• The Journal of Korea Robotics Society
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• v.2 no.4
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• pp.310-316
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• 2007

The paper proposes a human-following behavior of mobile robot and an intelligent space (ISpace) is used in order to achieve these goals. An ISpace is a 3-D environment in which many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents providing humans with services. A mobile robot is controlled to track a walking human using distributed intelligent sensors as stably and precisely as possible. The moving objects is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to track the walking human, the linear and angular velocities are estimated and utilized. The computer simulation and experimental results of estimating and trackinging of the walking human with the mobile robot are presented.

• Proceedings of the KSR Conference
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• 2004.06a
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• pp.1374-1378
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• 2004

Railway conflict detection and resolution problem (RCDRP) involves complicated field constraints that should be considered for practical service. In this paper, we address those constraints in brief. Particularly, following situations are addressed; (1) temporal change of network topology, (2) consideration of diverse conditions of track and train, for example, single/double tracks and passenger/freight service, (3) siding capacity limitation, (4) bidirectional sides used by both inbound and outbound trains, (5) regulation for passenger transfer service, (6) consideration of siding length, (7) Restriction on stopping before the track segment with steep slope.

• Structural Engineering and Mechanics
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• v.38 no.3
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• pp.301-314
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• 2011

The paper constitutes the second part of the author's study. The first part (Podworna 2010) formulates four fundamental tasks in dynamics of the bridge-track-train systems. The following cyclic moving loads are considered: a concentrated forces stream (model P), an unsprung masses stream (model M), a single-mass viscoelastic oscillators stream (model $M_o$) and a double-mass viscoelastic oscillators stream (model $MM_o$). Three problems precluding to the numerical simulations have been developed, i.e., prediction of the forced resonances, the parameters of integration of equations of motion, the output results. A computer programme was written in Pascal and numerical research in the scope of the fundamental tasks was worked out. The investigations were focused on adequacy evaluation of the moving load models, P, M, $M_o$, $MM_o$, in predicting dynamic processes in railway bridges.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.5
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• pp.131-138
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• 1996

This paper suggests a servo control algorithm to reduce the repeatable tracking error which is not explicitly taken into account in the design of a conventional PID controller of a computer hard disk drive. The robust stability of the repetitive control system with multiplicative modelling error is analyzed, and the controller was implemented using a fixed point DSP(Digital Signal Processor). Experimental results show that the repetitive errors are suppressed effectively by the proposed controller.

• Transactions of the Korean Society of Automotive Engineers
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• v.5 no.3
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• pp.76-85
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• 1997

The understeer characteristics of four wheel steering system(4WS system) in a high speed region have a negative effect upon the yaw velocity, leading to a decrease in the handling ability of vehicle. As a result, even if the side slip angle of vehicle can be kept up a minimum, a driver must compensate a decrease in yaw velocity by increasing the steering wheel angle in order to track the desired vehicle path. In this study, to keep the side slip angle of vehicle at zero and achieve a suitable yaw velocity in vehicle motion, a full active 4WS system(FA 4WS system) with actively steerable front and rear wheels is presented based on a nonlinear vehicle model and a model following control of yaw velocity. And the analysis results show the fat that, besides the excellent stability of vehicle, the FA 4WS system is able to realize better handling performance of vehicle than the previous 4WS systems in the high speed region.

• Journal of The Korea Institute of Healthcare Architecture
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• v.17 no.1
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• pp.7-14
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• 2011

This paper is intended to suggest some reference materials for future specialization of university education about healthcare facility design in Korea, by reviewing the degree systems and curriculum of 5 universities where architecture departments have specialized program for healthcare facility design in USA. Research method includes the navigation of related homepages, the e-mail contacts with the professors in charge, and the analysis of collected materials. Some conclusions can be summarized as following : Degrees of the specialized programs under concentration or track system are awarded as the same title as master program in the department of Architecture. Specialized education programs can be largely classified by concentration/track systems( Clemson University, University of Kansas and Arizona State University) which are operated independently in general and certificate system(Texas A&M University and Texas Tech University) which adds some healthcare related courses to general master program in the department of Architecture. As distinctive curriculum from 5 Universities, Clemson University which offers almost courses related to healthcare facility design, University of Kansas which provides internships(6 credits each) for summer term & fall semester of 2nd year, and Texas Tech University where certificate program is co-operated by architecture and nursing department can be mentioned. In order to pursuit the specialization of university education about healthcare facility design in the department of Architecture, it would be desirable to proceed it after setting the direction such as concentration, track or certificate system according to the various circumstances & conditions of the department concerned.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.380-383
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• 2003

This paper proposes a new and simple input prediction method for robust servo system. This servo system uses robust tracking control system based on both Coprime Factorization(CF) and Zero Phase Error Tracking control system. The CF control system can be designed simply and systematically. Moreover, this system has not only stability but also robustness and disturbance rejection ability The optical disk tracking servo system can detect only the tracking error. So the new and simple input prediction system proposed in this paper estimates the reference input signal from the tracking error. Numerical simulation results show that the proposed method is effective.

• Journal of Sasang Constitutional Medicine
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• v.9 no.2
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• pp.187-201
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• 1997

An experimental study was done to examine the effects of Dokwhaljiwhang-tang on gastro-intestinal track and central nervous system and were undertaken by being carried out with rat. The following results have been obtained ; 1. Dokwhaljiwhang-tang showed to have an inhibitory effect on the smooth muscle contraction of the isolated ileum by acetylcholene chloride and barium chloride. 2. Dokwhaljiwhang-tang showed to have an inhibitory effect on the contraction of the gastric fundus-strip by acetylcholine chloride and barium chloride. 3. The preventive effect was recognized on the pylorus-ligated ulcer, by administration of Dokwhaljiwhang-tang. 4. The preventive effect was not recognized on the indomethacine -induced ulcer, by administration of Dokwhaljiwhang-tang. 5. The inhibitory effects on the secretion gastric juice, free acidity were recognized, by administration of Dokwhaljiwhang-tang 6. The transport ability in the small intestine was increased, by administration of Dokwhaljiwhang-tang. 7. The transport ability in the large intestine was increased, by administration of Dokwhaljiwhang-tang. 8. The analgesic effect was recognized, by administration of Dokwhaljiwhang-tang. 9. The effect of sleeping time was not recognized, by administration of Dokwhaljiwhang-tang. according to the results, it is considered that Dokwhaljiwhang-tang has effects of gastric ulcer, chronic gastritis,hyper-acidity, gastroptosis such as abdominal discomfort, gastric acid, indigestion and anorexia.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.1
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• pp.1-10
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• 2005

This paper proposes a new and simple input prediction method for robust servo system. A robust tracking control system for optical disk drives was proposed recently based on both Coprime Factorization (CF) and Zero Phase Error Tracking (ZPET) control. The CF control system can be designed simply and systematically. Moreover, this system has not only stability but also robustness to parameter uncertainties and disturbance rejection capability. Since optical disk tracking servo system can detect only tracking error, it was proposed that the reference input signal for ZPET could be estimated from tracking errors. In this paper, we propose a new control structure for the ZPET controller. It requires less memory than the previously proposed method for the reference signal generation. Numerical simulation results show that the proposed method is effective.

• Proceedings of the KSR Conference
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• 2008.11b
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• pp.1321-1326
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• 2008

According to the conventional train control system, the area of each train is detected by plural track circuits located in a constant distance on railway lines in order to control a distance between trains. The conventional train control system has the difficulty in making use of the substructure thoroughly and transmitting enormous amount of information. To solve those problems, the wireless CBTC system has been a global issue. To apply wireless CBTC system to train system, the following two requirements are preferentially necessary: (1) Dualizing wireless CBTC system to control trains ceaselessly in a system accident, (2) Improving dependency of transmitted information for location and velocity to protect collision and derailment of lightweight trains in advance.