• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.806-811
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• 2005

The robot to search and rescue is used in narrow space where human cannot approach. In case of this robot, it can overcome obstacles such as wrecks or stairs etc. Also, this robot can do various locomotion for each object. In this reason, an articulated robot has advantages comparing with one module robot. However, the existing articulated robot has limits to overcome vertical passages. For expanding contacted territory of robot, a novel mechanism is demanded. In this paper, the novel mechanism of articulated mobile robot is designed for moving level ground and vertical passages. This paper proposes to change wheel alignment. The robot needs two important motions for passing vertical passages like pipe. One is a motion to press wheels at wall for not falling into gravity direction. The other is a motion that wheels contact a vertical direction of wall's tangential direction for reducing loss of force. The mechanism of the robot focused that two motions can be acted to use just one motor. Length of each link of robot is optimized that wheels contact a vertical direction of wall's tangential direction through kinematic modeling of each link. The force of pressing wall of robot is calculated through dynamic modeling. This robot composes four modules. This mechanism is confirmed by dynamic simulation using ADAMS program. The articulated mobile robot is elaborated based on the results of kinematic modeling and dynamic simulation.

• International Journal of Highway Engineering
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• v.16 no.6
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• pp.69-78
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• 2014

PURPOSES : The purpose of this paper is showing that the state of pavement sublayers can be evaluated differently according to direction of FWD. METHODS : The concrete pavement slabs above subgrade without anything, subgrade with cavity, and box culvert were modeled by finite element method(FEM). The modeled pavements were analyzed by changing the direction of falling weight deflectometer(FWD). The deflection results obtained from FEM were used to calculate radius of relative stiffness and composite modulus of subgrade reaction using AREA method. Then, the analyzed results were compared to the results of the test performed at the Korea Expressway Corporation(KEC) test road. RESULTS : The composite modulus of subgrade reaction increased with subgrade elastic modulus, while radius of relative stiffness decreased. The pavement sections of pure earth showed the consistent results regardless of FWD direction. In case there was cavity, the radius of relative stiffness was larger and composite modulus of subgrade reaction was smaller when FWD was leaving the cavity than when approaching the cavity. This pattern became clear when the cavity got larger. In case of the section with box culvert, the pattern was opposite to the case of cavity. When the soil cover depth increased, the effect of box culvert got smaller. When the load was applied far from the cavity and box culvert, the effect was also declined. The test performed at the KEC test road showed identical results to those of finite element analysis. CONCLUSIONS : The direction of FWD should be considered in evaluation of the state of pavement sublayers because it can be evaluated differently even under identical condition.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.2
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• pp.336-342
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• 2015

Fall-related injuries are the most common cause of accidental death for the elderly and the most frequent work-related injuries in construction sites. Due to the growing popularity of smartphones, there has been a number of research work related to the use of sensors embedded in the smartphone for fall detection. Falls can be detected easily by measuring the magnitude and direction of acceleration vectors. In general, the direction of the acceleration vector does not show the object movement, but the velocity vector directly indicates the tangential direction in which the object is moving. In this paper, we proposed a new method for computing the fall direction based on the characteristics of the velocity vector extracted from the accelerometer.

• The Journal of Engineering Geology
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• v.6 no.3
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• pp.165-184
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• 1996

The earthquake(M=4.5 by KMA), which occurred in the northeastern part of Yeongweol($37^{\circ}$ 15.75' N, $128^{\circ}$ 42.13' E) on December 13, 1996, shows shallow focal depth(about 8.0km) and relatively large felt area covering most of the southern peninsula. This is the first medium-size earthquake in inland region of the southern peninsula since 1978. It did not trigger foreshock but 13 aftershocks($M{\;}{\geq}{\;}2.5$) for a month. The intensity based on the felt area estimation of about 400 places shows MIMI III-VII in inland region, II on Cheju Island and I on ulreung Island. The isoseismal of MIMI VII shows an elongated circle in the direction of NE-SW and covers some parts of Jungdong-myon, Yeongweol-kun, Sindong-eup and Nam-myun, Jeongseon-kun. There occurred quite strong shaking, numerous cracks on the walls of buildings, falling and movement of slate and tiles on the roofs, falling of tiles from the wall and falling of materials from desks, rock falling from mountain and collapse of gravel layers on the river side. Mainshock and aftershocks occurred condensely between Yemi and Hwaam areas. The felt area due to the Yeongweol earthquake is Quite larger than those of similar size earthquakes in the Korean Peninsula.

• The Journal of Engineering Geology
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• v.16 no.3 s.49
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• pp.293-300
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• 2006

The groundwater movement in the west costal landfill area was analyzed by measuring N value by Standard Penetration Test, coefficient of permeability by falling head method, linear structure analysis by Digital Elevation Method, groundwater flow direction and rate by flowmeter logging due to tidal variation in the each borehole. The coefficients of permeability of the weathered zone and of the marine deposit showed similar values although some values of weathered zone show smaller values than those of the marine deposit. The major groundwater flow and rate in the marine deposit observed as east-west direction due to tidal variation, but on the other hand it was observed as N45E in weathered zone which is the major direction of the linear structures in the area. 2 hours delayed changes of the groundwater flow direction was observed during the 24 hours observation, and it seems to be a travel time of the tidal wave which cause the continuous change of the hydaulic gradient of the groundwater.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.1
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• pp.1-6
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• 2015

In this paper, a fuzzy control method is used for balancing a single-wheel robot. A single-wheel robot controlled by the PD control method becomes easily unstable since the flywheel tends to lean against one direction. In the previous research, we have used the gain scheduling method. To remedy this problem, in this paper, a fuzzy compensation technique is proposed to compensate for the balancing angle. The fuzzy control method compensates offset values at the balancing angle to prevent the gimbal from falling against one direction. Experimental studies of the balancing control performance of a single-wheel mobile robot validate the proposed control method.

• The Journal of Korean Physical Therapy
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• v.27 no.1
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• pp.7-11
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• 2015

Purpose: This study was conducted in order to determine the effects of knee malalignment including genu varum, valgum, and recurvatum on static and dynamic postural stability. Methods: A total of 80 subjects were enrolled in this study. Subjects who showed over 3 cm in the distance between the knees were classified as the genu varum group, and subjects who showed over 3 cm in the distance between the ankles were classified as the genu valgum group. Subjects who showed over 1 cm in the distance between the patella and a table in prone position were classified as the genu recurvatum group. Static and dynamic stability were measured as overall, anterioposterior, and mediolateral balance index using a Biodex Balance System. Results: This study showed that knee alignment affected static and dynamic postural stability. In particular, there were significant differences in the mediolateral stability index among genu varum, valgum group, and the other groups, but no differences in overall and anteriolateral stability index. Significant differences in the anterioposterior stability index were observed between genu recurvatum and the other groups, however, there were no differences in overall and mediolateral stability index. Conclusion: The findings were that knee malalignment affects postural stability toward a specific direction. Treatment to improve postural stability for treatment of knee malalignment or to prevent falling or injuries is needed and postural stability toward a specific direction according to the knee alignment conditions should be considered.

• Korean Management Science Review
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• v.17 no.2
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• pp.39-54
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• 2000

This paper presents a causal forecasting model using guided genetic algorithm in continuous manufacturing process. The guide genetic algorithm(GGA) is an extended genetic algorithm(GA) using penalty function and population diversity index to increase forecasting accuracy. GGA adds to the canonical GA the concept of a penalty function to avoid selecting the unproductive chromosomes and to make a proper searching direction. Also, GGA modifies the current population using the similarity of chromosomes to avoid falling into the trap of local optimal solution. For investigation GGA performance, we used a set of real data that was collected in local glass melting processes, and experimental results show the proposed model results in the better forecasting accuracy than linear regression model and canonical GA.

• Journal of Institute of Convergence Technology
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• v.4 no.2
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• pp.55-59
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• 2014

A cat is able to quickly recover balance from unstable posture. To observe the balance recovery procedure of the cat, an impulse is applied to the cat while walking on a narrow bridge. We find that it rotates its tail toward the falling direction. In our previous research, the balance recovery procedure is analyzed based on the law of the angular momentum conservation and then a key equation is derived to maintain the balance. However, it did not consider the gravity, so the performance is not good. In this paper, a new dynamic model is proposed using the Lagrangian mechanics. In the method, the gravity is included in the potential energy. Through the proposed dynamic model, controlling the balance of a walking robot is possible.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.14-17
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• 1995

Various methods and techniques have been proposed for solving optimization problems; the methods have been applied to various practical problems. However the methods have demerits. The demerits which should be covered are, for example, falling into local minima, or, a slow convergence speed to optimal points. In this paper, Likelihood Search Method (L.S.M.) is proposed for searching for a global optimum systematically and effectively in a single framework, which is not a combination of different methods. The L.S.M. is a sort of a random search method (R.S.M.) and thus can get out of local minima. However exploitation of gradient information makes the L.S.M. superior in convergence speed to the commonly used R.S.M..