• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.24 no.4
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• pp.299-309
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• 2014

When biped robots make turns, the ability to walk stably and precisely along any circular path is crucial. In this context, inverse kinematics solutions are found for accurate gait realization, and new zero moment point(ZMP) equations are derived with respect to the cyclindrical coordinate system to facilitate generation of stable walking patterns. Then, appropriate steady and transitional walking patterns are both proposed in form of time functons. Subsequently, walking patterns for a path but of different speeds are generated using the functions and associated formulas, and preliminarily checked for stability based on the ZMP equations. Upon comparison of those cases, one can see how and when robots may fall down during circular walking. Finally, those patterns are put to test on the sample robot by ADAMS(R) along with the inverse kinematics solutions and a new balance control scheme compensating for insufficient stability particulary during the initial transition period. Test results show that the robot can walk along the circular path as predicted at a resonably high speed despite the distributed mass and ground contact effects, validating effectiveness of the suggested approach.

• Journal of Chest Surgery
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• v.21 no.3
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• pp.471-478
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• 1988

We evaluated forty cases of traumatic diaphragmatic injuries that we have experienced from Jan. 1972 to Dec. 1987. 28 patients were male and 12 were female[M:F=2.3:1]. The age distribution was ranged from 4 to 71 years with mean age of 26. The diaphragmatic injuries were due to blunt trauma in 27 cases[traffic accident 22, fall down 3, others 2] and penetrating trauma in 13 cases[stab wound 11, gun shot 1, other 1]. In the blunt injury,14 cases of 17 were diagnosed and treated within 24 hours in the left diaphragmatic injury but only 3 cases of 7 cases in the right diaphragmatic injury were diagnosed and treated within 24 hours. All cases except one in penetrating injury were diagnosed and treated within 12 hours. In the blunt injury, the rupture site was located in the left in \ulcorner7 cases and in the right in 7 cases. In the penetrating injury, the rupture site was located in the left in 11 cases and in the right in 2 cases. The repair of 37 cases were performed with thoracic approach in 20 cases, thoracoabdominal approach in 12 cases and abdominal approach in 5 cases. Over all mortality was 17.5%[7/40] and postoperative mortality was 11%[4/37]. The causes of death were hypovolemic shock[3], combined head injury[2], acute renal failure[1] and septic shock with ARDS[1].

• Journal of Korean Society for Atmospheric Environment
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• v.23 no.4
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• pp.478-486
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• 2007

Numerical analysis had been performed to understand flow characteristics of the flue gas and slurry in the absorber of a flue gas desulphurization (FGD) system using computational fluid dynamics (CFD) technique. Two-fluid(Euler-Lagrangian) model had been employed to simulate physical phenomenon, which slurry particles injected through slurry spray nozzles fall down and bump into the flue gas inflowing through inlet duct. It was not necessary to adopt pre-defined pressure drop inside the absorber because interaction between flue gas and slurry particles was considered. Hundreds of slurry spray nozzles were considered with the spray velocity at the nozzles, swirl velocity and spreading angle. The results note that the flow disturbance of flue gas is found at the bottom of the absorber, and the current rising with high speed stream is observed in the opposite region of the inflow duct. The high speed stream is reduced as the flue gas goes up, because the high speed stream of flue gas dumps falling slurry particles due to momentum exchange between flue gas and slurry particles. In spite of some disproportion in slurry distribution inside the absorber, escape of slurry particles from the absorber facility is not observed. The pressure drop inside the absorber is mainly occurred at the bottom section.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2000.10a
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• pp.614-617
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• 2000

To get the maximum diffusion boundary of thermal effluent of Youngkwang Nuclear Power Plant, paths of TGPS Buoy and temperatures of surface water are obtained to 4 times at spring tide during 1 year. According to the paths of TGPS Buoy, the flumes of thermal effluent are moved about 12km from outlet to SW or WSW direction. After 3∼4 times of tidal period the waters are reached to Chilsan Island because the ebb flow is more predominant than the flood flow in this area. At the spring and fall season, a sudden drop of surface water temperature is detected around 5km radius from the outlet. At the summer season, it is measured about 10km. On the other hand the flumes are continuously cooled down by the atmosphere condition at winter season.

• Proceedings of the KSRS Conference
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• v.2
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• pp.732-735
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• 2006

Downtown cities in Japan are facing sharp fall in customers and continued shut down of shops due to decrease of population, increase in family cars and flowing of customers into the suburban large-scale retail stores. Omura City in Nagasaki Prefecture, Japan is no exception to this. For the revitalization of the downtown, many actions have been taken to open the vacant shops. However, transportation problem is the most important one to be solved for the citizens including the elderly people having difficulty in movement. Accordingly, this study was aimed at the revitalization of the downtown by substantiality public transportation. We have attempted to develop routes from the view-point of convenience by using Analytic Hierarchy Process (AHP) and Geographic Information Systems (GIS). As a result of the study, we were able to select three bus transportation areas by incorporating qualitative factors into the analysis. Finally, the study concluded that, revitalization activities of the downtown city itself is required in addition to re-structuring of bus transportation system for the revitalization of the downtown city.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.5
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• pp.399-405
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• 2007

This paper deals with the controller for a stable walking of a humanoid robot using genetic algorithm. A humanoid robot has instability during walking because it isn't fixed on the ground, and its nonlinearities of the joints increase its instability. If controller isn't robust, the robot may fall down at the ground during walking because of its nonlinearities. To solve this problem, robust controller is required to reduce the effect of nonlinearities and to gain the good tracking performance. In this paper, motion controller that is based on fuzzy-sliding mode controller is proposed. This controller can remove the effect of the saturation by limitation of the input voltage. It also includes compensator for reducing the effect of the nonlinearity by backlash and PI controller improving the tracking performance. In here, genetic algorithm is used for searching the optimal gains of the controller. From the given controller, a humanoid robot can moved more preciously. All the processes are investigated through simulations and are verified experimentally in a real joint system for a humanoid robot.

• Journal of Applied Tourism Food and Beverage Management and Research
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• v.13 no.2
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• pp.207-221
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• 2002

Wolaksan is a national park which has beautiful scenery with exposed rocks. The mountain is 1097 meters high and has 3 tops which are Jungang(the center), Arae(the lower part), Jjokduri. The highest point of the vertical cliff is 150m from the earth and the total circumferences of three tops is about 4km. These tops are easy to break by grains because they are from sedimentary rocks. Wolaksan is a bad mountain because the area is a Mosikjuk rocky area. However, the area around Wolaksan is thicky wooded and has many achievements and it makes good scenery. From top to southeastern, there are vertical cliff, The tops are originally from one but these are divided by partial weathering corrosion. The slide of path to Wolaksan is about 70。. The lower part of the mountain from Shinroksa to top has a gentle slope but there are a steep slope from the middle. Especially, the area has many rocks. The rocks of Wolaksan are almost granitic-gneiss or metamorphic rocks so it often fall down. Because of these fallen rocks, its valleys have great landscapes. The size of rock is less than 60cm. The landscapes of valleys such as Songgye, Dukju, Yonghwa are the main natural tourism resources.

• The Bulletin of The Korean Astronomical Society
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• v.41 no.2
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• pp.36.1-36.1
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• 2016

This is a presentation of the paper published as Kimm et al. 2016, ApJ, 823, 52. We investigate the formation of metal-poor globular clusters (GCs) at the center of two dark matter halos with $Mhalo{\sim}4{\times}107Msun$ at z>10 using cosmological radiation-hydrodynamics simulations. We find that very compact (${\leq}1$ pc) and massive (${\sim}6{\times}105Msun$) clusters form rapidly when pristine gas collapses isothermally with the aid of efficient $Ly{\alpha}$ emission during the transition from molecular-cooling halos to atomic-cooling halos. Because the local free-fall time of dense star-forming gas is very short (${\ll}1Myr$), a large fraction of the collapsed gas is turned into stars before stellar feedback processes blow out the gas and shut down star formation. Although the early stage of star formation is limited to a small region of the central star-forming disk, we find that the disk quickly fragments due to metal enrichment from supernovae. Sub-clusters formed in the fragmented clouds eventually merge with the main cluster at the center. The simulated clusters closely resemble the local GCs in mass and size but show a metallicity spread that is much wider than found in the local GCs. We discuss a role of pre-enrichment by Pop III and II stars as a potential solution to the latter issue. Although not without shortcomings, it is encouraging that a naive blind (not tuned) cosmological simulation presents a possible channel for the formation of at least some massive GCs.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.1
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• pp.69-74
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• 2012

In this research equations of motion of a Wheeled Inverted Pendulum (WIP) which is running on the inclined road and changing its center of gravity. Difference between a conventional cart inverted pendulum and the WIP is also considered. The WIP has small planar size so that it has been used as a mobile platform for several applications which require slender frame in order to travel on the narrow road. The WIP has almost the same unstable properties as conventional inverted pendulums have. There needs an aggressive control scheme for the WIP not to fall down. In order to design a high performance control scheme, equations of motion of the WIP, which is running under various environment and operating conditions, should be derived and considering its properties is necessary.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.17 no.4
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• pp.396-406
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• 1995

This is a clinical and retrospective study who sustained a total of 306 maxillofacial bone fracture and who were treated in our department between 1990-1994. This results were obtained as follows : 1. The ratio of men to women was 3.2 : 1. 2. The age frequency was the highest in the third decade(35%). That of man was the highest in the third decade but that of women in the fourth decade. 3. In respect of incidence, the number of patients has not been increased year after year. There were the highest frequency in September and the lowest frequency in January. 4. The most frequent cause of facial bone fracture was fall down(40.2%), traffic accident(28.1%), fist blow(20.9%), industrial accident(6.2%) and others in order. 5. The most common location of facial bone fracture was mandible(69%), maxillar with zygoma and zygoma in order of frequency. 6. The age frequency of mandible was the third decade(36.5%), the fourth decade(23.2%) and the fourth decade(22.2%) and the fifth decade(15.6%) in order. 7. In respect of incidence of associated injuries, the ratio of absence to presence was 0.7 : 1. 8. In 306 patients of facial bone fracture, the frequency of associated injuries was laceration, extrimities, chest in order.