• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1664-1670
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• 1991

For kinematically redundant manipulators, conventional dynamic control methods of local torque optimization showed the instability which resulted in physically unachievable torque requirements. In order to guarantee stability of the null space vector method which resolves redundancy at the acceleration level, Maciejewski[1] analyzed the kinetic behavior of homogeneous solution component and proposed the condition to identify regions of stability and instability for this method. 'In this paper, a modified null space vector method is first presented based on the Maciejewski's condition which is a function of a manipulator's configuration. Secondly, a new control method which is based on the concept of aspects is proposed. It was shown by computer simulations that the modified null space vector method and the proposed method have a common property that a preferred aspect is preserved during the execution of a task. It was also illustrated that both methods demonstrate a drastic reduction of torque loadings at the joints in the tracking motion of a long trajectory when compared with the null space vector method, and thus guarantee the stability of joint torque.

• Journal of Electrical Engineering and Technology
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• 제13권1호
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• pp.60-67
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• 2018

The presence of induction motor loads in a power system may cause the phenomenon of delayed voltage recovery after the occurrence of a severe fault. A high proportion of induction motor loads in the power system can be a significant influence on the voltage stability of the system. This problem referred to as FIDVR(Fault Induced Delayed Voltage Recovery) is commonly caused by stall of small HVAC unit(Heating, Ventilation, and Air Conditioner) after transmission or distribution system failure. This delayed voltage recovery arises from the dynamic characteristics associated with the kinetic energy of the induction motor load. This paper proposes the UVLS (Under Voltage Load Shedding) control strategy for dealing with FIDVR. UVLS based schemes prevent voltage instability by shedding the load and can help avoid major economic losses due to wide-ranging cascading outages. This paper review recent topic about under voltage load shedding and compare decentralized load shedding scheme with conventional load shedding scheme. The load shedding strategy is applied to an actual system in order to verify the proposed FIDVR mitigation solution. Simulations demonstrate the effectiveness of the proposed method in resolving the problem of delayed voltage recovery in the Korean Power System.

• 한국운동역학회지
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• 제20권4호
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• pp.395-406
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• 2010

The purpose of this study was to analyze the changes in kinematic and kinetic parameters of lower extremity joint according to rehabilitation period. Fourteen collegiate male athletes(age: $22.1{\pm}1.35$ years, height: $182.46{\pm}9.45cm$, weight: $88.63{\pm}9.25kg$) and fourteen collegiate athletes on functional ankle instability(age: $21.5{\pm}1.35$ years, height: $184.45{\pm}9.42cm$, weight: $92.85{\pm}10.85kg$) with the right leg as dominant were chosen. The subjects performed drop landing. The date were collected by using VICON with 8 camera to analyze kinematic variables and force platform to analyze kinetic variables. There are two approaches of this study, one is to compare between groups, the other is to find changes of lower extremity joint after rehabilitation. In comparison to the control group, FAI group showed more increased PF & Inversion at IC and decreased full ROM when drop landing. Regarding the peak force and loading rate, it resulted in higher PVGRF and loading. FAI group used more increased knee and hip ROM because of decreased ankle ROM to absorb the shock. And it used sagittal movement to stabilize. In terms of rehabilitation period, FAI group showed that landing patterns were changed and it increased total ankle excursion and used all lower extremity joint close to normal ankle. Regarding the peak force and loading rate, FAI group decreased PVGRF and loading rate. and also showed shock absorption using increased ankle movement. And COP variable showed that proprioception training increased stability during 8 weeks. The results of this study suggest that 8 weeks rehabilitation period is worthwhile to be considered as a way to improve neuromuscular control and to prevent sports injuries.

• 한국운동역학회지
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• 제24권1호
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• pp.51-57
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• 2014

The purpose of this study was to compare and analyze kinetic variables of lower limbs according to types of ankle taping in drop landing. For this, targeting seven male basketball players (average age: $20.8{\pm}0.74yrs$, average height: $187.4{\pm}3.92cm$, average weight: $79.8{\pm}7.62kg$) with no instability of ankle joints, the drop landing motion was conducted according to three types of inelastic taping (C-type), elastic taping (K-type), and no treatment (N-taping). Based on the result, the next conclusion was reached. First, the effect of taping for the players with stable ankles was minimal and the high load on ankle joints offset the fixing effect of inelastic taping. Thus the inelastic taping for the players with stable ankles did not have an effect on the control of dorsal flexion during one-foot landing. Second, increasing angular velocity by increasing the movable range of knee joints disperses impact forces, yet inelastic taping restricted the range of knee joint motion and at the same time increased angular velocity, adding to a negative effect on knee joints. Third, inelastic taping induced inefficient motion of Lower limbs and unstable impact force control of ankle joints at the moment of landing and produced maximum vertical ground reaction force, which led to an increase of load. Therefore, inelastic ankle taping of players whose jump actions occur very often should be reconsidered. Also, it is thought that this study has a great meaning in proving the problem of inelastic taping related to knee pain with unknown causes.

• 대한정형도수물리치료학회지
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• 제8권2호
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• pp.57-71
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• 2002

Cervical pain is a rapid increase that is owing to a flexion-extension whiplash injury, unappropriated posture, chronical repetition injury from abdominal position of head and neck, excessive repeating work, chronical deficiency of excercise. Because of that is bring about muscle unbalance, tightness of cervical extensor muscle, weakness of cervical deep flexor muscles, instability of cervical region and reduction of proprioceptive sensor. Recent the role of muscle is more emphasized for preservation of sine stabilization. And cognition of integrated muscular system, importance for the operation and relation is increased to maintain stability of the motor system and pertinent function. Therefore we are going to introduce the sling exercise and stabilization exercise method for advanced efficient of cervical and upper limb and for the muscle strengthening to importance cervical stabilization through neurological program as control the reaction of cervical stabilization. Sling exercise therapy(SET) concept consists of a system of diagnosis and treatment. The system of diagnosis involves testing the muscle's tolerance through progressive loading in open and close kinetic chains. The SET system contains elements such as relaxation, increasing the range of movement, traction, training the stabilizing musculature, sensory-motor exercises, training in open and close kinetic chains, dynamic training of the mobilizing musculature, cardiovascular exercise, group exercise, personal exercise at home Sensory-motor training is an essential element of the SET concept. The emphasis is on closed kinetic chain exercise on an unstable surface, there by achieving optimum stimulation of the sensory-motor apparatus.

• Bulletin of the Korean Chemical Society
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• 제35권4호
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• pp.1128-1132
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• 2014

A kinetic study on aminolysis of 4-chloro-2-nitrophenyl X-substituted-benzoates (6a-i) in MeCN is reported. The Hammett plot for the reactions of 6a-i with piperidine consists of two intersecting straight lines, while the Yukawa-Tsuno plot exhibits an excellent linear correlation with ${\rho}_X$ = 1.03 and r = 0.78. The nonlinear Hammett plot is not due to a change in rate-determining step (RDS) but is caused by the resonance stabilization of substrates possessing an electron-donating group in the benzoyl moiety. The Br${\phi}$nsted-type plot for the reactions of 4-chloro-2-nitrophenyl benzoate (6e) with a series of cyclic secondary amines is linear with ${\beta}_{nuc}$ = 0.69, an upper limit for reactions reported to proceed through a concerted mechanism. The aminolysis of 6e in aqueous medium has previously been reported to proceed through a stepwise mechanism with a change in RDS on the basis of a curved Br${\phi}$nsted-type plot. It has been concluded that instability of the zwitterionic tetrahedral intermediate ($T^{\pm}$) in MeCN forces the reaction to proceed through a concerted mechanism. This is further supported by the kinetic result that the amines used in this study are less reactive in MeCN than in $H_2O$, although they are more basic in MeCN over 7 $pK_a$ units.

• 천문학회보
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• 제37권2호
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• pp.101.2-101.2
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• 2012

Shocks are ubiquitous in astrophysical plasmas: bow shocks are formed by the interaction of solar wind with planetary magnetic fields, and supernova explosions and jets produce shocks in interstellar and intergalactic spaces. The global morphologies of these shocks are usually described by a set of magnetohydrodynamic (MHD) equations which tacitly assumes local thermal equilibrium, and the resulting Rankine-Hugoniot shock jump conditions are applied to obtain the relationship between the upstream and downstream physical quantities. While thermal equilibrium can be achieved easily in collisional fluids, it is generally believed that collisions are infrequent in astrophysical settings. In fact, shock widths are much smaller than collisional mean free paths and a variety of kinetic phenomena are seen at the shock fronts according to in situ observations of planetary shocks. Hence, both the MHD and kinetic equations have been adopted in theoretical and numerical studies to describe different aspects of the physical phenomena associated with astrophysical shocks. In this paper, we present the results of 3D relativistic particle-in-cell (PIC) simulations for ion-electron plasmas, with focus on the shock structures: when a jet propagates into an unmagnetized ambient plasma, a shock forms in the nonlinear stage of the Weibel instability. As the shock shows the structures that resemble those predicted in MHD systems, we compare the results with those predicted in the MHD shocks. We also discuss the thermalization processes of the upstream flows based on the time evolutions of the phase space and the velocity distribution, as well as the wave spectra analyses.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.1069-1074
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• 2004

This study investigated the effect of pressure variations on augmentation of heat transfer when the ultrasonic waves were applied. The augmentation ratio of heat transfer was experimentally investigated and was compared with the profiles of pressure distributions calculated applying a coupled finite element-boundary element method (coupled FE-BEM). As the ultrasonic intensities increase from 70W to 340W, the velocity of the liquid paraffin is found to increase as well as kinetic energy, This physical behavior known as quasi-Eckart streaming results from acoustic pressure variations in the liquid. Especially, the higher acoustic pressure distribution near two ultrasonic transducers develops more intensive flow (quasi-Eckart streaming), destroying the flow instability. Also, the profile of acoustic pressure variation is consistent with that of augmentation of heat transfer. This mechanism is believed to increase the ratio of hear transfer coefficient.

• 한국수소및신에너지학회논문집
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• 제15권1호
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• pp.12-22
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• 2004

In order to evaluate the potential of partial hydrocarbon substitution to improve the safety of hydrogen use in general and the performance of internal combustion engines in particular, the outward propagation and development of surface cellular instability of spark-ignited spherical premixed flames of mixtures of hydrogen, hydrocarbon, and air were experimentally studied at NTP (normal temperature and pressure) condition in a constant-pressure combustion chamber. With propane being the substituent, the laminar burning velocities, the Markstein lengths, and the propensity of cell formation were experimentally determined, while the laminar burning velocities and the associated flame thicknesses were computed using a recent kinetic mechanism. Results show substantial reduction of laminar burning velocities with propane substitution, and support the potential of propane as a suppressant of both diffusional-thermal and hydrodynamic cellular instabilities in hydrogen-air flames.

• 천문학회보
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• 제37권1호
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• pp.67.1-67.1
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• 2012

Shocks are evolved when the relativistic jets in active galactic nuclei (AGNs), black hole binaries, supernova remnants (SNR) and gamma-ray bursts (GRBs) interact with the surrounding medium. The high energy particles are believed to be accelerated by the diffusive shock acceleration and the strong magnetic field is generated by Weibel instability in the shock. When ultrarelativistic electrons with strong magnetic field cool by the synchrotron emission, the radiation is observed in gamma-ray burst and the near-equipartitioned magnetic field in the external shock delays the afterglow emission. In this paper, we performed the 3D particle-in-cell (PIC) simulations to understand the characteristics of these relativistic shock and particle acceleration. Forward and reverse shocks are shaped while the unmagnetized injecting jet interacts with the unmagnetized ambient medium. Both upstream and downstream become thermalized and the particle accelerations are shown in each transition region of the shock structures.