• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.549-551
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• 1998

This paper deals with the new gait implementation of biped walking robot(IWR-III). In the case of using old gait. The trunk should be stopped during the phase changing time. But using new gait, the trunk moves continuously for all walking time. As a result, IWR-III has a walking gait similar to human being, and the motion of balancing joints can be reduced by the trunk ahead effect in the double support phase, moreover, ZMP tracking is improved, therefore the stability of IWR-III is improved. The trajectory is planned with a 5th order spline interpolation and stability of IWR-III is certified with a biped simulator.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1185-1188
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• 1996

In this paper we present a genetic approach for trajectory control algorithm of balancing weight for IWR biped walking robot. The biped walking robot, IWR that was made by Automatic Control Lab. of Inha University has a trunk which stabilizes its walking by generating compensation moment. Trunk is composed of a revolute and a prismatic joint which roles balancing weight. The motion of balancing weight is determined by the gait of legs and represented by two linear second order ordinary differential equations. The solution of this equation must satisfy some constraints simultaneously to have a physical meaning. Genetic algorithm search for this feasible motion of balancing weight under some constraints. Simulation results show that feasible motion of balancing weight can be obtained by genetic algorithm.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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• pp.561-565
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• 2000

This paper deals with dynamic walking and inverse dynamic analysis of the IWR biped walking robot. The system has nine bodies of the multibody dynamics. and all of the .joints of them are made up of the revolute joints at first. The problem of redundant constraint in double support phase is solved by changing the type of the joints considering kinematic relation. To make sure of its dynamic walking, the movement of balancing weight is determined by which satisfies not only the condition of ZMP by applying the principle of D'Alembert but also the contact condition of the ground. The modeling of IWR and dynamic walking are realized using DADS.

• KOREAN JOURNAL OF CROP SCIENCE
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• v.45 no.4
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• pp.221-226
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• 2000

This experiment was designed to assess changes in yield difference between waxy (IWR) and non-waxy (INWR) near isogenic rice by evaluating the translocation and accumulation of assimilates in different parts of the rice plants after heading stage under different fertilizer application. Nitrogen content of culm in both IWR and INWR decreased rapidly from 35 days before heading to flowering time and after then it was maintained constantly, while the nitrogen content of leaf blade was continually reduced. Sugar content of leaf blade in IWR decreased steadly by 10 days after heading, but that in INWR increased 20 days after heading. There was no difference in starch content of culum between IWR and INWR from 35days before heading to heading, but that of culm of IWR increased again after heading. Dry weight of IWR plant was less reduced during ripening as compared with INWR. The dry weight of culm was not significantly different between two isogenic lines.

• Journal of Korean Society of Rural Planning
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• v.26 no.3
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• pp.91-102
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• 2020

The purpose of study was analyze the pumping characteristics, Irrigation Efficiency(IE), and irrigation pattern by period of rice growing stage with based on the performance of design irrigation water requirement and operational Galshin Pumping(GP) station in GP irrigation district constructed under rural water development project master plan. GP station was located in Yedang reservoir, Yesan-gun, Chungcheongnam-do and has been supplying irrigation water since 2006. The research data are the Irrigation Water Requirement(IWR) and the Pumping Water Amount(PWA) from 2006 to 2015 at the GP station, which is the supplied amount. The IWR were calculated using the Blaney-Criddle formula of the HOMWRS program, Hydrological Operation Model for Water Resource System, developed by Korea Rural Community Corporation. The Blaney-Criddle formula was used to calculate design irrigation water requirement of Galshin rural water development project master plan. During 2006-2015, the study period, the annual average IWR is 763.2(±149.1)mm, the annual PWA of the GP station is 397.4mm to 1,056.9mm, and those average annual PWA is 643.4(±208.4)mm. The annual IE of GP station 96.5% to 169.0%, and the average annual IE is 124.3%, which is higher than the research results conducted in other pumping stations. Analyzing the irrigation patterns of the GP irrigation district, the IWR Ratio per 10days(IWRR) and the PWA Ratio per 10days(PWAR) of the G P station were obtained. The IWRR is the percentage of IWR for each 10 days of a month to total IWR per year, and the PWAR is the percentage of PWA for each 10 days of a month to total PWA per year. The Kolmogorov- Smirnov(K-S) test results of IWRR and PWAR showed the characteristics classification by rice growing stage and stable normal distribution characteristics. Average IWRR(AIWRR) and Average PWAR(APWAR) are presented as irrigation patterns. Irrigation pattern analysis will be able to standardize comparison, analysis and probability calculation of the pumping station characteristics of different pumping stations and apply to objective evaluation of the pumping station district.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.113-118
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• 1993

This paper represents mechanical compliance & ZMP(Zero Moment Point) control algorithm for IWR(Inha Walking Robot) system. In case of walking in different environments, a biped walking robot must vary its gait(walking period or step length, etc.) according to the environments. However, most of biped walking robots do not have the capability to change their gaits or need more complex control algorithm, because ZMP cannot be defined in their control algorithm. Therefore new linear type with balancing joint is proposed which is used as an aid in balancing & ZMP control itself. In IWR system, ZMP can be defined by solving differential equations and it does not need to be predefined ZMP trajectory. Furthermore we can input the desired ZMP position. In parallel with the development, we also considered a mechanical compliance for reducing the inverse kinematics, dynamics and the control complexity. It will figure out some powerful adaptation with 3D irregular terrains.

• Proceedings of the Korea Water Resources Association Conference
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• 2016.05a
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• pp.519-519
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• 2016

Upper Chenab Canal (UCC) is a non-perennial canal in Punjab Province of Pakistan which provides irrigation water only in summer season. Winter and summer are two distinct cropping season with an average rainfall of about 161 mm and 700 mm respectively. Wheat-rice is common crop rotation being followed in the UCC command area. During winter season, groundwater and rainfall are the main sources of irrigation while canal and ground water is used to fulfil the crop water requirements (CWR) during summer. The objective of current study is to estimate how the irrigation water requirements (IWR) of the two crops are going to change under different conditions of temperature and rainfall. For this purpose, 12 different climatic scenarios were designed by combining the assumptions of three levels of temperature increase under dry, normal and wet conditions of rainfall. Weather records of 13 years (2000-2012) were obtained from PMD (Pakistan Meteorological Department) and CROPWAT model was used to simulate the IWR of the crops under normal and scenarios based climatic conditions. Both crops showed a maximum increase in CWR for temperature rise of $+2^{\circ}C$ i.e. 8.69% and 6% as compared to average. Maximum increment (4.1% and 17.51% respectively) in IWR for both wheat and rice was recorded when temperature rise of $+2^{\circ}C$ is coupled with dry rainfall conditions. March & April during winter and August & September during summer were the months with maximum irrigation requirements. Analysis also showed that no irrigation is needed for rice crop during May and June because of enough rainfall in this area.

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.552-554
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• 1998

This paper deals with the gait generation of IWR-III using a kick action to have a walking pattern like human. For this, trajectory planning with the consideration of kick action is done in each walking step, and the coordinate transformation is done for simplifying the kinematics. Balancing motion is analyzed by FDM during the walking, By combining 4-types of pre-defined steps, multi-step walking is done. Using numerical simulator, dynamic analysis, ZMP analysis and system stability is confirmed. Walking motion is visualized by 3D- graphic simulator. As a result, trunk ahead motion effect and impactless smooth walking is implemented by experiment. Finally walking with kick action is implemented the IWR-III system.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2345-2347
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• 1998

This paper deals with the trajectory planning of IWR biped robot using genetic algorithm. The trajectory of a swing leg is generated by 5th order polynomial equation. Velocities and Acceleration properties on a viapoints are needed. These constants are given by heuristic method. The optimal values are determined by G.A to minimize the jerk of a trajectory. As a result, trajectory planning is implemented not on between two viapoints but on a whole interval. Efficient numerical calculation routines and walking algorithms for simulation are accomplished by MATLAB package.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.3089-3091
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• 1999

To control IWR-III Biped Waking Robot, those complex modules are necessary that concurrent control multi-axes servo motors, PID & Feedforward gain tuning, initial value calibration, display current status of system, user interface for emergency safety and three-dimensional rendering graphic visualization. It is developed for various-type gait $data^{[1]}$ and for control modes (i.e open/closed loop and pulse/velocity/torque control) that Integrated Control Enviroment with GUI( Graphic User Interface) consist of time-buffered control part using MMC (Multi-Motion Controller) and 3D simulation part using DirectX graphic library.