• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.370-375
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• 1992

An algorithm for the notion planning of the robotic hand is proposed to generate finite displacements and changes in orientation of objects by considering sliding effects between the fingertips and the object at contact points. Specifically, an optimization problem is firstly solved to find minimum contact forces and minimum joint velocities to impart a desired motion to the object at each time step. Then the instantaneous relative velocity at the contact point is found by determining velocities of the fingertip and the velocity of the object at the contact point. Finally time derivatives of the surface variables and contact angle of the fingertip and the object at the present time step is computed using the Montana's contact equation to find the contact parameters of the fingertip and the object at the next time step. To show the validity of the proposed algorithm, a numerical example is illustrated by employing the robotic hand manipulating a sphere with three fingers each of which has four joints.

• 한국전산구조공학회논문집
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• 제27권1호
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• pp.37-43
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• 2014

동역학의 새로운 변분이론인 확장 해밀턴 이론은 수학물리학을 비롯한 공학에 있어 초기치-경계치 문제해석에 광범위하게 적용될수 있는 기반을 제공하는 것으로 본 논문에서는 이 이론을 기반으로 선형탄성 단자유도계에 적용한 새로운 수치해석법을 제안하였다. 곧, 변분이론의 특성을 감안해, 전체 time-step에 대한 수치해를 한번에 산정하는 해석법을 제안하였고, 주요 예제를 통해 이 해석법의 특성을 살펴보았다. 에너지 보존 시스템의 경우(비감쇠 시스템에 외력이 작용치 않는 경우), time-step에 관계없이 에너지와 모멘텀이 보존되는 symplecticity property를 가지고 있음을 확인할 수 있었고, 감쇠 시스템인 경우, time-step이 점점 작아질수록 정확한 해에 빠르게 수렴하는 것을 확인하였다.

• 한국통신학회논문지
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• 제33권4C호
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• pp.305-311
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• 2008

본 논문에서는 실시간 자동차 환경에서 VSSNLMS(variable step size normalized least mean square)를 이용하여 적응 잡음 제거 알고리즘을 제안한다. 기본적인 ANC(adaptive noise canceller)알고리즘인 LMS알고리즘은 알고리즘의 간단성 때문에 가장 많이 사용되고 있다. 그러나 LMS알고리즘은 수렴율과 실시간 환경에서의 정확성 사이에서 문제를 가지고 있다. 이러한 문제를 풀기 위해, 비정장성 환경에서 잡음제거를 위해 VSSLMS알고리즘이 사용된다. 본 논문에서 실시간 데이터 입력 시스템을 사용하여 컴퓨터 시뮬레이션 함으로써, VSSLMS알고리즘이 LMS알고리즘에 비해 수렴율과 정확성 이 모두에 더 효율적이라는 것을 입증한다.

• 조명전기설비학회논문지
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• 제27권3호
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• pp.107-112
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• 2013

Cu(In,Ga)$Se_2$ (CIGS) thin films were annealed on molybdenium/sodalime glass substrates of $300{\times}300mm^2$ by rapid thermal processing (RTP) with 2-step rising-temperature times in $N_2$ ambient. Morphological property, structural characteristics and chemical composition of the precursor of CIGS thin films were influenced directly with a change of $1^{st}$-step rising-temperature time in RTP whereas there is no significant difference with the different $2^{nd}$-step rising-temperature time (final crystallization temperature). The shorter $1^{st}$-step rising-temperature time in RTP obtained the higher photovoltaic cell efficiency from 7.469% to 8.479% even though the ideal composition in CIGS thin films could not be accoplished in this study.

• Smart Structures and Systems
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• 제14권6호
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• pp.1131-1150
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• 2014

One of the issues in extending the range of applicable problems of real-time hybrid simulation is the computation speed of the simulator when large-scale computational models with a large number of DOF are used. In this study, functionality of real-time dynamic simulation of MDOF systems is achieved by creating a logic circuit that performs the step-by-step numerical time integration of the equations of motion of the system. The designed logic circuit can be implemented to an FPGA-based system; FPGA (Field Programmable Gate Array) allows large-scale parallel computing by implementing a number of arithmetic operators within the device. The operator splitting method is used as the numerical time integration scheme. The logic circuit consists of blocks of circuits that perform numerical arithmetic operations that appear in the integration scheme, including addition and multiplication of floating-point numbers, registers to store the intermediate data, and data busses connecting these elements to transmit various information including the floating-point numerical data among them. Case study on several types of linear and nonlinear MDOF system models shows that use of resource sharing in logic synthesis is crucial for effective application of FPGA to real-time dynamic simulation of structural response with time step interval of 1 ms.

• 신재생에너지
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• 제20권2호
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• pp.17-25
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• 2024

In this study, the effect of the time step specified in a computational fluid dynamics (CFD) simulation on load response is analyzed and the drag coefficients of the floating body of floating offshore wind turbines (FOWTs) are estimated. By evaluating the error in the FOWT load response and the change in the drag-coefficient values based on the density of the time intervals, this study aims to establish a time-interval setting that minimizes the time and cost of CFD simulations for selecting drag-coefficient values. Practical CFD utilization strategies necessary for the calibration of medium-to high-fidelity analysis tools are presented. Based on a comparative analysis of CFD simulations conducted at various time intervals, the results confirmed that under a certain time interval that sufficiently considers various factors, the accuracy of the FOWT response with respect to density shows minimal differences, thereby providing an efficient utilization method for CFD simulations in FOWT design and analysis.

• 대한통합의학회지
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• 제10권4호
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• pp.145-151
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• 2022

Purpose : Stroke patients exhibit abnormal walking patterns such as slow walking speed and asymmetrical walking values. The recovery of symmetrical walking in the stance phase using a treadmill means improvements in walking speed and asymmetrical walking. The purpose of this research was to investigate the effect of unilateral step treadmill training (USTT) on gait speed and the recovery of symmetrical walking in chronic stroke patients. Methods : Fifteen patients (11 men and 4 women) with chronic stroke participated in this study. The 10-meter walk test (10MWT) and GAITRite system were used to determine the intervention-related changes in gait speed and symmetrical walking values such as non-paretic step length (NSL), non-paretic step time (NST), paretic single-support time (PSST), step length asymmetry (SLA), and step time asymmetry (STA) after USTT. All participants completed USTT and underwent measurements at 3 different times: at pretest, posttest, and the follow-up test. Repeated-measures analysis of variance was used to compare walking speed and asymmetrical walking values. The statistical significance level was set at p<.05. Results : Walking speed by 10MWT (p<.05) showed significant improvements after USTT as follows: at pretest and posttest (p<.05), posttest and follow-up test (p<.05), and pretest and follow-up test (p<.05). Recovery of symmetrical walking patterns such as NSL (p<.05), NST (p<.05), and SLA (p<.05) were observed after USTT. However, no significant improvements were found in PSST (p>.05) and STA (p>.05) in symmetrical gait. Conclusion : This study suggests that USTT may have a positive effect on walking speed and symmetrical walking patterns in chronic stroke patients. Thus, this study contributes to the existing knowledge about the usefulness of USTT for the effective management of patients with chronic stroke. Further studies are needed to generalize these findings.

• 한국지하수토양환경학회지:지하수토양환경
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• 제25권4호
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• pp.35-47
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• 2020

Step-drawdown test is one of the widely-used aquifer test methods to evaluate aquifer and well losses. Various approaches have been suggested to estimate well losses using the step-drawdown test data but the uncertainties associated with data interpretation and analysis still exist. In this study, we applied three different step-drawdown test analysis methods -Jacob (1947), Labadie and Helweg (1975), Gupta (1989)- to the step-drawdown test data in Seobu-myeon, Hongseong-gun, South Korea and estimated aquifer and well losses. Comparisons of different step-drawdown test analysis methods revealed that the estimated well losses showed different values depending on the applied methods and these variations are likely to be related to the limitation of the assumptions for each analysis method. Based on the detailed analysis of time-drawdown data, we performed step-drawdown test analysis after removing outlier data during the initial stage of step drawdown test. The results showed that the application of the revised time-drawdown data could substantially decrease the error of the analysis as well as the variations in the estimated well losses from different analysis methods.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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• pp.116-120
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• 1999

The step response of the Manabe standard form[1］has little overshoot and shows almost same waveforms regardless of the order of the characteristic polynomials. In some situations it is difficult to control the rise time and settling time simultaneously of the step response of the Manabe standard form. To control its rise time and settling time efficiently, we develop the generalization of the Manabe standard form: we try to find out the SRFS(Slow Rise time & Fast Settling time) form which has the slower rise time and faster settling time than those of the Manabe standard form. we also consider the other three forms: FRSS(Fast Rise time & Slow Settling time), SRFS(Slow Rise time ＆ Fast Settling time) and SRSS(Slow Rise time & Slow Settling time) forms. In this paper, by using the genetic algorithm, we obtain all the coefficient of the four forms we mention above. Finally, we design a controller for a given plant so that the overall system has the performance that the rise time is faster, the settling time is slower than those of the Manabe standard form.

• Asian-Australasian Journal of Animal Sciences
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• 제27권6호
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• pp.841-846
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• 2014

The present study was conducted to determine whether the two-step time-restricted feeding improves the fattening traits of one-step time-restricted feeding in geese. Thirty-six 8-wk-old geese were allotted into one of three groups. Group R1 (the 1-step restricted feeding group) was allowed access to feed for 2 h in the morning from 8 wk to 14 wk of age. Group R2 (the 2-step restricted feeding group) was treated as Group R1, but was additionally fed for 2 h in the afternoon from 12 wk to 14 wk of age. Group C (the control group) was fed ad libitum from 8 wk to 14 wk of age. Feed intake and body weight (BW) were recorded daily and weekly, respectively. At 14 wk of age, the blood samples were collected to determine the fasting plasma levels of glucose, triacylglycerols and uric acid before sacrifice. The results showed that daily feed intake (DFI) was lower, feed efficiency (FE) was higher in both Groups R1 and R2 than in Group C, and daily gain (DG) in Group R2 was higher than in Group R1 during the whole experimental period (p<0.05). Group R1 exhibited lower abdominal and visceral fat weights in carcass than did Group C (p<0.05), and Group R2 was in intermediate. The fasting plasma glucose levels in Group C were higher, and triacylglycerol levels in Group R1 were higher, compared with the other groups (p<0.05). It is concluded that time-restricted feeding in the fattening period not only increases FE but reduces DFI, and the additional meal during the late fattening period improves the DG without the expense of FE in geese.