• 한국진공학회:학술대회논문집
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• 한국진공학회 2011년도 제40회 동계학술대회 초록집
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• pp.359-359
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• 2011

Many research applications in basic sciences and biology such as protein crystallography require hard x-rays in the range of 3-20 keV with high brightness. A medium energy storage ring as PLS-II with a beam energy of 3 GeV can meet such high photon energies. In-vacuum undulators (IVU) with a period length of 20 mm and a peak field of 0.97 T are used in the PLS-II ring to produce such X-rays in the fundamental or higher harmonics. Due to the many poles and high fields, insertion devices like wigglers and undulators have a significant impact on the stability of the electron beam with potential degradation of beam quality and life time. Therefore, nonlinear fields must be determined by measurement and evaluated as to their impact on beam stability. Specifically, transverse field roll-off can be a serious detriment to injection in top-up mode and must be corrected. We use magnetic field measurement data to evaluated beam stability by tracking particles using an explicit symplectic integrator in both, transverse and longitudinal planes.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
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• pp.456-459
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• 2003

This paper deal with the biped walking stability by inverted pendulum type balancing joints. This model is hard to interpretation for the nonlinearity caused by upper direction movement then conventional model which have roll and prismatic joints. We can interpret this model by a linear approximation or interpolation method. This paper use a linear approximation method that can decide a movement of upper direction. Inverted pendulum type balancing joints have a advantage of less movement for keep stability and similar with human than conventional model and this model can be used for humanoid robot. We can see a stability of biped by ZMP(Zero Moment Point). Genetic algorithm is used for trajectory planning that is important for stable walking of biped.

• 폴리머
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• 제29권2호
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• pp.204-210
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• 2005

플라스틱 디스플레이 기판용으로 사용하기 위하여 무색, 투명하면서 유연성, roll-to-roll 공정, 내열성과 저 열팽창계수 특성을 갖출 수 있는 폴리이미드에 대한 연구를 하였다. 3,3',4,4'-oxydiphthalic anhydride(ODPA), 4,4'-(hexafluoroisopropylidene)diphthalic anhydride (6FDA), sulfonyldianiline(3-SDA), aminophenoxybenzene(TPE-p, TPE-q, TPE-r)과 bis[4-(3-aminophenoxy)phenyl]sulfone(m-BAPS) 등을 사용하여 무색 투명한 폴리이미드를 합성하고 광학적 특성을 UV spectrophotometer, colormeter와 hazemeter를 이용하여 측정하였다. 열팽창계수(CTE)를 낮추기 위하여 층상실리케이트로 나노복합화하였다. 무색투명한 폴리이미드 필름은 440 nm에서 $89\%$ 이상의 광투과도와 yellow index(YI) 값이 7 이하의 우수한 광학 특성을 보였다. 나노복합화한 폴리이미드 필름은 층상실리케이트가 효과적으로 박리되어 층상실리케이트의 함유량이 증가함에 따라 열팽창계수가 감소하는 효과를 보였다.

• 한국전문물리치료학회지
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• 제17권4호
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• pp.16-25
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• 2010

The aim of this study was to determine the muscle activity of the abdominalis and erector spinae during bridging and unilateral bridging exercises on the firm surface, the sir-fit, and the foam roll. Eighteen healthy young subjects were recruited for this study. Surface electromyographic (EMG) activities were recorded from the both sides of the rectus abdominalis, external obliques, internal obliques, and erector spinae muscles during bridging and unilateral bridging-exercises. A one-way repeated analysis of variance was used to compare the EMG activity of each muscle according to the support surface condition. Differences in the EMG activities between the bridging and unilateral bridging exercises, and between the right and left side were assessed using a paired t-test. The study showed that the EMG activities of all of the muscles were significantly higher when the bridging exercise was performed using the foam roll or sit-fit than on the firm surface. The EMG activities of the right rectus abdominis, right external obliques, the right internal oblique, and both erector spinae were significantly higher during unilateral bridging ex exercise using the foam roll or the sit-fit than on the firm surface. The EMG activities of all of the muscles were significantly higher during the unilateral bridging exercise than during the bridging exercise. Based on these finding, performing the unilateral bridging exercise using the sit-fit or the foam roll is a useful method for facilitating trunk muscle strength and lumbar stability.

• 한국해양공학회지
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• 제24권4호
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• pp.13-22
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• 2010

While a caisson used for breakwater is carried by a floating dock, accompanying stability problem by its existing motions in the dock is quite important and should be pre-checked against sea environmental condition. In the stability analysis, the acceleration, velocity, angle of roll and pitch motions are important to calculate frictional force and separation force. If separation force becomes bigger than frictional force, serious collision may be occurred between caisson and floating dock. In this study, stability evaluation during the transportation of a caisson on floating dock for breakwater was performed by using a commercial program, HydroD and CHARM3D/HARP.

• Journal of Astronomy and Space Sciences
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• 제29권4호
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• pp.389-395
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• 2012

The problem of spacecraft attitude control is solved using an adaptive neuro-fuzzy inference system (ANFIS). An ANFIS produces a control signal for one of the three axes of a spacecraft's body frame, so in total three ANFISs are constructed for 3-axis attitude control. The fuzzy inference system of the ANFIS is initialized using a subtractive clustering method. The ANFIS is trained by a hybrid learning algorithm using the data obtained from attitude control simulations using state-dependent Riccati equation controller. The training data set for each axis is composed of state errors for 3 axes (roll, pitch, and yaw) and a control signal for one of the 3 axes. The stability region of the ANFIS controller is estimated numerically based on Lyapunov stability theory using a numerical method to calculate Jacobian matrix. To measure the performance of the ANFIS controller, root mean square error and correlation factor are used as performance indicators. The performance is tested on two ANFIS controllers trained in different conditions. The test results show that the performance indicators are proper in the sense that the ANFIS controller with the larger stability region provides better performance according to the performance indicators.

• 제어로봇시스템학회논문지
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• 제6권11호
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• pp.981-986
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• 2000

A pulse amplitude modulation(PAM) controller is designed for the 3 axis attitude control of a sounding rocket. a certain number of fixed level of thrust are used for the pulse amplitude modulation and the nonlinearity of the controller is considered to examine the existence of the limit cycles and the stability analysis is carried out with the aid of Nyquist plot.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1998년도 하계종합학술대회논문집
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• pp.215-218
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• 1998

In this paper, we design the $H_{\infty}$ controllers satisfying robust stability and performance for underwater vehicle. The underwater vehicle has computations delay time and input delay. In addition, there exist parameter uncertainties by the roll motion coefficient error, buoyance error, and gravity error. We design the $H_{\infty}$ controllers using model-matching method and check the performance of the proposed controller by nonlinear simulation which includes time delay model, sensor error model, and actuator model.

• 대한조선학회논문집
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• 제37권1호
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• pp.50-59
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• 2000

본 연구는 손상된 선박의 최종 평형 상태에서의 동적 안정성에 관한 내용을 담고 있다. 먼저 1자유도 횡동요 운동방정식에 침입수의 영향과 횡풍 횡파의 영향을 적절히 고려하여 손상선박의 횡동요 응답을 구하였으며, 신뢰성공학적 수법을 이용하여 손상선박의 전복확률의 계산법을 정립하였다. 연구결과 해상상태, 운항상태 그리고 손상상태에 따른 동적 안정성을 확률론적으로 평가할 수 있었다.

• 로봇학회논문지
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• 제9권2호
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• pp.124-131
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• 2014

The robot mechanisms that were previously researched had only been conducted for the purpose of overcoming the obstacles stably at low speed driving and enhancing the stability against high speed circuitous driving, and yet, the mechanism satisfying two purposes. However, in order to stably drive with high speed on rough terrain, there is a need for satisfying both of these purposes, as well as testing the efficiency of the mechanisms at high speed driving. There, this paper simulated some of the passive mechanisms and focused on checking the performances of passive mechanisms through simulations and analyzing each mechanism on the basis of an evaluation index. The simulation was conducted by Adams (The Multi-body Dynamics Simulation Solution) and used various types of passive mechanisms which were introduced in the robotics field. As a result, the study confirmed that passive mechanisms have a number of situations that affect the driving stability on each direction of roll and pitch. Further study is needed about active mechanism.