor. The impeller takes forward or backward blades to induce flows into the blower, Comprehensive investigation according to the two kinds of blades is systematically carried out for a guidance of design for this kind research. It is observed that flow rate of the blower with forward blades is larger than that of the system with backward blades. Otherwise, the system noise is more pronounced in the case of the blower with forward blades. The reason is due to larger velocity from the rotating forward blades that pose obtuse angle with the circumferential direction. The distinguished characteristics are validated by a parallel experiments with a wind tunnel and in an anechoic chamber. Numerical analysis for the system shows detail information inside the blades and the casing. A series of figures to show the flow details offer deep understanding of the performance of a centrifugal blower with different blades.

• Journal of Korean Physical Therapy Science
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• v.28 no.2
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• pp.1-9
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• 2021

Background: The requirements for postural and motor control in backward walking training (BWT) may improve balance and walking speed in patients with acute stroke. The aim of this study was to analyze the effect of BWT on balance, balance confidence, and fall efficacy in this population. Design: Randomized controlled pilot trial. Methods: This study included 14 subjects with acute stroke (onset of illness less than one month). They were randomly allocated to a BWT (n=7) or forward walking training (n=7) group and observed five times in a week for a period of two weeks. Measurements were taken before and after the experiment using the Berg balance scale (BBS), Activities-specific balance confidence scale (ABC), and Fall efficacy scale (FES). Results: The BBS, ABC and FES scores obtained in both groups after the experiment were significantly higher than those before the experiment (p<0.05). In addition, the BBS, ABC, and FES scores in the experimental group were significantly higher than those in the control group (p<0.05). Conclusion: These findings indicate that BWT improved balance and balance confidence and decreased the risks of fall in patients with acute stroke. Further study is needed to better understand the effects of backward walking in acute stroke patients.

• Journal of International Academy of Physical Therapy Research
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• v.10 no.3
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• pp.1823-1829
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• 2019

Background: Stroke patients have leg muscle weakness and impaired balance resulting in compensatory changes. To restore balance in these patients, functional training using postural strategy is needed. Objective: To examine the effects of ankle and hip strategy training on the center of pressure (COP) movement and limits of stability (LOS) in standing posture in stroke patients. Design: The study was an assessor-blinded and randomized-controlled clinical trial. Methods: Thirty patients were randomly assigned to an ankle strategy training group and a ankle/ hip strategy training group. Patients in the ankle strategy training group underwent ankle strategy exercise for 30 min, and those in the ankle/ hip strategy training group underwent 15 min of ankle strategy exercise and 15 min of hip strategy exercise. Both groups underwent training thrice a week for four weeks. Forward, backward, paretic side, and non-paretic side COP movements and LOS were measured using BioRescue. Results: After the intervention, except for the backward area in the ankle strategy training group, the COP movement area and the LOS were significantly improved in both the groups. In addition, these improvements were significantly higher in ankle/ hip strategy training group than that in the ankle strategy training group. Conclusions: Ankle strategy training in addition to hip strategy training improves COP movement (forward-backward, paretic side area, and non-paretic side area) and LOS in stroke patients.

• Journal of The Korean Association For Science Education
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• v.31 no.6
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• pp.986-997
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• 2011

In this study, we developed analogical experimental activities to foster scientific creativity in inquiry learning and applied them to 7th grade science-gifted students. The influences of inquiry learning-based analogical experiments were investigated with respect to the experimental design processes. We classified the patterns of experimental design processes by creative thinking processes and analyzed performance levels by the elements of experimental design processes. The students' experimental design processes were categorized into three kinds of patterns such as reinitiated motion, backward-divergent motion and stationary motion. Those belonging to the reinitiated motion performed precise experimental design from new perspectives by identifying the mapping in depth and considering the elements of experimental design processes. In the case of the backward-divergent motion, they shifted their positions to new directions, but the concreteness of experimental design was insufficient due to the lack of mapping or considering the elements. In the type of stationary motion, maintaining their previous positions, they showed less performance of experimental design without considering the elements sufficiently. Educational implication of these findings are discussed.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 1996.03b
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• pp.121-129
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• 1996

This study aimsdetecting defects for the forming precesses of X2 spline, which is designed by an industry expert. The exist process consists of 3 runs and 7 operations with 3 heat treatments. The rigid-plastic FEM analysis was carried out to design a new process and some defects were found. Thus the design was modified to get better results. it is ocnfirmed that the industry expert agree the possibility of defects derived from the FEM results.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.31 no.2
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• pp.79-85
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• 2018

A two-way pump can reduce costs by draining and circulating water out and into the drum of the washing machine using a single motor whereas a conventional one-way pump uses two motors for doing the same function. However, when the water is drained through the drainage outlet in the two-way pump casing, a backward or inhalation flow occurs and the water flows to the circulation outlet. Likewise, when the water is circulated, the backward flow or inhalation makes the water flow to the drainage outlet. In this study, design optimization of the two-way pump casing is performed to maximize its performance while improving backward flow and inhalation occurring inside of the pump casing. For this, design variables of the pump casing that mainly affect the performance of the pump such as flow rate and torque of the motor were selected through the analysis of mean. Using response surface models for the performances, the ratio of the flow rate to the torque was maximized with satisfying the constraints for the back flow and inhalation through design optimization.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.4
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• pp.769-776
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• 2016

TELNET is vulnerable to network attack because it was designed without considering security. SSL/TLS and SSH are used to solve this problem. However it needs additional secure protocol and has no backward compatibility with existing TELNET in this way. In this paper, we have suggested STELNET(Secured Telnet) which supports security functionalities internally so that has a backward compatibility. STELNET supports a backward compatibility with existing TELNET through option negotiation. On STELNET, A client authenticates server by a certificate or digital signature generated by using ECDSA. After server is authenticated, two hosts generate a session key by ECDH algorithm. And then by using the key, they encrypt data with AES and generate HMAC by using SHA-256. After then they transmit encrypted data and generated HMAC. In conclusion, STELNET which has a backward compatibility with existing TELNET defends MITM(Man-In-The-Middle) attack and supports security functionalities ensuring confidentiality and integrity of transmitted data.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.11
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• pp.363-367
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• 2016

A test section of a supersonic wind tunnel was designed for the analysis of flow characteristics over a backward-facing step with Mach 1.0 slot injection in a supersonic flow of Mach 2.5. The cavity flow of a high-speed vehicle is very complex at supersonic speed, so it is necessary to do experiments using supersonic wind tunnels to verify numerical analysis methods. The previous 2D symmetrical nozzle was replaced with an asymmetrical nozzle. The inviscid nozzle contour was designed using Method of Characteristics (MOC), and the boundary layer thickness correction was reflected by experimental data from the wind tunnel. The results were compared with a CFD analysis. The PID control system was changed to be based on the change of tank pressure. This improved the control efficiency, and the run times of supersonic flow increased by about 1 second. The flow characteristics over a backward facing step with slot injection were visualized by a Schlieren device. This equipment will be used for an experimental study of the film cooling effectiveness over a cavity with various velocities, mass flows, and temperatures.