• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.24 no.5
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• pp.548-552
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• 2015

In this paper, we describe the quadruped walking-control algorithm of the complete full-size humanoid DARPA Robotics Challenge-HUBO (DRC-HUBO) robot. Although DRC-HUBO is a biped robot, we require a quadruped walking function using two legs and two arms to overcome uneven terrains in the DRC. We design a wave-type quadruped walking pattern as a feedforward control using several walking parameters, and we design zero moment point (ZMP) controllers to maintain stable walking using an inverted pendulum model and an observed-state feedback control scheme. In particular, we propose a switching algorithm for ZMP controllers using supporting value and weighting factors in order to maintain the ZMP control performance during foot switching. Finally, we verify the proposed algorithm by performing quadruped walking experiments using DRC-HUBO.

• International journal of advanced smart convergence
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• v.6 no.4
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• pp.1-8
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• 2017

In this work, the effects of fairly influential factors on performance of vacuum system, such as constant pressure and outgassing effect were simulated to propose the optimum design factors. Outgassing effects of selected vacuum materials on the vacuum characteristics were simulated by the $VacSim^{Multi}$ simulation tool. This investigation examined the feasibility of reliably simulating the outgassing characteristics of common vacuum chamber materials (aluminum, copper, stainless steel, nickel plated steel, Viton A). The optimum design factors for vacuum systems were suggested based on the simulation results. And, the effects of throttle valve applications on vacuum characteristics were also simulated to obtain the optimum design model of variable conductance on high vacuum system. Simulated vacuum characteristics of the proposed modelling were agreed with the observed experimental behaviour of real systems. Pressure limit valve and normally on-off control valve were schematized as the modelling of throttle valve for the constant process-pressure. Simulation results were plotted as pump-down curve of chamber and variable conductance of throttle valve. Simulated behaviors showed the applications of throttle valve sustained the process-pressure constantly, stably, and reliably.

• Journal of Electrical Engineering and Technology
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• v.5 no.4
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• pp.653-665
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• 2010

In this study, we introduce a neurofuzzy approach to the design of fuzzy controllers. The development process exploits key technologies of Computational Intelligence (CI), namely, genetic algorithms (GA) and neurofuzzy networks. The crux of the design methodology deals with the selection and determination of optimal values of the scaling factors of fuzzy controllers, which are essential to the entire optimization process. First, the tuning of the scaling factors of the fuzzy controller is carried out. Next, we form a nonlinear mapping for the scaling factors, which are realized by GA-based neurofuzzy networks by using a fuzzy set or fuzzy relation. The proposed approach is applied to control nonlinear systems like the inverted pendulum. Results of comprehensive numerical studies are presented through a detailed comparative analysis.

• Transactions of Materials Processing
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• v.9 no.4
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• pp.339-347
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• 2000

For the successful forming of tailored blank, it is important to control the deformation of the stretch flange mode, which is strong1y dependent upon the location of weld line and blank shape. In order to investigate the effects of tailored blank design factors on the stretch flange forming, we made the model die which can simulate stretch flange mode. Taguchi method was employed to analyze the sensitivity of blank design factors for the forming of tailored blank. From the results of experiment S/N ratios were calculated and using Variance Analysis, significance of parameters and optimal condition of each factors were extracted. Based on these analyses, the weld line height and the strength ratio and the arc center height were selected as effective parameter. The analysed result was practically applied for Side outer panel stamping process.

• KIEE International Transaction on Systems and Control
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• v.12D no.1
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• pp.17-26
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• 2002

In this paper, a new design methodology of the fuzzy controller is presented. The performance of the fuzzy controller is sensitive to the variety of scaling factors. The design procedure is based on evolutionary computing (more specifically, a genetic algorithm) and estimation algorithm to adjust and estimate scaling factors respectively. The tuning of the soiling factors of the fuzzy controller is essential to the entire optimization process. And then we estimate scaling factors of the fuzzy controller by means of two types of estimation algorithms such as HCM (Hard C-Means) and Neuro-Fuzzy model[7]. The validity and effectiveness of the proposed estimation algorithm for the fuzzy controller are demonstrated by the inverted pendulum system.

• Journal of East-West Nursing Research
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• v.17 no.1
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• pp.16-23
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• 2011

Purpose: As anger may be strongly related to stroke, this study examined the relationship between anger expression style (anger-in, anger-out, anger-control) and risk factors for stroke to investigate the possible attribution of anger expression style to stroke incidence. Methods: The cross sectional study design was employed. The 291 participants signed consent forms and completed questionnaires including the anger expression style scales and risk factors for stroke. Data were analyzed using descriptive statistics, t-test and One-way ANOVA. Results: The highest score among anger expression styles of the participants was from anger-control. Participants with higher mean value of anger-out were current non-smokers, doing regular exercise, having scores above 23 in Body Mass Index, having scores above 90 cm (male) or 80 cm (female) in abdominal circumference, and having scores below 85 mmHg in diastolic blood pressure. Participants with more than 5 risk factors to stroke had the highest score of anger-in. Conclusion: The results of this study implied anger expression style was psychological risk factor for stroke. Further studies to differentiate the anger expression style contributing to the risk of stroke are needed with a longitudinal study design.

• Proceedings of the Korean Nuclear Society Conference
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• 1995.10a
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• pp.117-122
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• 1995

An Integrated Test Facility(ITF) is a human factors experimental environment to evaluate an advanced man machine interface(MMI) design. The ITF includes a human machine simulator(HMS) comprised of a nuclear power plant function simulator, man-machine interface, experiment control station for the experiment control and design, human behavioural data measurement system, and data analysis and experiment evaluation supporting system(DAEXESS). The most important features of ITF is to secure the flexibility and expandibility of Man Machine Interlace(MMI) design to change easily the environment of experiments to accomplish the experiment's objects In this paper, we describe a development scope and characteristics of the ITF such as, hardware and software development scope and characteristics, system thermohydraulic modelling characteristics, and experiment station characteristics for the experiment variables design and control, to be used as an experiment environment for the evaluation of VDU-based control room.

• Structural Engineering and Mechanics
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• v.52 no.6
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• pp.1157-1176
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• 2014

The objective of this research is to develop a practical design and assessment approach of steel frames with steel slit walls (SSWs) that focuses on the damage-control behavior to enhance the structural resilience. The yielding sequence of SSWs and frame components is found to be a critical issue for the damage-control behavior and the design of systems. The design concept is validated by the full-scale experiments presented in this paper. Based on a modified energy-balance model, a procedure for designing and assessing the system motivated by the framework regarding the equilibrium of the energy demand and the energy capacity is proposed. The damage-control spectra constructed by strength reduction factors calculated from single-degree-of-freedom systems considering the post stiffness are addressed. A quantitative damage-control index to evaluate the system is also derived. The applicability of the proposed approach is validated by the evaluation of example structures with nonlinear dynamic analyses. The observations regarding the structural response and the prediction during selected ground motions demonstrate that the proposed approach can be applied to damage-control design and assessment of systems with satisfactory accuracy.

• Proceedings of the Korean Geotechical Society Conference
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• 1999.03a
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• pp.399-406
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• 1999

Recently, the construction of the several highway bridges in the karst area have encountered severe problems associated with cavities and sinkholes. To solve this problems, it is important to understand the distribution characteristics of cavities in the construction site on limestone area. This paper briefly describes the different types, the distribution control factors and the infill sediment types of lime-cavities in the study area, bridge site in the karst area and propose the effective method of survey design. Cavity system may be divided into two main groups, 1)'slot and cave system'and 2)'sinkhole and cave system'. And the shape, the size and the distribution pattern of cavity are controlled by three main factors - rock type, geological structure and ground water condition. Additionally, infill sediment may be considered as one of the important design factors for foundation design and divided into four types by sediment properties. There are geophysical thechnics and geologic survey and drilling test, etc. by the survey method to interpretate characteristics of cavity system, and this methods are optimally designed at the site investigation stage.

• Journal of Home Health Care Nursing
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• v.29 no.2
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• pp.204-215
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• 2022

Purpose: This study aimed to identify factors affecting the carbapenem-resistant enterobacteriaceae (CRE) infection control performance of nursing staff, who closely contact patients with CRE in long-term care hospitals. Methods: A cross-sectional study design was used. A total of 135 nursing staffs working in seven long-term care hospitals in the southern and northern areas of the K province in Korea were included. We measured the CRE infection control general characteristics, knowledge, perception, and performance. Results: The main factors affecting the CRE infection control performance were education, knowledge, and perception. The model explained the 60.8% total variance in CRE infection control. Conclusion: Appropriate infection control strategies should be prepared to provide high quality nursing care and prevent the spread of CRE infection in long-term care hospitals. Establishing an efficient infection control system in long-term care hospitals is necessary.