• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.359-364
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• 2012

Real-Time Traversability should be analyzed from the equiped sensors' data in real time for autonomous outdoor navigation. However, it is difficult to find out such traversability that considers the terrain roughness and the vehicle dynamics especially in case of skid type vehicle. The traversability based on real time dynamic analysis was proposed to solve such problem but in navigation with strait driving path. To adapt the method into the navigation with curved driving path, a path following controller should be incorporated into the dynamic model even though it cause the real time problem. In this paper, a dynamic model is proposed to solve the real time problem in the traversability analysis based on real time dynamic simualtion. The dynamic model contains the control dummy which is connected to the vehicle body with a universal joint to follow the curved path without controller. Simulation and experimental results on $6{\times}6$ articulated unmanned ground vehicle demonstrate the method's effectiveness and applicability into the traversability analysis on terrain with bumps.

• Smart Structures and Systems
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• v.4 no.6
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• pp.809-828
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• 2008

Real-time hybrid testing is an attractive method to evaluate the response of structures under earthquake loads. The method is a variation of the pseudodynamic testing technique in which the experiment is executed in real time, thus allowing investigation of structural systems with time-dependent components. Real-time hybrid testing is challenging because it requires performance of all calculations, application of displacements, and acquisition of measured forces, within a very small increment of time. Furthermore, unless appropriate compensation for time delays and actuator time lag is implemented, stability problems are likely to occur during the experiment. This paper presents an approach for real-time hybrid testing in which time delay/lag compensation is implemented using model-based response prediction. The efficacy of the proposed strategy is verified by conducting substructure real-time hybrid testing of a steel frame under earthquake loads. For the initial set of experiments, a specimen with linear-elastic behavior is used. Experimental results agree well with the analytical solution and show that the proposed approach and testing system are capable of achieving a time-scale expansion factor of one (i.e., real time). Additionally, the proposed method allows accurate testing of structures with larger frequencies than when using conventional time delay compensation methods, thus extending the capabilities of the real-time hybrid testing technique. The method is then used to test a structure with a rate-dependent energy dissipation device, a magnetorheological damper. Results show good agreement with the predicted responses, demonstrating the effectiveness of the method to test rate-dependent components.

• Proceedings of the KIEE Conference
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• 1999.07c
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• pp.1239-1241
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• 1999

In this paper, we propose real time transient stability assessment and energy margin estimation using fuzzy approximate reasoning. The proposed method used rotor angle, kinetic energy and acceleration power of generators at clearing time as fuzzy input. In order to calculate energy margin in transient energy function (TEF), we obtained controlling unstable equilibrium point (UEP) using mode of disturbance procedure (MOD). The proposed algorithm is tested on 4-machine, 6-bus, 7-line power system to prove of effectiveness.

• Proceedings of the KIEE Conference
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• 1999.07c
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• pp.1259-1261
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• 1999

The paper proposes a simple method to calculate the portion of real power losses allocated to individual loads. The method is implemented by loss distribution factors, and analyses the share of loads in transmission line losses. Effectiveness of the algorithm is verified by a computer simulation. The results can be used to compute the cost of ancillary services under deregulated environment in electric power industries.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.658-662
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• 1991

In this paper, a real-time obstacle avoidance for mobile robot based on the readings of the ultrasonic sensors is presented. The twenty eight ultrasonic sensors are arranged in ring and controlled by microprocessor. The readings of the ultrasonic sensor is converted into the virtual forces called repulsive forces, which are the elastic and damping forces. Then, the direction and speed of mobile robot in the cluttered environment are determined by the virtual forces. The effectiveness of the proposed method is verified from a series of simulation studies.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.476-479
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• 1995

A real time and adaptive method for obtaining Volterra kernels of a nonlinear system by use of pseudorandom M-sequences and correlation technique is proposed. The Volterra kernels are calculated real time and the obtained Volterra kernels becomes more accurate as time goes on. The simulation results show the effectiveness of this method for identifying time-varying nonlinear system.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.2116-2119
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• 2003

In this paper, we present a DirectShow-based retrieval and playback subsystem of DVR(Digital Video Recorder), which supports real-time playback of stored video data and synchronized playback among several video channel data. The effectiveness of out proposed design is verified through experiments with a DVR system implementing the proposed design.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.7 s.178
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• pp.1878-1884
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• 2000

In multibody dynamic analysis, one of the most important problems is to reduce computation times for real time simulation. In this paper, a symbolic computation method is implemented and tested for each dynamic analysis step. Applying symbolic formulations to the vehicle dynamics program AutoDyn7, the effectiveness of the symbolic computation method is verified.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.119-119
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• 2000

In this research an induction motor vector control system was developed using Simulink and RTW(Real Time Workshop). On the Simulink window, control system is designed in the form of block diagrams, program codes are produced automatically with the RTW, then c compiler compiles the program codes. With this automatic real time program producing mechanism rapid prototyping is realized without the time-consuming manual program coding procedures. To show effectiveness of the proposed designing scheme a DSP-based induction motor vector control system was constructed and implemented

• Tuberculosis and Respiratory Diseases
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• v.80 no.1
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• pp.52-59
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• 2017

Background: Inhaled indacaterol (Onbrez Breezhaler), a long-acting ${\beta}_2$-agonist, is approved in over 100 countries, including South Korea, as a once-daily bronchodilator for maintenance and treatment of chronic obstructive pulmonary disease (COPD). Here, we present an interim analysis of a post-marketing surveillance study conducted to evaluate the real-world safety and effectiveness of indacaterol in the Korean population. Methods: This was an open-label, observational, prospective study in which COPD patients, who were newly prescribed with indacaterol (150 or $300{\mu}g$), were evaluated for 12 or 24 weeks. Safety was assessed based on the incidence rates of adverse events (AEs) and serious adverse events (SAEs). Effectiveness was evaluated based on physician's assessment by considering changes in symptoms and lung function, if the values of forced expiratory volume in 1 second were available. Results: Safety data were analyzed in 1,016 patients of the 1,043 enrolled COPD patients receiving indacaterol, and 784 patients were included for the effectiveness analysis. AEs were reported in 228 (22.44%) patients, while 98 (9.65%) patients reported SAEs. The COPD condition improved in 348 patients (44.4%), while the condition was maintained in 396 patients (50.5%), and only 40 patients (5.1%) exhibited worsening of ailment as compared with baseline. During the treatment period, 90 patients were hospitalized while nine patients died. All deaths were assessed to be not related to the study drug by the investigator. Conclusion: In real-life clinical practice in South Korea, indacaterol was well tolerated in COPD patients, and can be regarded as an effective option for their maintenance treatment.