• Journal of Institute of Control, Robotics and Systems
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• v.18 no.7
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• pp.617-621
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• 2012

This paper studies asymptotic consensus problem for linear multi-agent systems. We propose a distributed state feedback control algorithm for solving the problem under fixed and undirected network communication. In contrast with the conventional algorithms that use global information (e.g., graph connectivity), the proposed algorithm only uses local information from neighbors. The principle for achieving asymptotic consensus is that, for each agent, a distributed update law gradually increases the coupling gain of LQR-type feedback and thus, the overall stability of the multi-agent system is recovered by the gain margin of LQR.

• 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.

• Journal of the Korean Mathematical Society
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• v.58 no.1
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• pp.45-67
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• 2021

In this paper, a mathematical dynamical system involving both deterministic (with or without delay) and stochastic "SIR" epidemic model with nonlinear incidence rate in a continuous reactor is considered. A profound qualitative analysis is given. It is proved that, for both deterministic models, if ��d > 1, then the endemic equilibrium is globally asymptotically stable. However, if ��d ≤ 1, then the disease-free equilibrium is globally asymptotically stable. Concerning the stochastic model, the Feller's test combined with the canonical probability method were used in order to conclude on the long-time dynamics of the stochastic model. The results improve and extend the results obtained for the deterministic model in its both forms. It is proved that if ��s > 1, the disease is stochastically permanent with full probability. However, if ��s ≤ 1, then the disease dies out with full probability. Finally, some numerical tests are done in order to validate the obtained results.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.6
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• pp.217-222
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• 2007

This paper describes a static gait generation process and a mechanical design process of leg mechanisms for quadruped robots. Actually robot walking is realized with the joint motion of leg mechanisms. In order to calculate the time-angle trajectories for each joint of leg mechanisms, we generate end-tip trajectories with time for each leg in the global inertial coordinate system intuitively, followed by coordinate transformations of the trajectories into the local coordinates system fixed in each leg, finally the angle-time trajectories of each joint of leg mechanisms are obtained with inverse kinematics. The stability of the gait generated in this paper was verified by a multi-body dynamic analysis using the commercial software $ADAMS^{(R)}$. Additionally the mechanical specifications such as gear reduction ratio, electrical specifications of motor and electrical power consumption during walking have been confirmed by the multi-body dynamic analysis. Finally we constructed a small quadruped robot and confirmed the gait.

• Proceedings of the Korea Concrete Institute Conference
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• 1999.10a
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• pp.403-406
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• 1999

Although infilled wall considered as a non-structural element, the infilled applied in reinforced concrete frame structural systems represents an important element influencing the behaviour and the stability of a structure under seismic effect. This research is performed an experimental investigation of gravity-load designed single-stroy, single-bay, low-rise nonseismic moment-resisting reinforced concrete frame 2 dimension specimens to evaluate the effect of seismic capacity. For pseudo static test, it was manufactured one half scale specimens of two types (Bare Frame, Infilled Frame) based on typical building. The results of these experiments provided regarding the global as well as the local responses of 1) Crack pattern and failure modes, 2) Stiffness, strength.

• International Journal of High-Rise Buildings
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• v.2 no.1
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• pp.49-62
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• 2013

Many previous tall building fires demonstrate that despite code compliant construction fires often spread vertically and burn over multiple floors at the same time. The collapses of the WTC complex buildings in 9/11 as well as other partial collapses like the ones of the Windsor Tower in Madrid and of the Technical University of Delft building posed new questions on the stability of tall buildings in fire. These accidents have shown that local or global collapse is possible in multi-floor fires. In most of the previous work involving multi-floor fires all floors were assumed to be heated simultaneously although in reality fires travel from one floor to another. This paper extends previous research by focusing on the collapse mechanisms of tall buildings in fire and performs a parametric study using various travelling rates. The results of the study demonstrate that vertically travelling fires have beneficial impact in terms of the global structural response of tall buildings in comparison to simultaneous fires. Contrary to the beneficial effect of the travelling fires in terms of the global structural response, it was noticed that higher tensile forces were also present in the floors compared to simultaneous multi-floor case. Designers are therefore advised to consider simultaneous multi-floor fire as an upper bound scenario. However, a scenario where a travelling fire is used is also suggested to be examined, as the tensile capacity of connections may be underestimated.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.7
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• pp.902-906
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• 2004

A separation principle of the Takagj-Sugeno (T-S) fuzzy-model-based observer-control is investigated. When the premise variables are able to be measured or directly computed from the outputs of the T-S fuzzy system and the fuzzy inference rules for the plant, control, and observer share the premise parts, the T-S fuzzy-model-based observer and the T-S fuzzy-model-based control can be separately designed such that the global stabilizability is guaranteed by the fuzzy observer-based output-feedback control. In this case, the global separation principle is well established. On the other hand, when the premise variables are unmeasurable or cannot be computed from the outputs, they should also be estimated. We examine the separation principle of this case. If the decay rates of the T-S fuzzy-model-based control and observer are sufficiently fast, the global separation is assured. Otherwise we show that the separation principle holds locally.

• Physical Therapy Korea
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• v.27 no.1
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• pp.87-92
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• 2020

Background: Bridging exercises are used to enhance the functional stability of the lumbopelvic region in clinical settings. Although most of the studies on bridging exercises have compared the complete activation of the trunk muscles, some recent studies have examined the functional stability of the trunk and the lumbopelvic region and assessed the appropriate recruitment of the local and global muscles during different task levels. Objects: The purpose of this study was to investigate the changes in muscle thickness in the transverse abdominis (TrA), internal oblique (IO), and external oblique (EO) muscles during a common bridging exercise on an unstable surface and to determine whether these changes differ based on the surface used. Methods: Twenty-five healthy young adults (8 males, 17 females) were recruited. The subjects were randomly assigned to either the exercise progression with a sling bridge group or the ball bridging exercise progression group, each with three stages of increasing difficulty. Each position was measured three times with an ultrasonic diagnostic imaging system, and the mean values were recorded for analysis. Results: No significant differences were observed between the TrA, IO, or EO muscle thickness ratios between the sling and ball exercise groups (p > 0.05). There were also no significant differences in the EO muscle thickness ratios between the tasks irrespective of whether the sling or ball was used. However, the TrA and IO thickness ratios in both groups were significantly greater during stages 2 and 3 compared to stage 1. Conclusion: The results suggest that the use of slings and balls during bridging exercises is effective in activating the deep abdominal muscles.

• Journal of Electrical Engineering and Technology
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• v.5 no.3
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• pp.353-362
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• 2010

This paper presents a centralized control algorithm for power system performance in the Korean power system using Flexible AC Transmission Systems (FACTS) devices. The algorithm is applied to the Korean power system throughout the metropolitan area in order to alleviate inherent stability problems, especially concerns with voltage stability. Generally, control strategies are divided into local and centralized control. This paper is concerned with a centralized control strategy in terms of the global system. In this research, input data of the proposed algorithm and network data are obtained from the SCADA/EMS system. Using the full system model, the centralized controller monitors the system condition and decides the operating point according to the control objectives that are, in turn, dependent on system conditions. To overcome voltage collapse problems, load-shedding is currently applied in the Korean power system. In this study, the application of the coordination between FACTS and switch capacitor (SC) can restore the solvability without load shedding or guarantee the FV margin when the margin is insufficient. Optimal Power Flow (OPF) algorithm, for which the objective function is loss minimization, is used in a stable case. The results illustrate examples of the proposed algorithm using SCADA/EMS data of the Korean power system in 2007.

• Proceedings of the Korean Geotechical Society Conference
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• 2005.10a
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• pp.320-329
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• 2005

The use of diverse methods for the retaining system has been continuously increased in order to maintain the stability during excavation. However, ground anchor system occasionally may have the restriction in urban excavation sites nearby the existing structures because of space limitation. In this case, soil nailing system with relatively short length of nails could be efficiently useful as an alternative method. The general soil nailing support system, however, may result in excessive deformations particularly in excavating the zone of weak soils or nearby the existing structures. Therefore, applying the pretension force to the soil nails then could play important roles to reduce deformations mainly in an upper part of the nailed-soil excavation system as well as to improve the local slope stability. In this study, a newly modified soil nailing technology named as the PSN(Pretention Soil Nailing) is developed to reduce both facing displacements and ground surface settlements during top-down excavation process as well as to increase the global slope stability. Up to now, the PSN system has been investigated mainly focusing on an establishment of the design procedure. In the present study, the field tests including pull-out tests were fulfilled to investigate the behavior of characteristics for PSN system. All results of tests were also analyzed to provide a fundamental and efficient design.