• Proceedings of the Korean Society of Computer Information Conference
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• 2013.07a
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• pp.97-99
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• 2013

Although UCI Identification metadata is not represented in the UCI syntax, it means a set of elements that enable users to easily and quickly identify. Against this backdrop, we research on how to design identification metadata for UCI. First of all, we check ISO/IEC 11179 and compare this with UCI properties. And then we defines nine components (such as UCI, Identifier, Title, Type, Mode, Format, Contributor, ContributorEntitiy, and ContributorRole) as elements of the identification metadata and establish encoding scheme with several parts (such as List of Encoding Scheme, Encoding Scheme of Identifier, Encoding Scheme of Type, Encoding Scheme of Mode, Encoding Scheme of Format, and Encoding Scheme of ContributorRole).

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.6
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• pp.689-696
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• 2009

In this paper, a new user interface for unmanned combat vehicle(UCV) is developed based on the mission planning and global path planning. In order to complete a tactical mission given to an UCV, it is essential to design an effective interface scheme between human and UCV considering changing combat environment and characteristics of the mission. The user interface is mainly composed of two parts, mission planning and global path planning, since they are important factors to accomplish combat missions. First of all, mission types of UCV are identified. Based on mission types, the concept of mission planning for UCVs is presented. Then a new method for global path planning is devised. It is capable of dealing with multiple grid maps to consider various combat factors so that paths suitable for the mission be generated. By combining these two, a user interface method is suggested. It is partially implemented in the Dog-horse Robot of ADD and its effectiveness is verified.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.6
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• pp.456-465
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• 2003

It is well-known that bio-systems does not calculate inverse dynamics for trajectory planning, but they move by proper modulation of system impedances. Inspired by bio-systems, a biomimetic trajectory planning method is proposed in this work. This scheme is based on employment of redundant actuation which prevails in bio-systems. We discuss that for the generation of the biomimetic trajectory, intelligent structure of bio-systems plays an important role. Redundant actuation and kinematic redundancy fall into such a category of intelligent structure. The proposed biomimetic trajectory planning modulates the complete dynamic behavior such as natural frequencies and damping ratios by using the intelligent structure. Experimental work is illustrated to show the effectiveness of the proposed biomimetic trajectory planning for a five-bar mechanism with redundant actuators.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.8
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• pp.585-593
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• 2004

Fault-tolerant gait planning in legged locomotion is to design gaits with which legged robots can maintain static stability and motion continuity against a failure in a leg. For planning a robust and deadlock-free fault-tolerant gait, kinematic constraints caused by a failed leg should be closely examined with respect to remaining mobility of the leg. In this paper, based on the authors's previous results, deadlock avoidance scheme for fault-tolerant gait planning is proposed for a hexapod robot walking over even terrain. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. It is shown that for guaranteeing the existence of the previously proposed fault-tolerant tripod gait of a hexapod robot, the configuration of the failed leg must be within a range of kinematic constraints. Then, for coping with failure situations where the existence condition is not satisfied, the previous fault-tolerant tripod gait is improved by including the adjustment of the foot trajectory. The foot trajectory adjustment procedure is analytically derived to show that it can help the fault-tolerant gait avoid deadlock resulting from the kinematic constraint and does not make any harmful effect on gait mobility. The post-failure walking problem of a hexapod robot with the normal tripod gait is addressed as a case study to show the effectiveness of the proposed scheme.

• IE interfaces
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• v.12 no.2
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• pp.254-265
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• 1999

This study presents a ready-to-use production planning and control (PP&C) system for the plastic extrusion industry of this country. From the view point of production management, the problems of the industry which are composed of small to midium size manufactures can be summarized as i) poor field data gathering ii) absence of systematic factory management. This study first attempts to devise a simple but useful field monitoring system. Then it presents a PP&C scheme that utilizes the special characteristics of plastic extrusion factory. Various algorithms for the scheme are devised. The resulting system is now realized and ready to implement.

• Journal of the Korean Institute of Landscape Architecture International Edition
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• no.1
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• pp.43-52
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• 2001

One of the major environmental issues Japanese cities is now facing with is the conservation of seminatural landscapes for the restoration of ecological integrity of urban areas. The satoyama landscape, which includes coppice woodlands, agricultural areas and rural settlements, is seen as an indispensable semi-natural landscape, formed as a result of man-nature interaction. However, because of the loss of the economic viability they are now abandoned and in the process of losing their ecological values. Today a number of local municipalities as well as NPO groups are involved in the conservation projects of these landscapes. Although satoyama landscapes are commonly believed to have maintained their character over the years, historical studies have revealed that these landscapes have experienced constant and dynamic changes due to a variation in human impacts. It is therefore understood that the conservation projects on satoyama landscapes should not intend to restore their past condition, but should wet the goal of maintaining their dynamic character by promoting ecological roles which the landscapes may play in the contemporary world. EXPO2005 project in Aichi Prefecture is a good example of a development project underway on satoyama landscapes which intend to conserve the landscapes by stimulating contemporary ecological for them. In EXPO2005 project the key issue was the conservation of semi-natural landscapes formed by constant and intensive human impacts over the centuries and thus allowing endemic and endangered species to be accommodated. The planning team proposed a scheme to restore economic viability of satoyama landscapes. The scheme involves re-introducing intensive human impacts through a new management system with an innovative technology. This may restore the economic viability of lumbers provided form satoyama woodlands. EXPO2005 is understood as a model case which stimulates contemporary ecological functions of satoyama landscapes by applying innovative planning concepts.

• Journal of Electrical Engineering and Technology
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• v.13 no.1
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• pp.105-113
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• 2018

This paper proposes pre-analysis on planning of high-voltage direct current (HVDC) transmission system applied to Korea electric power grid. HVDC transmission system for interface lines has been considered as alternative solution for high-voltage AC transmission line in South Korea since constructing new high-voltage AC transmission lines is challenging due to political, environmental and social acceptance problems. However, the installation of HVDC transmission system as interface line in AC grid must be examined carefully. Thus, this paper suggests three scenarios to examine the influences of the installation of HVDC transmission system in AC grid. The power flow and contingency analyses are carried out for the proposed scenarios. Power reserves in metro area are also evaluated. And then the transient stability analysis focusing on special protection scheme (SPS) operations is analyzed when critical lines, which are HVDC lines or high voltage AC lines, are tripped. The latest generic model of HVDC system is considered for evaluating the impacts of the SPS operations for introducing HVDC system in the AC grid. The analyses of proposed scenarios are evaluated by electromechanical simulation.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.4
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• pp.505-511
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• 2018

Long term capacity expansion planning has to be carried out to satisfy pre-defined system reliability criterion. For purpose of assessing system reliability, probabilistic simulation technique has been widely adopted. However, the way how to approximate generator outage, especially maintenance outage, in probabilistic simulation scheme can significantly influence on reliability assessment. Therefore, in this paper, 3 different maintenance approximation methods are applied to investigate the quantitative impact of maintenance approximation method on long term capacity expansion planning.

• Journal of Advanced Marine Engineering and Technology
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• v.27 no.4
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• pp.526-534
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• 2003

Motions of animals and gymnasts in the air as well as free flying space robots without thruster are subject to nonholonomic constraints generated by the law of conservation of angular momentum. The interest in nonholonomic control problems is motivated by the fact that such systems can not stabilized to its equilibrium points by the smooth control input. The purpose of this paper is to derive analytical posture control laws for free flying objects in the air. We propose a control method using bang-bang control for trajectory planning of a 3 link mechanical system with initial angular momentum. We reduce the DOF (degrees of freedom) of control object in the first control phase and determine the control inputs to steer the reduced order system from its initial position to its desired position. Computer simulation for a motion planning of an athlete approximated by 3 link is presented to illustrate the effectiveness of the Proposed control scheme.

• Journal of Electrical Engineering and Technology
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• v.10 no.5
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• pp.2142-2148
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• 2015

This paper proposes novel real-time footstep planning and following methods for the navigation of humanoid robots. A footstep command is defined by a walking direction and step lengths for footstep planning. The walking direction is determined by a uni-vector field navigation method, and the allowable yawing range caused by hardware limitation is considered. The lateral step length is determined to avoid collisions between the two legs while walking. The sagittal step length is modified by a binary search algorithm when collision occurs between the robot body and obstacles in a narrow space. If the robot body still collides with obstacles despite the modification of the sagittal step length, the lateral step length is shifted at the next footstep. For footstep following, a walking pattern generator based on a 3-D linear inverted pendulum model is utilized, which can generate modifiable walking patterns using the zero-moment point variation scheme. Therefore, it enables a humanoid robot to follow the footstep command planned for each footstep. The effectiveness of the proposed method is verified through simulation and experiment.