• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.4 s.175
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• pp.1007-1015
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• 2000

This paper proposes an adaptive trajectory generation strategy of using on-line ZMP information and an impedance control method for biped robots. Since robots experience various disturbances during their locomotion, their walking mechanism should have the robustness against those disturbances, which requires an on-line adaptation capability. In this context, an on-line trajectory planner is proposed to compensate the required moment for recovering stability. The ZMP equation and sensed ZMP information are used in this trajectory generation strategy. In order to control a biped robot to be able to walk stably, its controller should guarantee stable footing at the moment of feet contacts with the ground as well as maintaining good trajectory tracking performance. Otherwise, the stability of robot will be significantly compromised. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, this paper. proposes to increase the damping of the leg drastically and to modify the reference trajectory of the leg. In the proposed control scheme, the constrained leg is controlled by impedance control using the impedance model with respect to the base link. Computer simulations performed with a 3-dof environment model that consists of combination of a nonlinear and linear compliant contact model show that the proposed controller performs well and that it has robustness against unknown uneven surface. Moreover, the biped robot with the proposed trajectory generator can walk even when it is pushed with a certain amount of external force.

• Journal of Korean Society of Steel Construction
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• v.21 no.2
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• pp.165-173
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• 2009

Hanger cables in suspension bridges are constrained by the horizontal clamp. So, the accuracy of estimated tension of hange cable using existing methods based on the simple mathematical model of singel cable decreases as the length of cable decreases because of the flexural rigidity. Therefore, back analysis and system identification techniques based on the finite element model are proposed recently. In this paper, the applicability of the back analysis and system identification techniques are compared using the hanger cable of Gang-An Bridge. The experimental results show that the back analysis and system identification techniques are more reliable than the existing string theory and linear regression method in the view point of the error of natural frequencies. However, the estimation error of tension can be varied according to the accuracy of finite element model in the model based methods. Especially, the boundary condition is more affective when the length of cable is short, so it is important to identify the boundary condition through experiment if it is possible. The tension estimation method using system identification technique is more attractive because it can easily consider the boundary condition and it is not sensitive to the number of input measured natural frequencies.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.4
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• pp.1854-1868
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• 2018

A wireless body-sensor network (WBSN) refers to a network-configured environment in which sensors are placed on both the inside and outside of the human body. The sensors are much smaller and the energy is more constrained when compared to traditional wireless sensor network (WSN) environments. The critical nature of the energy-constraint issue in WBSN environments has led to numerous studies on the reduction of energy consumption of WBSN sensors. The transmission-power-control (TPC) technique adjusts the transmission-power level (TPL) of sensors in the WBSN and reduces the energy consumption that occurs during communications. To elaborate, when transmission sensors and reception sensors are placed in various parts of the human body, the transmission sensors regularly send sensor data to the reception sensors. As the reception sensors receive data from the transmission sensors, real-time measurements of the received signal-strength indication (RSSI), which is the value that indicates the channel status, are taken to determine the TPL that suits the current-channel status. This TPL information is then sent back to the transmission sensors. The transmission sensors adjust their current TPL based on the TPL that they receive from the reception sensors. The initial TPC algorithm made linear or binary adjustments using only the information of the current-channel status. However, because various data in the WBSN environment can be utilized to create a more efficient TPC algorithm, many different types of TPC algorithms that combine human movements or fuse TPC with other algorithms have emerged. This paper defines and discusses the design and development process of an efficient TPC algorithm for WBSNs. We will describe the WBSN characteristics, model, and closed-loop mechanism, followed by an examination of recent TPC studies.

• Proceedings of the KOSOMBE Conference
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• v.1998 no.11
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• pp.157-158
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• 1998

The purpose of this study was to test the hypothesis that even very small change of the cue direction in the treatment of the early osteonecrosis could affect the outcomes of operation. For this, the changes in stress transfer within the necrotic area of the femoral head were investigated under various directions and placements of the core utilizing finite element method. The loading of 3188N, which represents after-heel-strike, was imposed in cubic cosine pattern. All nodes on the most distal surface of the model were constrained in all directions. All materials included were assumed to have linear-elastic behavior. The result says that the critical stress, which causes collapse of the femoral head, was reduced when the core was oriented toward the posterior side of the femoral head regardless of location of the necrotic area. The same result was obtained either fibular bone grafting or cementation was adopted. As a consequence, the biomechanical study suggests that the core should be directed toward the loading point where the resultant force is applied to get more desirable treatment of the osteonecrosis of the femoral head in the early stage.

• International Journal of Control, Automation, and Systems
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• v.4 no.3
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• pp.325-332
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• 2006

The dynamic responses of human standing postural control were investigated when subjects were exposed to long-term horizontal vibration. It was hypothesized that the motion of standing posture complexity mainly occurs in the mid-sagittal plane. The motor-driven support platform was designed as a source of vibration. The AC Servo-controlled motors produced anterior/posterior (AP) motion. The platform acceleration and the trunk angular velocity were used as the input and the output of the system, respectively. A method was proposed to identify the complexity of the standing posture dynamics. That is, during AP platform motion, the subject's knee, hip and neck were tightly constrained by fixing assembly, so the lower extremity, trunk and head of the subject's body were individually immovable. Through this method, it was assumed that the ankle joint rotation mainly contributed to maintaining their body balance. Four subjects took part in this study. During the experiment, the random vibration was generated at a magnitude of $0.44m/s^2$, and the duration of each trial was 40 seconds. Measured data were estimated by the coherence function and the frequency response function for analyzing the dynamic behavior of standing control over a frequency range from 0.2 to 3 Hz. Significant coherence values were found above 0.5 Hz. The estimation of frequency response function revealed the dominant resonance frequencies between 0.60 Hz and 0.68 Hz. On the basis of our results illustrated here, the linear model of standing postural control was further concluded.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.15 no.6
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• pp.2148-2167
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• 2021

The proliferation of the Internet of Things (IoT) technologies and applications, especially the rapid rise in the use of mobile devices, from individuals to organizations, has led to the fundamental role of secure wireless networks in all aspects of services that presented with many opportunities and challenges. To ensure the CIA (confidentiality, integrity and accessibility) security model of the networks security and high efficiency of performance results in various resource-constrained applications and environments of the IoT platform, DDO-(data-driven operation) based constructions have been introduced as a primitive design that meet the demand of high speed encryption systems. Among of them, the TMN-family ciphers which were proposed by Tuan P.M., Do Thi B., etc., in 2016, are entirely suitable approaches for various communication applications of wireless mobile networks (WMNs) and advanced wireless sensor networks (WSNs) with high flexibility, applicability and mobility shown in two different algorithm selections, TMN64 and TMN128. The two ciphers provide strong security against known cryptanalysis, such as linear attacks and differential attacks. In this study, we demonstrate new probability results on the security of the two TMN construction versions - TMN64 and TMN128, by proposing efficient related-key recovery attacks. The high probability characteristics (DCs) are constructed under the related-key differential properties on a full number of function rounds of TMN64 and TMN128, as 10-rounds and 12-rounds, respectively. Hence, the amplified boomerang attacks can be applied to break these two ciphers with appropriate complexity of data and time consumptions. The work is expected to be extended and improved with the latest BCT technique for better cryptanalytic results in further research.

• Journal of Korean Society of Steel Construction
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• v.10 no.3 s.36
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• pp.553-564
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• 1998

Recently, more and more steel-deck structural system for two story roads has been adopted as a solution against traffic congestion in urban area, mainly because of fast construction, reduced self-weight, higher stiffness and efficient erection compared to that of concrete decks. The main objective is to study on the unit-elective optimal type and proportioning of a rational steel-deck system for two story roads using an optimum design program specifically developed for steel-deck systems. The objective function for the optimization is formulated as a minimum cost design problem. The behavior and design constraints are formulated based on the ASD(Allowable Stress Design) criteria of the Korean Bridge Design Code. The optimum design program developed in this study consists of two steps - the first step for the optimization of the steel box or plate girder viaducts, and the second step for the optimum design of the steel-decks with closed or open ribs. A grid model is used as a structural analysis model for the optimization of the main girder system, while the analysis of the deck system is based on the Pelican-Esslinger method. The SQP(Sequential Quadratic Programming) is used as the optimization technique for the constrained optimization problem. By using a set of application examples, the rational type related to the optimized steel-deck system designs is investigated by comparing the cost effectiveness of each type. Based on the results of the investigation it may be concluded that the optimal linear box girder and deck system with closed ribs may be utilized as one of the most rational and economical viaducts in the construction of two-story roads.

• Korean Journal of Agricultural Science
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• v.24 no.1
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• pp.94-107
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• 1997

Producing organic farm products is one of the high-payoff farming practices considering the rapid increase of consumer's purchasing power. The purpose of this study is to identify the optimal organic farming system in relation to farm income. To cope with the above objectives, present farming conditions and profitability of 15 farmers producing organic products including rice and leaf vegetables as lettuse and cabbage were surveyed in Hongsung and Ahsan Gun, Chungnam Province. Based on the surveyed data, maximization of organic farm income were analyzed under the constrained conditions such as limited monthly labour inputs and competitive use of land by Linear Programming Model. The results of this study can be summarized as follows. 1. In the profitability analysis of 15 farmers producing organic products, rice farmers could earn their farm income more than that of conventional farmers by 50%. On the other hand, the controlled lettuce farmers could get more about 100% than that of it. But the controlled cabbage farm could get more about 40% of it. These organic farm products were saled at high prices comparing with the prices of conventional farm products by 170% ~ 230% even though the crop yields produced by organic materials had decreased. 2. According to the labor requirement of the organically produced crops, rice cultivation was needed more labour inputs than the conventional farming method by 130%. On the other hand lettuce and cabbage could saved labour requirement by 40% and 80% of those respectively. Especially for the rice cultivation concern, higher labor requirement was due to the activities as organic fertilization, soil preparation and pest and weed controll, etc. 3. With the surveyed data from farmers who produced farm commodities, L.P. analysis was implemented to find out the optimul farming system and the maximum income. According to the results of L.P. analysis, 58% of total farm income could get more than the conventional farming system In the case of rice cultivation, one ha of paddy was recommendable to save more labour inputs than the controlled leaf vegetables such as lettuse and cabbage. However, in the controlled leaf vegatables, only 73% of total upland equivalent to 0.3 ha should be cultivated under the condition of labor shortage as the restricted 4 workers. And increasing the size of hogs raising should be recommened to achieve self-sufficiency of organic fertilizer. As pointed out the possibility of organic farming, present farmers producing organic farm products could be able to maximize their income by expanding organic farm size with regard to all conditions of our organic industry. Of course, there are many difficulties in the course of developing organic agriculture. So Government should effort to support the development of our organic agriculture considering the various aspects of production, marketing, Quality certification of organic produces.

• Journal of the Korean Geotechnical Society
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• v.38 no.7
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• pp.49-62
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• 2022

The hollow modular concrete block reinforced foundation method is one of the ground reinforcement foundation methods that uses hexagonal honeycomb-shaped concrete blocks with mixed crushed rock to reinforce soft grounds. It then forms an artificial layered ground that increases bearing capacity and reduces settlement. The hollow modular honeycomb-shaped concrete block is a geometrically economical, stable structure that distributes forces in a balanced way. However, the behavioral characteristics of hollow modular concrete block reinforced foundations are not yet fully understood. In this study, a bearing capacity test is performed to analyze the reinforcement effectiveness of the hollow modular concrete block through the laboratory model tests. From the load-settlement curve, punching shear failure occurs under the unfilled sand condition (A-1-N). However, the filled sand condition (A-1-F) shows a linear curve without yielding, confirming the reinforcement effect is three times higher than that of unreinforced ground. The bearing capacity equation is proposed for the parts that have contact pressure under concrete, vertical stress of hollow blocks, and the inner skin friction force from horizontal stress by confining effect based on the schematic diagram of confining effect inside a hollow modular concrete block. As a result of calculating the bearing capacity, the percentage of load distribution for contact force on the area of concrete is about 65%, vertical force on the area of hollow is 16.5% and inner skin friction force of area of the inner wall is about 18.5%. When the surcharge load is applied to the concrete part, the vertical stress occurs on the area of the hollow part by confining effect first. Then, in the filled sand in the hollow where the horizontal direction is constrained, the inner skin friction force occurs by the horizontal stress on the inner wall of the hollow modular concrete block. The inner skin friction force suppresses the punching of the concrete part and reduces contact pressure.