• Proceedings of the KSME Conference
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• 2000.04a
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• pp.523-528
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• 2000

In this paper, the new type biped walking robot which is composed of the minimum number or links just for walking and its appropriate gaits are proposed. The proposed new gaits for this robot are four-crossing, crawling, standing and turning gait. In designing the biped robot we propose the Performance Index which means the needed torque per a moving distance and generate foot trajectories by $3^{rd}$ order spline Interpolation. Among those, numerically we find the optimal conditions which minimize the Performance Index. Dynamically stable walking of the biped robot is realized by satisfying the stability condition of ZMP(zero moment point), which is related to maintaining the ZMP within the region of the supporting foot during the s1n91e leg support phase. We determine the region of mass center from the stability condition of ZMP and plan references which track the mass conte. trajectory of constant velocity. Finally we implement the gaits statically tracking the planned trajectories using PD control method.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2003.10a
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• pp.348-351
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• 2003

항로표지(Aids to Navigation)란 빛, 형상, 색채, 전파, 음향 등으로 안전한 항로를 표시하여 선박 항행의 안전성을 확보하기 위하여 인위적으로 설치하는 시설이다. 특히, 등대(Lighthouse)는 항로표지 중 가장 중요한 것으로 선박이 육지나 주요 변침점(Turning Point) 또는 선박 위치를 확인하기 위하여 연안에 설치하거나 항만의 소재, 항구 등을 나타내기 위하여 설치한 구조물이다. 본 논문에서는 선박의 입ㆍ출항에 관련하여 선박의 안전을 위해서 설치되어 있는 등대의 효율적인 관리 및 운영을 위한 등대 동기 제어 시스템의 개발에 관한 연구이다. 이를 위해서, 등대 동기 제어 시스템은 하드웨어(컨트롤 박스)와 소프트웨어(제어 프로그램)로 나누어 구성하였다. 하드웨어 모듈은 등대와 선박의 입ㆍ출항에 관한 업무를 담당하는 관제소 사이의 인터페이스를 제공한다. 즉, 등대의 점멸등 제어를 위한 제어부와 등대와 관리 시스템사이의 데이터 전송을 위한 통신 인터페이스를 마이크로컨트롤러의 한 종류인 PIC(Programmable Interrupt Controller)를 이용하여 구성하였다. 소프트웨어 모듈은 시스템 운영자가 등대를 간편하고 효율적으로 관리하기 위해서 GUI(Graphical User Interface) 형태의 인터페이스를 제공한다.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1996.06c
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• pp.685-691
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• 1996

Recent research in composting greenhouse has focused on some of the fundamental properties during the process such as temperature , carbon dioxide content and odors which change as the composting progresses. The composting greenhouse of cattle manure with rice hulls by a forced aeration method without turning is available for the practical proposition. The control of a predetermined temperature range(45-65$^{\circ}C$) is possible if intermittent aeration is used. The carbon dioxide concentration was maintained in the range from 400 to 2650 ppm by the intermittent aeration. The ammonia emission rose rapidly leading to a temperature increase of composting material up to more than 60$^{\circ}C$ for six days. Ammonia emission declined quickly and could hardly be detected after 10 days of running period.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.200-205
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• 1996

Recently, in order to achieve high flexibility of manufacture, monitoring and control strategies cf a new type have been developed. Since the generation of built-up edge on the cutting tool damages the surface finish of the workpiece, the monitoring system of built-up edge is an important process monitoring. In this study, the analyzing methods of cutting force signal to detect the built-up edge during cutting process are described. The cutting force signals are analyzed using the mean, standard deviation and mean to standard deviation of this cutting signals. We can obtain the guide to detect the built-up edge during turning process.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.10a
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• pp.144-147
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• 2000

Controller refinement scheme to improve the performance of a conventional system automatically in frequency domain is proposed. The controller automatic tuning method features using experimental frequency responses of the conventional closed-loop system the conventional controller, and the improved closed-loop system, instead of poorly modeled plant due to non-linearities and disturbances. The improved closed-loop system characteristics is automatically acquired by the conventional closed-loop system characteristics and the proposed performance index in system bandwidth. And the proper controller is realized by least squares approximation in frequency domain. To testify the usefulness of the approach, the path tracking control of robot arm is performed. Experimental results and analytic results are well-matched.

• Proceedings of the Korean Vacuum Society Conference
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• 2012.02a
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• pp.528-528
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• 2012

Recently, atmospheric pressure plasmas attract lots of interests for the useful applications such as surface modification and bio-medical treatment. In this study, a particle-in-cell Monte Carlo collision (PIC-MCC) simulation was adopted to investigate the discharge characteristics of a planar micro dielectric barrier discharge (DBD) with a driving frequency from 13.56 MHz to 162.72 MHz and with a gap distance of 80 micrometers. The variation of frequency, in the change in the electron energy probability function (EEPF). Through the relation between the ion trajectories and the frequency, results in the change of EEPFs is achievable with the turning point of frequency mode. Therefore, it is possible to categorize the efficient operation range of DBDs for its applications by controlling the interactions between plasmas and neutral gas for the generation of preferable radicals.

• Environmental and Resource Economics Review
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• v.16 no.3
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• pp.643-651
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• 2007

The Environmental Kuznets Curve Hypothesis postulates an inverted-U shaped relationship between GDP per capita and various pollutants. Pollutants emission increases up to a certain level as income goes up; after that, it decreases. This paper investigates the relationship between industry pollutants taking industrial sulfur dioxide omission as example, and economic growth by using province-panel data set from 1989 to 2004 in 28 provinces of P. R. China. The result shows that the EKC hypothesis may be supported in the case of industrial sulfur dioxide, and the GDP per capital of turning point is about RMB 13,548 (at 1978 price). Except Shanghai, all the provinces GDP per capital in this study are less than RMB 13,548, indicating the amount of industrial sulfur dioxide emission will be increasing in the near future. To realize sustainable development and pollutants abatement, the central and local government should adopt an integrated strategy to protect environment.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.5
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• pp.25-33
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• 2013

All-wheel steering (AWS) system is applied to articulated vehicles to reduce turning radius. The swing-out suppression algorithm is applied to AWS ECU, a key component of AWS system. The swing-out suppression algorithm applied to AWS ECU has a problem when velocity of vehicle is changed. In this paper, new algorithm based on moving distance that solve velocity problem is proposed. The HILS simulation and the test articulated bus is used to validate algorithm.

• Proceedings of the KSR Conference
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• 2009.05a
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• pp.278-283
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• 2009

The bimodal tram with a pivoting joint has difficulty in making a sharp turn because of their long body and wheel base. Therefore, applying AWS(all wheel steering) to the bimodal tram is effective to reduce the turning radius. In the present study, HILS(hardware in the loop simulation) system for the AWS ECU test was developed, which consists of the components used in real vehicles. The data obtained from the HILS system also satisfied the dynamics simulation without any error on the operation control.

• Journal of the Semiconductor & Display Technology
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• v.16 no.1
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• pp.102-105
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• 2017

Currently, the size of the electronic device is in the nano area. In order to control the movements of these nanoscale devices, one should be able to understand the physical phenomena in the nano area. Recently, due to carbon nanotubes and mechanical outstanding electrical conductivity and mechanical characteristics of the carbon nanotubes and Graphene behaves to apply. Efforts have been active. There are various tubes with a radius of a in a compact mass in the form of a Multi walled carbon nanotubes in different between the radius. Van der Waals force can move smoothly without friction with each other by the nanoscale motor turning, using the properties, making. This is the lightest solids per unit area on the thickness is electrical atomic layer one of the substance and the electrical conductivity, the best material and mechanical characteristics are very much. Many studies because great is the ideal nanoelectromechanical device of material is being considered. In this study, electrical resonator for a new structure proposed and the nature and methodology would like to come up.