• Journal of Power Electronics
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• v.9 no.4
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• pp.535-543
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• 2009

In this paper, pulse-width modulation (PWM) control strategy of various topologies of matrix converters is presented, which is based on direct duty ratio PWM (DDPWM). Because the DDPWM method has the characteristics of the inherent per-phase modular structure, it can be effectively applied to single-phase, two-phase and three-phase four-leg matrix converters as well as the common three-phase to three-phase matrix converter. Also, this paper treats command generation method in each matrix converter. The feasibility and validity of the proposed method are verified by experimental results.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.49 no.10
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• pp.683-692
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• 2000

A new primary-side-assisted zero-voltage and zero-current switching full bridge DC-DC converter with transformer isolation is proposed. The auxiliary circuit adopted to assist ZCS for the leading leg is composed of only one small transformer and two diodes. It has a simple and robust structure, and load current control capability even in short circuit conditions. Possibility of magnetic saturation due to asymmetricity of circuits or transient phenomena is greatly reduced, which is a very attractive feature in DC/DC converters with transformer isolation. The power rating of the auxiliary transformer is about 10% of that of the main transformer. Operation of a 12.5KW prototype designed for welding application was verified by experiments.

• The Korean Journal of Zoology
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• v.33 no.2
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• pp.231-237
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• 1990

Hemicyclops ctenidis sp. n. is descdbed based on the specimens washed from Neanthes laponica collected from Kangreung, South Korea. The new species can be distinguished from its 24 congeners by a combination of features in the segmentation of the first antenna, the structure of the inner sets of the first endopod segment in legs 1-4, and the armature of the second endopod segment in leg 4.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.8
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• pp.1022-1030
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• 1999

This paper is concerned with the balancing motion formulation and the control of ZMP (zero moment point) for a biped walking robot with balancing joints. The balancing equation of a biped robot can be modeled as the second order non-homogeneous differential equation, which makes it possible to plan the desired trajectories for various gaits or motions. Also, the balancing motion can be defined easily by solving the differential equation without pre-processing or heuristic procedures. The actual experiments are performed on biped walking robot system IWR-III, developed in our Automatic Control Lab. The system has the structure of three pitches in each leg, and one roll and one prismatic type in balancing joints. The walking simulations and the experimental results on IWR-III are shown using the proposed formula and control algorithm.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.429-433
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• 2016

Moving robot is divided 2 kinds; one is the robot using wheels and the other has leg structure. On plat terrain, the former is better than the latter because it has fast speed and simple method to control. But on non-plat terrain, the situation is reversed. The robot using legs has slow speed but it has advantage to adjust various environments. This robot is expected to contribute to human in many fields such as rescue and exploration and so on. So walking robot is worth enough to research. In this paper, we present the design of 4-legged walking robot based on Jansen mechanism using m-Sketch and Edison Designer.

• Proceedings of the KIEE Conference
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• 2004.05a
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• pp.77-79
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• 2004

Because robot hardware architecture generally is consisted of a few sensors and motors connected to the central processing unit, this type of structure is led to time consuming and unreliable system. For analysis, one of the fundamental difficulties in real-time system is how to be bounded the time behavior of the system. When a distributed control network controls the robot, with a central computing hub that sets the goals for the robot, processes the sensor information and provides coordination targets for the joints. If the distributed system supposed to be connected to a control network, the joints have their own control processors that act in groups to maintain global stability, while also operating individually to provide local motor control. We try to analyze the architecture of network-based humanoid robot's leg part and deal with its application using the CAN(Controller Area Network) protocol.

• Animal Systematics, Evolution and Diversity
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• v.19 no.1
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• pp.103-109
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• 2003

Presynaptiphilus poraminutus is described as a new species in association with the ophiuroid Ampioplus ancistrotus (H. L. Clark) collected from an intertidal sand beach in the Yellow Sea. The new species is closely related to P. minutus in having the identical leg structure, but may be differentiated from the latter by the larger body, the longer genital double-somite and caudal rami, and the shorter pre-anal semite.

• The Journal of Korea Robotics Society
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• v.14 no.3
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• pp.186-190
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• 2019

When problems occurred in the unstable and/or extreme terrain environment, formal field-driving robots were unable to provide any other options such as the transformation of the wheel and body structure, and so on. For such reason, this paper proposed a novel type of integrated wheel mechanism that can be operated as a conventional driving wheel mode and hybrid wheel-leg mode in order to be negotiated in an unstable terrain environment. The mechanical effect of the proposed variable wheel mechanism was analyzed considering the geometric constraint and power requirement of the actuator for the transformation. In addition, we designed and manufactured the prototype of field-driving robot, which reliably control the variable wheel shape. Finally, the effectiveness of the variable wheel mechanism was verified by preliminary experimental approach.

• Journal of the Korean Society of Marine Environment & Safety
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• v.26 no.1
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• pp.103-113
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• 2020

Jack-up drilling rigs are widely used in the offshore oil and gas exploration industry. Although originally designed for use in shallow waters, trends in the energy industry have led to a growing demand for their use in deep sea and harsh environmental conditions. To extend the operating range of jack-up units, their design must be based on reliable analysis while eliminating excessive conservatism. In current industrial practice, jack-up drilling rigs are designed using the working(or allowable) stress design (WSD) method. Recently, classifications have been developed for specific regulations based on the load and resistance factor design (LRFD) method, which emphasises the reliability of the methods. This statistical method utilises the concept of limit state design and uses factored loads and resistance factors to account for uncertainly in the loads and computed strength of the leg components in a jack-up drilling rig. The key differences between the LRFD method and the WSD method must be identified to enable appropriate use of the LRFD method for designing jack-up rigs. Therefore, the aim of this study is to compare and quantitatively investigate the differences between actual jack-up lattice leg structures, which are designed by the WSD and LRFD methods, and subject to different environmental load-to-dead-load ratios, thereby delineating the load-to-capacity ratios of rigs designed using theses methods under these different enviromental conditions. The comparative results are significantly advantageous in the leg design of jack-up rigs, and determine that the jack-up rigs designed using the WSD and LRFD methods with UC values differ by approximately 31 % with respect to the API-RP code basis. It can be observed that the LRFD design method is more advantageous to structure optimization compared to the WSD method.

• Journal of the Korean Society of Marine Environment & Safety
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• v.28 no.1
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• pp.141-152
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• 2022

As interest increases related to the development of eco-friendly energy, the offshore wind turbine market is growing at an increasing rate every year. In line with this, the demand for an installation vessel with large scaled capacity is also increasing rapidly. The wind turbine installation vessel (WTIV) is a fixed penetration of the spudcan in the sea-bed to install the wind turbine. At this time, a review of the spudcan is an important issue regarding structural safety in the entire structure system. In the study, we analyzed the current procedure suggested by classification of societies and new procedures reflect the new loading scenarios based on reasonable operating conditions; which is also verified through FE-analysis. The current procedure shows that the maximum stress is less than the allowable criteria because it does not consider the effect of the sea-bed slope, the leg bending moment, and the spudcan shape. However, results of some load conditions as defined by the new procedure confirm that it is necessary to reinforce the structure to required levels under actual pre-load conditions. Therefore, the new procedure considers additional actual operating conditions and the possible problems were verified through detailed FE-analysis.