• Journal of Electrical Engineering and Technology
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• v.10 no.6
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• pp.2420-2426
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• 2015

This paper proposes an evolutionary optimization approach for optimal hopping of humanoid robots. In the proposed approach, the hopping trajectory is generated by a central pattern generator (CPG). The CPG is one of the biologically inspired approaches, and it generates rhythmic signals by using neural oscillators. During the hopping motion, the disturbance caused by the ground reaction forces is compensated for by utilizing the sensory feedback in the CPG. Posture control is essential for a stable hopping motion. A posture controller is utilized to maintain the balance of the humanoid robot while hopping. In addition, a compliance controller using a virtual spring-damper model is applied for stable landing. For optimal hopping, the optimization of the hopping motion is formulated as a minimization problem with equality constraints. To solve this problem, two-phase evolutionary programming is employed. The proposed approach is verified through computer simulations using a simulated model of the small-sized humanoid robot platform DARwIn-OP.

• Journal of the Korean Society for Marine Environment & Energy
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• v.17 no.3
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• pp.174-181
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• 2014

Design procedure of LEG(Linear Electric Generator) is introduced by performing the time-domain analysis for the heaving motion of a floating buoy coupled with LEG. A vertical truncated buoy is selected as a point absorber and a double-sided Halbach array mover and cored slotless stator is adopted as a linear electric generator. LEG with a double-sided Halbach array mover and cored slotless stator is designed with the input data such as the heave motion velocity and wave exciting forces in time-domain. The validity of designed LEG is confirmed by performing generating-characteristic-analysis under the sinusoidal motion of a buoy, based on the numerical techniques such as FE(Finite Element) analysis. In particular, an ECM(Equivalent Circuit Method) is employed as the design tool for the prediction of generating characteristics under irregular wave conditions. Finally, we confirm that the ECM gives reasonable and fast results without sacrifice of accuracy.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.1
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• pp.33-38
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• 2013

The general purposed control system for driving a motion of many different typed robot end-effector, which consists of a controller based on ARM Cotex M3-11017 MCU and an application software for generating a motion of end-effector, was developed. Experimental results show that a positioning error is nearly negligible and a repeatability error is 0.04%. Accordingly the developed control system can be applied practically to actuate a robot end-effector for inspection and maintenance of steam generator heat pipe in nuclear power plant.

• Journal of the Korean Mathematical Society
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• v.59 no.6
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• pp.1083-1101
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• 2022

In this paper, we study backward stochastic differential equations (BSDEs shortly) with jumps that have Lipschitz generator in a general filtration supporting a Brownian motion and an independent Poisson random measure. Under just integrability on the data we show that such equations admit a unique solution which belongs to class 𝔻.

• Nuclear Engineering and Technology
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• v.54 no.4
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• pp.1374-1381
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• 2022

Under the influence of nuclear radiation, the reliability of steam generators (SGs) is an important factor in the efficiency and safety of nuclear power plant (NPP) reactors. Motion planning that remotely manipulates an SG mobile tube-inspection robot to inspect SG heat transfer tubes is the mainstream trend of NPP robot development. To achieve motion planning, conditional traversal is usually used for base position optimization, and then the A^* algorithm is used for path planning. However, the proposed approach requires considerable processing time and has a single expansion during path planning and plan paths with many turns, which decreases the working speed of the robot. Therefore, to reduce the calculation time and improve the efficiency of motion planning, modifications such as the matrix method, improved parent node, turning cost, and improved expanded node were proposed in this study. We also present a comprehensive evaluation index to evaluate the performance of the improved algorithm. We validated the efficiency of the proposed method by planning on a tube sheet with square-type tube arrays and experimenting with Model SG.

• Journal of the Society of Naval Architects of Korea
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• v.59 no.6
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• pp.439-446
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• 2022

Efforts to reduce carbon dioxide(CO₂) emissions are being carried out due to climate environmental problems. Eco-friendly ships are also being developed, and various energy saving measures have been developed and applied. In ships, researches have been conducted in various fields such as electric propulsion system and energy saving devices. In addition, the development of ships using various renewable energy, such as kite using wind power and wind power generation, has been carried out. This paper proposes a plan to use renewable energy for ships by applying wave generators to small ships. In 2016, 130 small domestic ships drifted by sea due to discharge of starting storage batteries, and discharge cases accounted for the largest portion of the causes of domestic ship accidents. This is due to the excessive use of storage batteries for starting the main engine by departing in a weak storage battery state for small ships. Accordingly, two type wave power generators - opened flow wave power generator and enclosed vibrator type wave power generator - are developed for charging a starting storage battery when the ships are stationary at sea or port. Opened flow wave power generator utilizes the flow of fluid in the ship by using wave induced ship motion. Enclosed vibrator type wave power generator utilizes the pendulum kinetic energy located in a ship due to wave induced ship motion.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11b
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• pp.45-48
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• 2005

Tile gust generator was designed for generating the gust field in the wind tunnel test of the scaled flexible wing model for validating gust response alleviation system. The ground operation test was performed for estimating the dynamic performance of tile gust generator before installing it in the wind tunnel for gust field measurement. The ground test results showed that the gust generator has sufficient dynamic capability to simulate the sinusoidal and random motion of the gust generator wing and thus can be used in the wind tunnel test related to gust.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2011.10a
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• pp.75-75
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• 2011

This paper has been studied that ocean wave vibration power generator is composed of buoy and vibration generator to make effective use of ocean wave energy. We designed buoy to can occur resonance for dominant frequency with ocean wave. And then we fitted the natural frequency of vibration system with vibration power generator to buoy's natural frequency. And we can show that the amplitude of ocean wave up and down motion is decreased, on the other hand, the displacement of vibration system with vibration power generator is increased. Therefore, ocean wave vibration power generator which is proposed in this paper has merits not only securing its stability from surroundings but also producing more electronic power by using ocean wave energy.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2006.05a
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• pp.395-398
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• 2006

this paper provides a novel method to start the linear engine coupled linear generator from dead stop to its final steady state operation. This method depends mainly to use the linear generator mounted on the shaft of the linear engine to provide the required thrust force to move and oscillate the linear engine from bottom to top dead centers. It is a cost effective approach to start the internal linear combustion engine using its coupled tubular permanent magnet linear generator proposed here. This linear generator operates in this case in motoring mode, providing the required thrust force by feeding this linear generator phases with currents by using a three phase PWM inverter controlled by position feedback scheme. In order to provide the desired thrust force with specific value and direction, a position feedback is required to control the free piston engine motion through controlling the inverter switches using PWM control scheme.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.1
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• pp.66-74
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• 2012

The virtual target signal generator was developed to verify the shipborne tracking radar performance. It was used to DRFM(Digital RF Memory) method to generate the virtual moving targets. The target signal includes Doppler shift and RCS according to the target motion. And the signal generator can make jamming signal and clutter to test shipborne radar performance at real environmental condition. This paper described the functional diagram and the hardware configuration items to meet the test requirements for the tracking radar. And it showed the critical design points for the sub-systems. The signal generator which was developed in this paper shared the operational information of the radar with the radar command and control part. To test the frequency agility of the radar, it had the local oscillator which could do high speed frequency switching according to radar information. By communicating between the signal generator and the radar command and control part, the local oscillator of signal generator could be controlled every pulse. It reduced the instantaneous bandwidth of signal generator and minimized the spurious. So it lowered the probability of generating wrong targets.