• Journal of Electrical Engineering and Technology
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• 제7권3호
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• pp.349-357
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• 2012

This paper presents a hybrid motor prototype convenient to modify the magnet and reluctance torques. The rotor of the prototype consists of magnet and reluctance parts, so the generated torque includes both magnet and reluctance torques. A considerable feature of the motor is that the ratio of the magnet and reluctance parts can be modified on the rotor and the rotor hybridization ratio can be varied. Another important point is the mechanical angle between the parts changed by means of the suitable construction of the parts on the rotor shaft. Finite element (FE) analysis was carried out for the proposed motor and static torque measurements were realized. The FE results were compared with the experimental results. Average torque and maximum torque values were obtained and three dimensional 3-D graphs were formed by using the experimental data. It is possible to make different combinations by changing the parts and the angle between the parts due to the proposed motor. So the magnet and reluctance torques are modified and different combinations give different torque behavior.

• 한국컴퓨터그래픽스학회논문지
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• 제1권2호
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• pp.201-212
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• 1995

This paper presents a new method of dynamics-based synthesis of bipedal, especially human, walking. The motion of the body at a time point is determined by ground reaction force and torque under the support foot and joint torques of the body at that time point. Motion synthesis involves specifying conditions that constrain ground reaction force and torque, and joint torques so that a given desired motion may be achieved. There are conditions on a desired motion which end-users can think of easily, e.g. the goal position and orientation of the swing foot for a single step and the time period of a single step. In this paper, we specify constraints on the motion of the support foot, which end-users would find difficult to specify. They are constraints which enforce non-sliding, non-falling, and non-spinning the support foot. They are specified in terms of joint torques and ground reaction force and torque. To satisfy them, both joint torques and ground reaction force and torque should be determined appropriately. The constraints on the support foot themselves do not give any good clues as to how to determine ground reaction force and torque. For that purpose, we specify desired trajectories of the application point of vertical ground reaction force (ground pressure) and the application point of horizontal ground reaction (friction) force. The application points of vertical pressure and friction force are good control variables, because they are indicators to kinds of walking motions to synthesize. The synthesis of a bipedal walking motion, then, consists of finding a trajectory of joint torques to achieve a given desired motion, so that the constraints are satisfied under the condition of the prescribed center of pressure and center of friction. Our approach is distinguished from many other approaches, e.g. the inverted-pendulum approach, in that it captures and formulates dynamics of the support foot and reasonable constraints on it.

• 생물환경조절학회지
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• 제4권2호
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• pp.232-239
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• 1995

This study was carried out to get required torque data needed to design and develop a roll-up ventilation system in a pipe-constructed plastic film green-house. The results obtained from this study are as follows : 1. The required torques of a roll-up ventilation system in greenhouse are the functions of its length. The torques should multiplied by the conversion coefficients (2.0 in ceiling vent, 1.8 in side vent) in case of application. 2. In constructing pipe-constructed plastic film greenhouse, a shaft pipe is the largest essential element in roll - up shaft weight constitution which have an effect on the required torques. Therefore, the pipe should be light using nonferrous materials like aluminum alloy. 3. A planetary reduction ventilator of differential ring gear type is suitable for a roll-up ventilation system, because it can make high efficient reduction just using the first step shift.

• Animal Systematics, Evolution and Diversity
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• 제21권2호
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• pp.219-225
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• 2005

길쭉종사촌이끼벌레(Pleurocodonellina signata) 와 목걸이입이끼벌레 (Smittina torques)의 두 종을 한국미기록종으로 보고한다. 일본에서 신종으로 보고되었던 Smittina elongata는 길쭉종사촌이끼벌레의 동종이명이며 목걸이입이끼벌레는 현재까지 뉴질랜드로부터만 보고되었던 종이다. 종사촌이끼벌레속(Pleurocodonellina)은 한국해역에서 처음으로 보고된다.

• The International Journal of Costume Culture
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• 제6권2호
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• pp.69-82
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• 2003

The Scythians had a veritable passion for adornment, delighting in decorating themselves no less than their horses and belongings. Their love of jewellery was expressed at every turn. The most magnificent pieces naturally come from the royal tombs. In the area of the neck and chest the Scythian had a massive gold Torques, a symbol of power, made of gold, turquoise, cornelian coral and even amber. The entire surface of the torque, like that of many of the other artefacts, is decorated with depictions of animals. Scythian Torques are worn with the decorative terminals to the front. It was put a Torque on, grasped both terminals and placed the opening at the back of the neck. It is possible the Torque signified its wearer's religious leadership responsibilities. Scythian Torques were divided into several types according to the shape, Torque with Terminal style, Spiral style, Layers style, Crown style, Crescent-shaped pectoral style.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1992년도 춘계학술대회 논문집
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• pp.369-373
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• 1992

Force control of a planar two-link structurally flexible robotic manipulator is considered in this study. The dynamic model is obtained by using the extended Hamilton's principle and the Galerkin criterion. A method is pressented toobtain the linearized equations of motion in Cartesian space for use in designing the control system. The approachto solving the control problem is to use feedforward and feedback control torques. The feedforward torques maneuver the flexible manipulatro along a nominal trajectory and the feedback torques minimize any deviations from the nominal trajectory. The linear quadratic Gaussian/loop transfer recovery (LQG/LTR) design methodology is explotied to design a robust feedback control system that can handle modeling errors and sensor noise, and operates on Cartesian space trajectory errors. The Lqg/LTR compenstaor together with a feedforward ollp is used to control the flexible manipulator. Simulated results are presented for a numerical example.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.793-798
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• 1996

In this paper, output compliance effects at RCC point by both redundant joint compliances and antagonistic torques generated by internal preloading between joints of a spherical 3 degree-of-freedom mechanism are investigated. For this purpose, kinematic analysis is briefly described. Then, output compliance models at RCC point, which is generated by redundant joint compliances and by internal preloading between joints are derived. Finally, ranges of output compliance modulation due to these redundant joint compliances and antagonistic torques are examined through simulation.

• 한국정밀공학회지
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• 제15권3호
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• pp.157-167
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• 1998

In this paper it is purpose that reduces joint torques and their rate of change through optimizing trajectory planning of biped walking machine. The motion of biped walking machine is divided into leg motion for walking and body motion for keeping balance. The leg motion is planned by three phases, that are deploy, swing, and place phases, in terms of the state of foot against floor. The distribution of time assigned to each phase is optimized and that causes leg joint torques and their rate of change to minimize. The body notion is produced by using optimal control theory which minimizes body joint torques and satisfies Z.M.P. constraints defined as region of each phase.

• 대한전기학회논문지:시스템및제어부문D
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• 제52권8호
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• pp.482-491
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• 2003

In this paper are presented kinematic and dynamic modeling and path-tracking of four-wheeled mobile robots with 2 d.o.f haying the limited drive-torques. Controllability of wheeled-mobile robots is revealed by the kinematic model. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to drive the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

• Journal of Electrical Engineering and Technology
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• 제9권4호
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• pp.1145-1153
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• 2014

It is well known that line switching operations like reclosing are able to cause transient power oscillations which can stress or damage turbine generators. This paper presents a reclosing scheme to reduce the shaft torsional torques of turbine generators by inserting an additional reactor. A novel method to determine optimal reactor capacity to minimize the torsional torque generated in a turbine generator is also proposed. In this paper, the turbine generator shaft is represented by a multi-mass model to measure torsional torques generated in the shaft between the turbine and the generator. Transmission systems based on actual data from Korea are modeled to verify the proposed scheme using ElectroMagnetic Transient Program (EMTP) software. The simulation results clearly show the effectiveness of the proposed scheme and torsional torque can be minimized by applying the proposed scheme.