• Journal of Electrical Engineering and Technology
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• 제11권1호
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• pp.215-226
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• 2016

Modeling, control and implementation of a real redundant robot with five Degrees Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through geometric methods and structural and functional considerations, the inverse kinematics for redundant robot can be obtained. By means of a modification of the classical sliding mode control law through a hyperbolic function, we get a new algorithm which enables reducing the chattering effect of the real actuators, which together with the learning and adaptive controllers, is applied to the model and to the real robot. A simulation environment including the actuator dynamics is elaborated. A 5 DOF robot, a communication interface and a signal conditioning circuit are designed and implemented for feedback. Three control laws are executed in: a simulation structure (together with the dynamic model of the SCARA type redundant manipulator and the actuator dynamics) and a real redundant manipulator of the SCARA type carried out using MatLab/Simulink programming tools. The results, obtained through simulation and implementation, were represented by comparative curves and RMS indices of the joint errors, and they showed that the redundant manipulator, both in the simulation and the implementation, followed the test trajectory with less pronounced maximum errors using the adaptive controller than the other controllers, with more homogeneous motions of the manipulator.

• 한국군사과학기술학회지
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• 제12권3호
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• pp.325-332
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• 2009

This study is aimed to investigate the application of DITA(Defense Information Technical stAndard) on the weapon information systems and defense management information systems in order not only to update the current DITA version 4.0, but also to develop SoS(System of systems) interoperability policy in the armed forces of Korea. For this study, 18 information systems were considered, their development products(System/Sub-system Specification, Technical architecture View, System Interoperability Test and Evaluation products) were reviewed and analysed. As a result of the investigation and analysis, it was found that the 44% of the DITA standard profiles were used for the development of the defense information systems. We conclude that DITA should be updated to be a minimal set so that all the defense information systems should be DITA-compliant. And it should be reviewed periodically to reflect the new information technology.

• 대한유전성대사질환학회지
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• 제15권3호
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• pp.160-164
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• 2015

Hunter syndrome(Mucopolysaccharidosis type II, MPS type II) is an X-linked disorder of glycosaminoglycans (GAGs) metabolism caused by an iduronate-2-sulfatase (IDS2) deficiency. A 24-month-old boy visited the department of pediatrics with the chief compliant of chronic purulent rhinorrhea beginning at age one. He had a history of repeated acute otitis media and chronic rhinitis. On physical examination he had a coarse face, enlarged tongue, distended abdomen, joint stiffness, and Mongolian spots at his first visit. The urine GAGs level was elevated at 66.10 mg/mmolCr (reference range, <11.1) and iduronate-2-sulfatase activity in leukocyte was decreased at 0.21 nmol/mg protein/hr (reference range, 18.7-57). Finally with an IDS gene mutational analysis, recombinant known mutation between intron 7 and distal of exon 3 in IDS2 was detected. Recombinant iduronate-2-sulfatase therapy was started without any infusion related reactions. The author highlights the importance of suspecting Hunter syndrome when pediatric patients visit with chronic purulent rhinorrhea which is a common cause of hospital visits for infants and children.

• Earthquakes and Structures
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• 제17권1호
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• pp.75-89
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• 2019

The paper presents experimental and numerical studies carried out on low-rise RC frames, typically found in developing countries. Shake table tests were conducted on 1:3 reduced scaled two-story RC frames that included a code conforming SMRF model and another non-compliant model. The later was similar to the code conforming model, except, it was prepared in concrete having strength 33% lower than the design specified, which is commonly found in the region. The models were tested on shake table, through multiple excitations, using acceleration time history of 1994 Northridge earthquake, which was linearly scaled for multi-levels excitations in order to study the structures' damage mechanism and measure the structural response. A representative numerical model was prepared in finite element based program SeismoStruct, simulating the observed local damage mechanisms (bar-slip and joint shear hinging), for seismic analysis of RC frames having weaker beam-column joints. A suite of spectrum compatible acceleration records was obtained from PEER for incremental dynamic analysis of considered RC frames. The seismic performance of considered RC frames was quantified in terms of seismic response parameters (seismic response modification, overstrength and displacement amplification factors), for critical comparison.

• 한국통신학회논문지
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• 제33권3A호
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• pp.311-318
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• 2008

FCC 스펙트럼을 만족하는 초광대역(UWB) 무선을 위한 새로운 펄스 파형을 제안한다. POCS(projections onto convex sets) 기술은 UWB 신호의 제반특성(FCC 스펙트럼 마스크하에서의 효율적인 스펙트럼 이용, 시간 제한성, 좋은 자기상관)의 제약 조건하에서 UWB 펄스의 시간 및 스펙트럼의 파형을 최적화한다. 시뮬레이션 결과에 의하면 펄스 파형의 모든 값에 대해 새로운 펄스 파형은 FCC 스펙트럼 마스크를 매우 효율적으로 만족할 뿐만 아니라 거의 동일한 자기상관함수를 갖고 있음을 보여준다. 또한 동일한 펄스폭에 대해 제안된 펄스의 절단된(즉 엄격히 시간 제한된) 펄스 파형은 이진 TH-PPM(time-hoping pulse position modulation) 시스템의 BER 성능에서 절단된 가우시안 모노싸이클(Gaussian monocycle)보다 우수하다. POCS 기술은 이 기술의 본질적인 설계 유연성 및 결합 최적화 능력 관점에서 UWB 펄스 파형 설계에 매우 효과적인 방법을 제공한다.

• 한국지진공학회논문집
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• 제27권5호
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• pp.203-211
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• 2023

For fast-built and safe precast concrete (PC) construction, the dry mechanical splicing method is a critical technique that enables a self-sustaining system (SSS) during construction with no temporary support and minimizes onsite jobs. However, due to limited experimental evidence, traditional wet splicing methods are still dominantly adopted in the domestic precast industry. For PC beam-column connections, the current design code requires achieving emulative connection performances and corresponding structural integrity to be comparable with typical reinforced concrete (RC) systems with monolithic connections. To this end, this study conducted the standard material tests on mechanical splices to check their satisfactory performance as the Type 2 mechanical splice specified in the ACI 318 code. Two PC beam-column connection specimens with dry mechanical splices and an RC control specimen as the special moment frame were subsequently fabricated and tested under lateral reversed cyclic loadings. Test results showed that the seismic performances of all the PC specimens were fully comparable to the RC specimen in terms of strength, stiffness, energy dissipation, drift capacity, and failure mode, and their hysteresis responses showed a mitigated pinching effect compared to the control RC specimen. The seismic performances of the PC and RC specimens were evaluated quantitatively based on the ACI 374 report, and it appeared that all the test specimens fully satisfied the seismic performance criteria as a code-compliant special moment frame system.

• 한국지진공학회논문집
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• 제27권3호
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• pp.129-137
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• 2023

This study presents a dry precast concrete (PC) beam-column connection, and its target seismic performance level is set to be emulative to the reinforced concrete (RC) intermediate moment resisting frame system specified in ACI 318 and ASCE 7. The key features include self-sustaining ability during construction with the dry mechanical splicing method, enabling emulative connection performances and better constructability. Test specimens with code-compliant seismic details were fabricated and tested under reversed cyclic loading, which included a PC beam-column connection specimen with dry connections and an RC control specimen. The test results showed that all the specimens failed in a similar failure mode due to plastic deformations in beam members, while the hysteretic response curve of the PC specimen showed comparable and emulative performances compared to the RC specimen. Seismic performance evaluation was quantitatively addressed, and on this basis, it confirmed that the presented system can fully satisfy all the required performance for the intermediate RC moment resisting frame.