• Economic and Environmental Geology
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• v.12 no.1
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• pp.17-28
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• 1979

Geodetic and geophysical quantities related to gravity data are analyzed using three-dimensional sin x/x method for the southern part of the Korean peninsula and adjacent Japan Sea. The thickness of isostatic crust is found as 26 km. The average isostatic gravity anomaly in this area is appeared to be +24.8 mgal, of which result indicates that the surface features are under-compensation or the thickness of the crust is thinner than normal. It is noteworthy that the general trend of the deflections of the vertical in direction is nearly perpendicular to the geological structure having a direction of NNE-SSW in the southern part of Korea.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.26 no.3
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• pp.323-330
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• 2016

This paper describes real-time unbalance moment compensation method for line of sight(LOS) stabilization control systems. The factors of system inertia, frictions and unbalance moment affect the control accuracy of drive systems that are equipped to on the move(OTM) platforms requiring LOS stabilization function. In case of the unbalance moment among those factors is continuously changed as variation of relative angle between gravity vector and drive torque vector. Then, consideration of the effect in real-time is very complicate. Therefore, its effect should be designed to be minimized, however, designing it almost zero is impossible in real condition. In other words, it is hard to achieve target performance overcoming stability issue of highly unbalanced systems. To solve these problems, this paper proposes calculation method of unbalance moment by using measured sensor data for LOS stabilization control and its use for control compensation. Also, kinematical converting process and control structure for compensation are explained. The effectiveness of the proposed method as variation of unbalance moment is verified under simulation circumstance modeled by assuming LOS control system with 2-axis gimbal structure.

• Journal of Korea Multimedia Society
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• v.13 no.2
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• pp.225-236
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• 2010

This study proposes a method for the recognition of emergency situation according to the bimodal information of camera image sensor and gravity sensor. This method can recognize emergency condition by mutual cooperation and compensation between sensors even when one of the sensors malfunction, the user does not carry gravity sensor, or in the place like bathroom where it is hard to acquire camera images. This paper implemented HMM(Hidden Markov Model) based learning and recognition algorithm to recognize actions such as walking, sitting on floor, sitting at sofa, lying and fainting motions. Recognition rate was enhanced when image feature vectors and gravity feature vectors are combined in learning and recognition process. Also, this method maintains high recognition rate by detecting moving object through adaptive background model even in various illumination changes.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.10
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• pp.789-796
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• 2016

The weight of an antenna system pointing satellite on the mobile platform is restricted by the weight limit of the mobile platform. The maximum power of the actuator driving the antenna system is thus limited because a high power actuator needs a heavier weight. Thus, a drive system is designed to have a low torque requirement by reducing the gravitational torque depending on gravity or acceleration of the mobile platform, including vibration, shock, and accelerated motion. To reduce the gravitational torque, the mathematical model of the gravitational torque is preferentially obtained. However, the method to directly estimate the mathematical model in an antenna system has not previously been reported. In this paper, a method is proposed to estimate the gravitational torque as a mathematical model in the antenna system. Additionally, a method is also proposed to calculate the optimal weight of the balancing weight to compensate for the gravitational torque.

• The Journal of Korea Robotics Society
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• v.12 no.1
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• pp.11-18
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• 2017

Static balance of an articulated robot arm at various configurations requires a torque compensating for the gravitational torque of each joint due to the robot mass. Such compensation torque can be provided by a spring-based counterbalance mechanism. However, simple installation of a counterbalance mechanism at each pitch joint does not work because the gravitational torque at each joint is dependent on other joints. In this paper, a 6 DOF industrial robot arm based on the parallelogram for multi-DOF counterbalancing is proposed to cope with this problem. Two passive counterbalance mechanisms are applied to pitch joints, which reduces the required torque at each joint by compensating the gravitational torque. The performance of this mechanism is evaluated experimentally.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.439-440
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• 2013

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.105.2-105
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• 2002

$\textbullet$ Statically stable walk with COG(center of gravity) $\textbullet$ Dynamically stable walk with ZMP(zero moment point) $\textbullet$ Dynamically adaptational stable walk with FRI(foot ratation indicator) $\textbullet$ Simplified inverted pendulum model approach $\textbullet$ Analysis posture of biped's foot as passive joint $\textbullet$ Stability compensation method of FRI against falling down $\textbullet$ Simulation of ZMP and FRI to real biped robot IWR-III

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.12
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• pp.1067-1076
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• 2016

This paper describes the development of a hybrid-powered wheelchair (HPW) for the elderly. The proposed HPW has novel mechanical and control features compared with conventional powered wheelchairs. An ergonomic back-braking mechanism was designed in order to stop the wheels easily. In terms of control features, the HPW remarkably reduces the muscle power required by combining various assistive functions, such as wheel torque assistance, friction/inertia compensation, gravity compensation, and the one-hand driving algorithm. For wheel torque assistance, strain gauges were attached to the hand-rim in order to measure the wheel torque applied by a human. Gyroscopes and an accelerometer were attached to the wheel and chair respectively for friction and inertia compensation. An inclinometer was attached for gravity compensation and the one-hand driving algorithm was included for patients who can only use one hand. The one-hand driving algorithm controls the angular velocity of the uncontrolled wheel by using a gyroscope and pressure sensors attached to the bottom of the seat. Finally, the performance of the proposed motion assisted algorithm was verified through various experiments.

• Economic and Environmental Geology
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• v.44 no.6
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• pp.493-502
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• 2011

We study the deep structure of Korean Peninsula by estimating Moho depth and crustal thickness from using land and oceanic topography and free-air gravity anomaly data. Based on Airy-Heiskanen isostatic hypothesis, the correlated components between the terrain gravity effects and free-air gravity anomalies by wavenumber correlation analysis(WCA) are extracted to estimate the gravity effects that will be resulted from isostatic compensation for the area. With the resulting compensated gravity estimates, Moho depth that is a subsurface between the crust and mantle is estimated by the inversion in an iterative method with the constraints of 20 seismic depth estimates by the receiver function analysis, to minimize the uncertainty of non-uniqueness. Consequently, the average of the resulting crustal thickness estimate of Korean Peninsula is 32.15 km and the standard deviation is 3.12 km. Moho depth of South Korea estimated from this study is compared with the ones from the previous studies, showing they are approximately consistent. And the aspects of Moho undulation from the respective study are in common deep along Taebaek Mountains and Sobaek Mountains and low depth in Gyeongsang Basin relatively. Also, it is discussed that the terrain decorrelated free-air gravity anomalies inferring from the intracrustal characteristics of the crust are compared to the heat flow distributions of South Korea. The low-frequency components of terrain decorrelated Free-air gravity anomalies are highly correlated with the heat flow data, especially in the area of Gyeongsang basin where high heat flow causes to decrease the density of the rocks in the lower crust resulting in lowering the Moho depth by compensation. This result confirms that the high heat sources in this area coming from the upper mantle by Kim et al. (2008).

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.6
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• pp.793-798
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• 2010

In this paper we propose a low-power walking compensation method for biped robot based on consumption energy analysis. Firstly, basic walking motions that can reduce energy consumption of robot movements are implemented based on consumption energy analysis according to robot axes. We define knee bent motion as a basic walking motion. It can improve energy consumption and motion stability by lowering center of gravity of the biped robot. We analyze consumption energy of left and right leg of the robot using motor currents and propose a compensation method of walking motions to reduce unbalance of consumption energy between left leg and right leg. It can also improve energy consumption and walking stability of the robot. The proposed low-power compensation method based on consumption energy analysis is verified by walking experiments of a small biped robot with an embedded system.