• Journal of Drive and Control
• /
• v.13 no.4
• /
• pp.52-58
• /
• 2016

The mechanical design for biped walking of a humanoid robot doing the Argentina Tango is presented in this paper. Biped walking has long been studied in the area of robotic locomotion. The aim of this paper is to implement an Argentina Tango dancer-like walking motion with a humanoid robot by using a trajectory generation scheme. To that end, this paper uses blending polynominals whose parameters are determined based on PSO (Particle Swarm Optimization) according to conditions that make the most of the Argentina Tango's characteristics. For the stability of biped walking, the ZMP (Zero Moment Point) control method is used. The feasibility of the proposed scheme is evaluated by simulating biped walking with the 3D Simscape robot model. The simulation results show the validity and effectiveness of the proposed method.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.20 no.5
• /
• pp.708-716
• /
• 2017

We deal with the target selection in seeker-detection image through network, using the detection information from aerial vehicle and the target information from surveillance and reconnaissance system. Especially, we constrain the sea battle environment, where it is difficult to perform scene-matching rather than land. In this paper, we suggest the target selection algorithm based on the confidence estimation with respect to distance and size. In detail, we propose the generation method of reference point for distance evaluation, and we investigate the effect of pixel margin and target course for size evaluation. Finally, the proposed algorithm is simulated and analyzed through several scenarios.

• Proceedings of the KIEE Conference
• /
• 2004.11c
• /
• pp.435-437
• /
• 2004

In this paper, we aim to design and implement supporting IPv6 Bluetooth Access point(AP) in Linux. Bluetooth is a cable replacement technology designed for short range ad-hoc connections, which most likely change the way we handle and access information in the near future. In Personal Area Network(PAN) mobile devices need many IP address space, then we need next generation Internet Protocol(IPv6). We designed Bluetooth Access Point with Bluetooth stack and MAC bridge function in Linux. The implementation tested on Linux system based on Bluetooth Access Point with other Bluetooth devices.

• Journal of Communications and Networks
• /
• v.18 no.2
• /
• pp.150-161
• /
• 2016

Coordinated multi-point transmission (CoMP) techniques are being touted as enabling technologies for interference mitigation in next generation heterogeneous wireless networks (HetNets). In this paper, we present a comparative performance study of uplink (UL) CoMP algorithms for the 3GPP LTE HetNets. Focusing on a distributed and functionally-split architecture, we consider six distinct UL-CoMP algorithms: 1. Joint reception in the frequency-domain (JRFD) 2. Two-stage equalization (TSEQ) 3. Log-likelihood ratio exchange (LLR-E) 4. Symmetric TSEQ (S-TSEQ) 5. Transport block selection diversity (TBSD) 6. Coordinated scheduling with adaptive interference mitigation (CS-AIM) where JRFD, TSEQ, S-TSEQ, TBSD and CS-AIM are our main contributions in this paper, and quantify their relative performances via the post-processing signal-to-interference-plus-noise ratio distributions.We also compare the CoMP-specific front-haul rate requirements for all the schemes considered in this paper. Our results indicate that, with a linear minimum mean-square error receiver, the JRFD and TSEQ have identical performances, whereas S-TSEQ relaxes the front-haul latency requirements while approaching the performance of TSEQ. Furthermore, in a HetNet environment, we find that CS-AIM provides an attractive alternative to TBSD and LLR-E with a significantly reduced CoMP-specific front-haul rate requirement.

• Journal of Korean Academy of Nursing
• /
• v.39 no.2
• /
• pp.259-269
• /
• 2009

Purpose: The aim of this study was to develop a breast feeding adaptation scale (BFAS) to evaluate adaptation to breastfeeding for breastfeeding mothers and their infants and to test the validity and reliability of the instrument. Methods: The study was conducted as follows: application of the conceptual framework, identification of the content domains, items generation, and test of validity and reliability. In order to test validity and reliability, two panels of experts reviewed items and subcategories of the preliminary questionnaire and then data were collected from 329 mothers who were up to 4 weeks postpartum and breastfeeding. Descriptive statistics, t-test, factor analysis, and Cronbach's alpha were used to analyze the data. Results: The conceptual framework was based on the Roy adaptation model. The content domains were developed via literature review, review of instruments, and data acquired from the interviews of breastfeeding mothers and nurses. A total of 69 items belonging to 8 domains were generated. A reduction to 44 preliminary items was accomplished through content validity analysis. Factor analysis extracted 8 factors with a total of 27 items on a 5-point Likert scale. Content validity, construct validity, criterion validity, and reliability of the BFAS were established. Conclusion: The newly developed BFAS is a reliable and valid instrument with which the adaptation of breastfeeding mothers and their infants to the breastfeeding behavior can be evaluated.

• Industrial Engineering and Management Systems
• /
• v.8 no.4
• /
• pp.239-246
• /
• 2009

This paper deals with the makespan minimization problem of job shops. The problem is known as one of hard problems to optimize, and therefore, many heuristic methods have been proposed by many researchers. The aim of this study is also to propose a heuristic scheduling method for the problem. However, the difference between the proposed method and many other heuristics is that the proposed method is based on depth-first branch and bound, and thus it is possible to find an optimal solution at least in principle. To accelerate the search, when a node is judged hopeless in the search tree, the proposed flexible branch and bound method can indicate a higher backtracking node. The unexplored nodes are stored and may be explored later to realize the strict optimization. Two methods are proposed to generate the backtracking point based on the critical path of the current best feasible schedule, and the minimum lower bound for the makespan in the unexplored sub-problems. Schedules are generated based on Giffler and Thompson's active schedule generation algorithm. Acceleration of the search by the flexible branch and bound is confirmed by numerical experiment.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.25 no.3
• /
• pp.299-305
• /
• 2015

Global environmental concerns and the ever increasing need of energy, coupled with steady progress in renewable energy technologies, are opening up new opportunities for utilization of renewable energy resources. Distributed electricity generation is a suitable option for sustainable development thanks to the load management benefits and the opportunity to provide electricity to remote areas. Solar energy being easy to harness, non-polluting and never ending is one of the best renewable energy sources for electricity generation in present and future time. Due to the random and intermittent nature of solar source, PV plants require the adoption of an energy storage and management system to compensate fluctuations and to meet the energy demand during night hours. This paper presents an efficient, economic and technical model for the design of a MPPT based grid connected PV with battery storage and management system. This system satisfies the energy demand through the PV based battery energy storage system. The aim is to present PV-BES system design and management strategy to maximize the system performance and economic profitability. PV-BES (photovoltaic based battery energy storage) system is operated in different modes to verify the system feasibility. In case of excess energy (mode 1), Li-ion batteries are charged using CC-CV mechanism effectively controlled by fuzzy logic based PID control system whereas during the time of insufficient power from PV system (mode 2), batteries are used as backup to compensate the power shortage at load and likewise other modes for different scenarios. This operational mode change in PV-BES system is implemented by State flow chart technique based on SOC, DC bus voltages and solar Irradiance. Performance of the proposed PV-BES system is verified by some simulations study. Simulation results showed that proposed system can overcome the disturbance of external environmental changes, and controls the energy flow in efficient and economical way.

• Korean Journal of Fisheries and Aquatic Sciences
• /
• v.34 no.6
• /
• pp.705-712
• /
• 2001

It is of great importance to represent the directional ocean waves in a laboratory basin for hydraulic model tests. The directional ocean waves can be expressed as a linear superposition of a large number of component waves with different frequencies and propagating directions. The aim of the study is to check the wave generating characteristics by serpent-type wave generating system in PKNU (Pukyong National University) which is composed of 10 piston-type wave generators. In the experiment, spatial variation of irregular wave heights and propagating angles are measured in the multi-directional wave maker basin. Target wave directional spectrum is reproduced in the area of multi-directional wave maker basin. The directional spreading of the generated waves varied spacially in the basin. They differed from target spectrum as the measurement point becomes far from the center line normal to the generator face, The effective generation area where that target can be reproduced is limited to the triangular area attached the generator face. According to the results, it is emphasized that the effective experiment area in the basin considered wave generator characteristics should be determined in consideration of experimental conditions including structural shapes, water depth, wave directionality etc.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.32 no.2
• /
• pp.109-115
• /
• 2014

The aim of the study is to present a method to build an octree and to query from it for huge 3D point clouds of which volumes correspond or surpass the main memory, based on the memory-efficient octree developed by Han(2013). To the end, the method directly refers to 3D point cloud stored in a file on a hard disk drive instead of referring to that duplicated in the main memory. In addition, the method can save time to rebuild octree by storing and restoring it from a file. The memory-referring method and the present file-referring one are analyzed using a dataset composed of 18 million points surveyed in a tunnel. In results, the memory-referring method enormously exceeded the speed of the file-referring one when generating octree and querying points. Meanwhile, it is remarkable that a still bigger dataset composed of over 300 million points could be queried by the file-referring method, which would not be possible by the memory-referring one, though an optimal octree destination level could not be reached. Furthermore, the octree rebuilding method proved itself to be very efficient by diminishing the restoration time to about 3% of the generation time.

• The Journal of Korean Academy of Prosthodontics
• /
• v.45 no.1
• /
• pp.21-33
• /
• 2007

Statement of problem: The esthetic component of dental care has become increasingly more important, while new tooth-colored materials are continually marketed. Various new indirect composite materials have been developed with required advantages. The most recent development in the indirect composites has been the introduction of the second-generation laboratory composite or poly-glass materials. They are processed by different laboratory techniques based on combinations of heat, pressure, vacuum and light polymerization. Although, second generation products became available in 1995, their characteristics and clinical performance have not been adequately investigated. Purpose: The aim of this study was to measure the mechanical properties of the second generation indirect resin system and compare these with an existing universal direct composite resin. Material and method: In this study four indirect composite material (Adoro LC, BelleGlass HP, Tescera, Synfony) were tested for flexural strength, wear resistance, hardness and their degree of conversion against Z250, a light cure direct composite. Results: Within the limitations of this study, the following conclusions were drawn: 1. From the abrasion wear result, Adoro showed the least volume loss while Synfony showed the greatest volume loss. Z250 and BelleGlass HP didn't show significant difference (p>0.05), but they showed significant difference with other groups (p<0.05). From the attrition wear, BelleGlass HP showed the least volume loss and it didn’t show significant difference with Tescera (p>0.05). While Synfony showed the greatest volume loss that it showed significant difference with other groups (p>0.05). 2. Mean values of flexural strength by means of three point bending test was in the order of Z250, Adoro, Belleglass HP, Tescera and Synfony. Mean elastic modulus was in the order of Z250, BelleGlass HP, Tescera, Adoro and Synfony. 3. The result of Vicker‘s microhardness value showed that significantly higher value in Z250 (p<0.05), and is in the order of BelleGlass HP, Tescera, Adoro and Synfony. 4. The degree of conversion measured by FT-IR showed significantly higher value in BelleGlass HP (p<0.05), and is in the order of Adoro, Synfony, Tescera and Z250. Conclusion: Significant differences were found in the flexural strength, wear resistance, hardness and their degree of conversion.