• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.66.4-66
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• 2001

In this paper we have fabricated the two-dimensional Rod Balancing System which expands conventional one-dimensional inverted pendulum control system and designed its controller. The X-axis cart and Y-axis bar of the Rod Balancing System, which is composed of X-Y table, are actuated through timing belt by each of two geared DC motors, and the rod mounted on a X-axis cart can be brought to the desired position and maintained in a vertical position by motor-control. For the control of the Rod Balancing System, we used a fuzzy logic controller that is an approach to systems control when the exact mathematical model of the plant is unknown or the mathematical model is too complex to understand.

• Korean Journal of Plant Taxonomy
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• v.51 no.2
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• pp.171-175
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• 2021

Daphne genkwa (Thymelaeaceae) is a small deciduous shrub widely cultivated as an ornamental. The complete chloroplast genome of this species is presented here. The genome is 132,741 bp long and has four subregions: 85,668 bp of large single-copy and 28,365 bp of small single-copy regions are separated by 9,354 bp of inverted repeat regions with 107 genes (71 protein-coding genes, four rRNAs, and 31 tRNAs) and one pseudogene. The phylogenetic tree shows that D. genkwa is nested within Wikstroemia and is not closely related to other species of Daphne, suggesting that it should be recognized as a species of Wikstroemia.

• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.130-140
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• 2011

This paper proposes an optimal posture for the task-oriented movement of dual arm manipulator. A stability criterion function which consists of three kinds of feature-representative parameters has been utilized to define the optimal posture. The first parameter is the force which is applied to the object. The torque of each joint and position of arm are attained from the current sensor and encoder, respectively. From these two data, the applied force to an object is estimated using sum of vectors of the joint torques estimated from the measured current. In order to investigate the robustness of each posture, the variation of the end-effector from the encoder information has been utilized as the second parameter. And for the last parameter for the optimality, the total energy consumption has been used. The total consuming energy of each posture can be computed from the current information and the battery voltage. The proposed robot structure consists of a mobile inverted pendulum and dual manipulators. In order to define the optimal posture for the each object, external disturbances are applied to the mobile inverted pendulum robot and the first and second parameters are investigated to find the optimal posture among the pre-selected most representative postures. Finally, the proposed optimal posture has been verified by the proposed stability criterion function which consists of total force to the object, the fluctuation of the end-effector position, and total energy consumption. The effectiveness of the proposed algorithms has been verified and demonstrated through the practical simulations and real experiments.

• Spatial Information Research
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• v.7 no.2
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• pp.209-221
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• 1999

In this research, AVL-GIS(Automatic Vehicle Location System linked with Geographic Information System) system was developed using integration of core techniques of GIS engine written by Java language, GOS(Global Positioning System) and wireless telecommunication interfacing techniques. IDGPS(Inverted differential GPS) techniques was employed to estimate accurate position of mobile vehicle and to supervise their path from AVL-GLS control center system. Between mobile vehicle and AVL-GLS control center system which has spatial data analysis function, road network and rleate ddata base were connected wireless phone to communicate for position an dmessage in real time. The developed system from this research has more enhanced GIS functions rather than previous AVL oriented system which has MDT for message display and voice communication only. This system can support build-up application system such as fleet management like bus, taxi, truck, disaster and emergency and monitoring of transportation status for customer s order via web browser in filed of EC/CALS in low cost.

• Journal of the korean academy of Pediatric Dentistry
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• v.34 no.1
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• pp.162-168
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• 2007

Impaction of the maxillary central incisor may cause social, esthetic, and functional problems in children. There are various means of treatment for the inverted maxillary central incisor, such as extraction, surgical opening followed by orthodontic traction surgical repositioning or intra-alveolar autotransplantation prior to extraction. In this case, we surgically repositioned the inverted maxillary central incisor to normal semi-erupted position in a 5-year-old boy The developmental stage of the inverted tooth was Nolla's 6.5, which indicates formation of less than one third of the root. After surgical reposition, we did follow-up for 21 months, expecting spontaneous growth Unfortunately, poor prognosis was noted further root was not observed. Such failure seems to originate from possible injury on Hertwig's epithelial root sheath by surgical trauma. We performed surgical repositioning to retain the tooth instead of extraction. However, arrest of root development occurred which is one of the critical complications. In order to increase the success rate of the surgical reposition procedure, minimal surgical trauma is required as well as selection of adequate indication and decision of proper time of treatment considering the stage of root development.

• Animal cells and systems
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• v.9 no.3
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• pp.139-144
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• 2005

The attractant (orange light) or repellent (white light) signal is transmitted from SRI (Sensory Rhodopsin I) via protein-protein interaction with its transducer Htrl (Halobacterial Transducer for Sensory Rhodopsin I) which in turn controls a cytoplasmic phospho-transfer pathway that modulates flagella motor switching in Halobacterium salinarum. Some mutations in both SRI and Htrl showed an unusual mutant phenotype called inverted signaling, in which the cell produces a repellent response to normally attractant light. Twelve mutations at the Glutamate 56 (E56) position in the second transmembrane helix of Htrl were introduced by site-specific random mutagenesis. Almost all E56 mutants showed orange-light inverted responses in pH and temperature-dependent manners except E56D and E56Y. Except for these two mutants, all mutants accelerated the $S_{373}$ decay compared to wild-type at $18^{\circ}C$. This supported that there is an interaction between SRI and the second transmembrane of Htrl. Also a structural model of Htrl based on the Tar crystal structure and the secondary structure prediction program proposed the E56 residue to be in the middle of the proton channel. The most important observation is that the E56 mutant provides the evidence that this residue is very sensitive for signal relay, which can be explained by the open and closed conformations of the channel (A and R conformations) in SRI, as was postulated by the unified conformational shuttling model for transport and signaling.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.6 no.1
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• pp.6-13
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• 2002

This paper deals with the linear matrix inequality (LMI) design procedures for multi-objective Η$_2$/Η$_{\infty}$ controllers with pole-placement constraints for an inverted pendulum system modeled as convex polytopes to ensure the stabilizing regulator and tracking performances. Polytopic models with multiple linear time-invariant models linearized at some operating points are derived to design controllers overcoming the conservativeness such as a controller may have when it is designed for a model linearized at a single operating point. Multi-objective controllers are designed for polytopic models by the LMT design technique with convex algorithms. It is observed that the inverted pendulum controlled by any controller designed for each polytopic model is stabilizingly restored to the vertical angle position for initial values of larger tilt anlges.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.22 no.1
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• pp.37-44
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• 2004

This study aims to develop an optimized system for container management in Customs Free Zone. Positioning methods and wireless data communication methods were analyzed and then introduced to the container management system constructed in this study. For the trial test, it was founded that the accuracy of the GPS receiver using a single frequency band was not satisfied. However, the position of container can be matched with a digital map by map matching process. It was also founded that the precise method like Inverted DGPS is required when sight of a satellite is blocked.

• Transactions of the Korean Society of Mechanical Engineers
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• v.14 no.6
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• pp.1455-1463
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• 1990

In this study the feasibility of a dynamic gait for a given quadruped walking robot is investigated through a computer simulation of the walking with certain drivings of the actuators. Two planar inverted pendulums are used to represent the dynamic model of the leg of the walking robot. It's gait motion is assumed to be periodic and symmetric between left and right sides only with half cycle delay. The dynamics of the walking robot is simplified by introducing two virtual legs to produce two planar inverted pendulums in two orthogonal planes and on the basis that certain legs in pair act as one. The feasibility of the dynamic gait motion is established from the following two necessary conditions:(1) The position and velocity of a foot must satisfy the stroke and velocity requirements.(2) The gait motion should be periodic without falling down. The gait feasibility test was applied to a walking robot design showing the specific acceptable speed range of the robot in trot. Also it showed that the higher body height may produce the faster trot gait.

• Proceedings of the KIEE Conference
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• 1998.07b
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• pp.687-689
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• 1998

This paper represents fundamental developments in Fuzzy and Neural approaches. The Fuzzy Controller(FC) and plant are cascaded in Adaptive framework. Each of which produces its outputs. The adjustable parameters all pertain to the fuzzy controller is implemented as an Adaptive FC to adjust the environments of the plant. There is an error meaure block which is a difference between the actual state and desired state. We introduce error back propagation algorithm in neural method. To speed up convergence, we follow a steepest decent in the sense that each parameter set update leads to a smaller error measure and is learned by this methodology. Inverted pendulum is a typical testbed to measure the effectiveness of nonlinear control system. finally we simulated the adaptive fuzzy controller to be able to bring back to the upright position of the its angle and angular velocity.