• 한국지능시스템학회논문지
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• 제23권4호
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• pp.360-365
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• 2013

본 연구에서는 발끝 궤적을 미리 설계하지 않고, CPG(Central Pattern Generator)를 이용하여 동적으로 생성할 수 있는 기법을 제안한다. 생성된 발끝 궤적은 CPG 의 진동적인 출력에 따라 가변적인데, 이는 발끝 궤적이 CPG 진동적인 출력 신호의 맵핑 함수로 주어지기 때문이다. 이를 통해 환경에 적응적인 궤적을 생성할 수 있는 토대를 마련할 수 있다. 제안된 기법의 효율성을 검증하기 위해서, Webots 시뮬레이션을 통해 휴머노이드 로봇 Nao에 대한 실험을 수행하고, 성능과 동작 특성을 분석한다.

• 한국균학회지
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• 제25권3호통권82호
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• pp.191-201
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• 1997

유전자의 삽입에 의해 발생하는 C. parasitica의 돌연변이체중 mycovirus에 감염된 것과 같이 색소와 포자를 적게 형성하는 균주(HSM1)를 선발하였다. 선발된 균주는 형태학적 병징외에도 laccase효소의 역가와 같은 생화학적 그리고 표지 유전자들을 통해 분자 생물학적인 특징도 virus에 감염된 균주와 동일한 특징을 나타냈다. HSM1에서 돌연변이가 일어날 부위를 cloning하여 조사한 결과, 유전자 삽입 부위는 C. parasitica의 두 유전자(Cpg2와Cpg3)의 사이(intergenic space)이며 유전자의 삽입 결과, HSM1에서 Cpg2의 발현이 오히려 증가됨이 관찰되었고, 나아가 이와 같은 현상은 mycovirus 감염 균주(UEP1)에서도 일어나고 있음을 확인하였다.

• 전기학회논문지
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• 제63권5호
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• pp.683-689
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• 2014

The paper introduces dynamic generation technique of foot trajectories for humanoid robots using CPG(Central Pattern Generator) and proposes adaptive walking method for slope terrains combining a feedback network. The proposed CPG based technique generates the trajectory of foot in the Cartesian coordinates system and it can change the step length adaptively according to the feedback information. To cope with variable slope terrains, the sensory feedback network in the CPG are designed using the geometry relationship between foot position and body center position such that humanoid robot can maintain its stability. To demonstrate the effectiveness of the proposed approach, the experiments on humanoid robot Nao are executed in the Webot simulation. The performance and motion features of the CPG based approach are compared and analyzed focusing on the adaptability in slope terrains.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.870-875
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• 2008

The main objective of this paper is to control a trajectory tracking of the fish-mimetic robot by CPG (Central Pattern Generator), which is biological approach. CPG is biological neural networks that generate rhythmic movements for locomotion of animals, such as walking, running, swimming and flying. Animals show marvelous ability of autonomous dynamic adaptation for an unsteady fluid dynamic environment or various environments. So, we propose the 3-DOF CPG controller to track the trajectory of the fish robot in plane motion. The conformity of the proposed control algorithm is validated by simulation for a fish robot model, which is made by a commercial dynamic package.

• 품질경영학회지
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• 제42권1호
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• pp.81-89
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• 2014

Purpose: The purpose of this study is to propose Clinical Practice Guideline(CPG) model and Clinical Index(CI) for implementing CDSS in digital hospitals. Methods: This study uses EMR data at department of family practice in A hospital; 636 patients, 570 diseases (based on ICD 10-CM criteria), and 37,000 data related with labs and treatments. This study focuses on disease J342 which is the most high rate of incidence. Results: Using the suggested model, this study calculates frequency matrix and probability matrix to find out the correlation of diseases and labs. This study indicates the lab sets of Disease (J342) as CI for CPG. Conclusion: This study suggests CPG model including Lab-based, Disease-Based and Case-based modules. Through 6 level cased-based CPG model, especially, this study develops Clinical Index(CI) such as the Incidence Rate, Lab Rate, Disease Lab Rate, Disease confirmed by Lab.

• 전기학회논문지
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• 제67권5호
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• pp.663-668
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• 2018

A combined CPG (Central Pattern Generator) based foot trajectory and GA (Genetic Algorithm) based joint compensation method is presented for adaptive humanoid walking. In order to increase an adaptability of humanoid walking for rough terrains, the experiment for rolling terrains are introduced. The CPG based foot trajectory method has been successfully applied to basic slops and variable slops, but has a limitation for the rolling terrains. The experiments are conducted in an ODE based Webots simulation environment using humanoid robot Nao to verify a stability of walking for various rolling terrains. The proposed method is compared to the previous CPG foot trajectory technique and shows better performance especially for the cascade rolling terrains.

• 전력전자학회논문지
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• 제24권2호
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• pp.111-119
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• 2019

In this study, constant power generation (CPG) algorithms are introduced for whole range power point tracking in photovoltaic systems. Currently, maximum power point tracking (MPPT) algorithm is widely used for high-power photovoltaic systems. However, MPPT algorithm cannot flexibly control such systems according to changing grid conditions. Maintaining grid stability has become important as the capacity of grid-connected photovoltaic systems is increased. CPG algorithms are required to generate the desired power depending on grid conditions. A grid-connected photovoltaic system is configured, and CPG algorithms are implemented. The performances of the implemented algorithms are compared and analyzed by experimental results.

• Journal of the Korean Wood Science and Technology
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• 제30권3호
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• pp.12-17
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• 2002

The extracellular invertase (EC 3.2.1.26) (Candida utilis) preparation was obtained from the liquid medium after desalting and freeze drying. This prepared enzyme was used for the comparative purification on 4 activated matrices by liquid column affinity chromatography method. In this method there were used controlled porous glass (CPG) silanized covalently activated by keratin, silanized silica gel and silica gel covalently covered by keratin. It was found that the invertase purification process was better using both CPG matrices (silanized CPG and keratin activated CPG) than these with two silica gel supports. Also the elution coefficient of the invertase from the two CPG columns was about 93 to 94%. Two silica gel supports found to be superior in terms of purification efficiency. The invertase purification process was confirmed by PAGE electrophoresis.

• 신재생에너지
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• 제7권4호
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• pp.37-41
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• 2011

This paper presents a Combined solar-wave Power Generation (CPG) concept that the CPG unit is maintained as buoyant at the level of sea water and it is also supported by a submerged tunnel, with the aim of supplying emergency electric power during the station blackout events of nuclear power plants. The CPG concept has been motivated from the 2011 Fukushima-Daiichi Accidents due to the loss of both offsite AC power and emergency diesel power caused by natural hazards such as earthquake and tsunami. The CPG is conceptualized by applying different types and different sites for emergency power generation, in order to reduce common cause failures of emergency power suppliers due to natural hazards. Thus, the CPG can provide a new mean for supplying emergency electric power during station blackout events of nuclear power plants. For this application, the CPG requirements are described with a typical configuration at the ocean side of a submerged tunnel.

• 전기학회논문지
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• 제65권9호
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• pp.1551-1556
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• 2016

A combined CPG (Central Pattern Generator) based foot trajectory and GP (Genetic Programming) based joint compensation method is presented for the adaptive humanoid walking. The CPG based foot trajectory methods have been successfully applied to basic slops and variable slops with slow rates, but have a limitation for the steep slop terrains. In order to increase an adaptability of humanoid walking for the rough terrains, a GP based joint compensation method is proposed and combined to the CPG (Central Pattern Generator) based foot trajectory method. The experiments using humanoid robot Nao are conducted in an ODE based Webots simulation environmemt to verify a stability of walking for the various aslope terrains. The proposed method is compared to the previous CPG foot trajectory technique and shows better performances especially for the steep varied slopes.