• 대한임베디드공학회논문지
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• 제7권2호
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• pp.61-70
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• 2012

This paper describes terrain-adaptive attitude controller for a hybrid mobile platform which operates in wheel & track mode. The wheel mode of the hybrid mobile platform allows quick driving performance in the flatland, while the track mode provides adaptive movement in the rough ground or stairway. The switching of the platform between two modes is automatically controlled by attitude controller algorithm. In addition, in the track mode, the platform automatically adjusts its attitude angle to overcome the obstacles in front. This paper demonstrates the attitude controller for the aforementioned wheel-track hybrid mobile platform in order to overcome terrain obstacles by using an adaptive method. The driving performance of the hybrid mobile platform has been tested and verified in various surrounding environments in both wheel and track mode. Further, this paper presents the experiments by using the track structure of mobile platform on forming adaptive attitude under various types of obstacles. The practicability and effectiveness of the proposed attitude controller of the platform has been demonstrated in urban building and a test-bed.

• Smart Structures and Systems
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• 제14권6호
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• pp.1151-1172
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• 2014

This paper presents a user programmable computational/control platform developed to conduct real-time hybrid simulation (RTHS). The architecture of this platform is based on the integration of a real-time controller and a field programmable gate array (FPGA).This not only enables the user to apply user-defined control laws to control the experimental substructures, but also provides ample computational resources to run the integration algorithm and analytical substructure state determination in real-time. In this platform the need for SCRAMNet as the communication device between real-time and servo-control workstations has been eliminated which was a critical component in several former RTHS platforms. The accuracy of the servo-hydraulic actuator displacement control, where the control tasks get executed on the FPGA was verified using single-degree-of-freedom (SDOF) and 2 degrees-of-freedom (2DOF) experimental substructures. Finally, the functionality of the proposed system as a robust and reliable RTHS platform for performance evaluation of structural systems was validated by conducting real-time hybrid simulation of a three story nonlinear structure with SDOF and 2DOF experimental substructures. Also, tracking indicators were employed to assess the accuracy of the results.

• 디지털콘텐츠학회 논문지
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• 제15권4호
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• pp.465-471
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• 2014

본 논문는 사용자가 전문적인 프로그래밍 지식 없이, WYSIWYG 방식으로 웹페이지의 특정 위치에 웹서비스를 추가함으로써 사용 가능한 개인화 서비스 환경과, 표준의 웹을 보여주는 웹브라우징 인터페이스 형태가 공존하는 소프트웨어 하이브리드 플랫폼에 관한 것이다. 기존의 인터넷 페이지를 수정하지 않고 편리하게 서비스를 추가할 수 있는 저비용/고효율의 소프트웨어 개인화 플랫폼을 구현함으로, 통제 가능한 개인화 서비스 작업 환경을 제공한다. 따라서 사용자가 방문한 웹사이트를 기반으로 소프트웨어나 콘텐츠를 유통 시킬 수 있는 유통 환경이 제공되어, 기존에 존재하는 웹사이트를 더욱 풍부하게 하는 콘텐츠 생태계를 구성할 수 있는 개인화 하이브리드 플랫폼을 제시한다.

• Journal of Biosystems Engineering
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• 제36권3호
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• pp.171-179
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• 2011

Facing the current hikes of labor wage and high oil price, it is needed to have energy-saving machinery which also enables us precise farm operations. Thus, it was necessary to develop a safe machine which allows secure and pleasant works along orchard slopes. In this study, a lifting utility with balance-controlled platform was developed. The platform utility could maintain to level the workbench while driving along slopes. Even the machine body was driven at the tilt angle ranges of ${\pm}20^{\circ}$, the platform bench could be maintained within ${\pm}0.5^{\circ}$ of a gimbal angle. In addition, the machine lifted up to 2.0 m using an electric-hybrid driving mechanism with a low noise. A tandem hybrid power source was developed with a DC 72 V, 100 AH for the Deep-Cycle batteries, charged with 3.5 kW gasoline generator as an auxiliary power source. HST, which is one of the CVT's, was adopted as a transmission device, and a crawer track was used for the safety of the vehicle against tip-over. The maximum lifting height of platform was is 2,500 mm, and the maximum extendable width was 2,900 mm.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.391-392
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• 2011

• Structural Engineering and Mechanics
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• 제30권3호
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• pp.331-350
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• 2008

A framework for multi-platform analytical and multi-component hybrid (testing-analysis) simulations is described in this paper and illustrated with several application examples. The framework allows the integration of various analytical platforms and geographically distributed experimental facilities into a comprehensive pseudo-dynamic hybrid simulation. The object-oriented architecture of the framework enables easy inclusion of new analysis platforms or experimental models, and the addition of a multitude of auxiliary components, such as data acquisition and camera control. Four application examples are given, namely; (i) multi-platform analysis of a bridge with soil and structural models, (ii) multiplatform, multi-resolution analysis of a high-rise building, (iii) three-site small scale frame hybrid simulation, and (iv) three-site large scale bridge hybrid simulation. These simulations serve as illustrative examples of collaborative research among geographically distributed researchers employing different analysis platforms and testing equipment. The versatility of the framework, ease of including additional modules and the wide application potential demonstrated in the paper provide a rich research environment for structural and geotechnical engineering.

• 로봇학회논문지
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• 제5권3호
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• pp.270-277
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• 2010

Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for the purpose of surveillance, reconnaissance, search and rescue, and etc. We have considered a terrain adaptive hybrid robot platform which is equipped with rapid navigation on flat floors and good performance on overcoming stairs or obstacles. Since our special consideration is posed to its flexibility for real application, we devised a design of a transformable robot structure which consists of an ordinary wheeled structure to navigate fast on flat floor and a variable tracked structure to climb stairs effectively. Especially, track arms installed in front side, rear side, and mid side are used for navigation mode transition between flatland navigation and stairs climbing. The mode transition is determined and implemented by adaptive driving mode control of mobile robot. The wheel and track hybrid mobile platform apparatus applied off-road driving mechanism for various professional service robots is verified through experiments for navigation performance in real and test-bed environment.

• 한국산학기술학회논문지
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• 제13권8호
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• pp.3389-3404
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• 2012

본 연구는 글로벌 전자책 플랫폼의 부상 과정과 유형을 구글, 아마존, 애플에 대한 사례연구방법(case study method)으로 분석하였다. 글로벌 전자책 플랫폼들은 급격히 변화되는 디지털 기술 환경과 각자의 주어진 적합도 지형(fitness landscape)에 적응하는 과정을 뚜렷이 보여주고 있다. 적응과 진화 과정에서 결정적인 요인이 된 것은 고유한 선택 범주(distinct selection criteria), 자원 풍요도(degree of resource abundance), 개방적 혁신에 기반한 탐색 과정(search process)이다. 이 요인들을 기반으로 글로벌 전자책 플랫폼들은 종분화(種分化, speciation) 과정에서 니치(niche)를 창출하였으며, 초기 조건(initial condition)인 핵심 자원(key resource)에 따라 경로 의존적으로 진화하였다. 각각의 전자책 플랫폼들은 오픈 플랫폼(open platform)과 하이브리드 플랫폼(hybrid platform), 그리고 클로우즈드 플랫폼(closed platform)으로 진화하였다. 구글 이북(eBook)은 안드로이드 기반의 다양한 단말기를 통해 주체들이 직접 운영하며 참여하는 개방성과 확장성을 특징으로 하며, 아마존 킨들(Kindle)은 온라인 대형 서점에서 확장되어 단말기와 유무선 모바일 네트워크까지 아우르며 개방성과 폐쇄성을 동시에 지닌 플랫폼으로 성장하고 있다. 또한 아이북스 스토어(iBooks Store)는 아이폰과 아이패드 등 하드웨어 경쟁력과 폐쇄성 기반의 에이전시 모형으로 진화하고 있다.

• 반도체디스플레이기술학회지
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• 제13권1호
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• pp.73-81
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• 2014

In this paper, high-speed Hybrid MAC (Medium Access Control layer) implementation suitable for smart grid applications is researched. MB-OFDM (Multi-Band Orthogonal Frequency Division Multiplexing) is considered for high-speed communication method in smart grid application. In this paper, the MAC adopts the distributed network managing method. Also, the MB-OFDM merit of high-speed transfer rate of up to 480Mbps must be supported. Hence, this paper presents an efficient hardware-software integration (co-design) method in order to realize a high- speed transmission, and a realizing method of distribution network. Finally, MAC performance and reliability based on MB-OFDM PHY (PHYsical layer) are confirmed through simulation and emulation.

• Smart Structures and Systems
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• 제7권5호
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• pp.393-416
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• 2011

Hybrid acceleration-impedance sensor nodes on Imote2-platform are designed for damage monitoring in steel girder connections. Thus, the feasibility of the sensor nodes is examined about its performance for vibration-based global monitoring and impedance-based local monitoring in the structural systems. To achieve the objective, the following approaches are implemented. First, a damage monitoring scheme is described in parallel with global vibration-based methods and local impedance-based methods. Second, multi-scale sensor nodes that enable combined acceleration-impedance monitoring are described on the design of hardware components and embedded software to operate. Third, the performances of the multi-scale sensor nodes are experimentally evaluated from damage monitoring in a lab-scaled steel girder with bolted connection joints.