• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.639-644
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• 2003

An unstructured environment requires a robot to possess outstanding mobility and advanced control algorithms since there exist complicated configurations such as obstacle, uneven surface, etc. Especially, when a quadruped robot walks in these environments, obstacles in the walking route will obstruct the walking or may give rise to a serious trouble. In this paper, we introduce a strategy for the stable walking in unstructured environment. The proposed strategy consists of two control algorithms. One is a collision{free algorithm to avoid obstacles and the other is an algorithm to overcome any obstacle. These are based on the obstacle detection method and a shape reconstruction algorithm, Which algorithms are described in detail. In addition, the validity of these algorithms have been demonstrated through experiments using a quadruped walking robot called "MRWALLSPECT III(Multifunctional Robot for Wall inSPECTion version 3 )".

• Advances in robotics research
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• v.2 no.2
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• pp.151-159
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• 2018

The evolution of bipedal robots was the foundation stone for development of Humanoid robots. The highly complex and non-linear dynamic of human walking made it very difficult for researchers to simulate the gait patterns under different conditions. Simple controllers were developed initially using basic mechanics like Linear Inverted Pendulum (LIP) model and later on advanced into complex control systems with dynamic stability with the help of high accuracy feedback systems and efficient real-time optimization algorithms. This paper illustrates a number of significant mathematical models and controllers developed so far in the field of bipeds and humanoids. The key facts and ideas are extracted and categorized in order to describe it in a comprehensible structure.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2003.10a
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• pp.211-216
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• 2003

Weld line in injection molded part is one of the defect in injection molding process. Weld line deteriorates not only appearance quality but mechanical property. In this study weld line strength has been examined according to the injection operational conditions, materials and mold designs. PC and PP were used, and four different specimens were used in this experiment. Weld line strength decreased as injection temperature increases for PC. It was more dependent on mold temperature than injection temperature for PP Among the four different specimens, uneven thickness specimen showed the highest weld line strength.

• Korean Journal of Applied Biomechanics
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• v.17 no.2
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• pp.93-101
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• 2007

The purpose of this study was to analyze the research trends of artistic gymnastics on the kinetics. This study analyzed the 76 published papers in the Journal of Korean Alliance for Health, Physical Education, Recreation & Dance and Korean Journal of Sport Biomechanics between 1995 and 2006. Papers were split into two groups for analysis, 1995-1999 and 2000-2006, and classified according to research methods, areas, and main topics. Conclusions are as follow. First, method of research were kinematical research(80.3%), kinetic(17.1%), and EMG research(2.6%). Second, areas of research were hi-bar(31.6%), vault(23.7%), parallel bars(21.1%), floor exercise(13.2%), rings(3.9%), balance beam(3.9%), uneven bars(2.6%). Last, main topic of research were focused on vault Tsukahara skill(13.9%), hi-bar flight skill(11.4%), parallel bars support skill(10.1%), hi-bar dismount skill(8.9%), floor exercise salto skill(8.9%).

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.586-588
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• 2004

Although stable control algorithm has been implemented to the biped robot, the stability is not guaranteed because of encoder errors and/or rigid body elastics. Hence precise body pose estimation is required for more natural and long term walk. Specially pelvis sloping by gravity or uneven ground on landing place are most critical reason for undulated motion. In order to overcome these difficulties an estimation system for foot position and orientation using PSD sensors and Gyro sensors is proposed along with calibration algorithm and experimental verification.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.12
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• pp.10-18
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• 1997

The parallel trabutary signals in the SDH-based transmission system have the frame phase skew due to uneven transmission delays in the data and the clock path. This phase skew must be eliminated prior to synchronously multiplexing process. A new twenty-four channel, 51.84Mb/s DFPA(Digital Frame Phase Aligner) has been designed and fabricated in 0.8.mu.m CMOS gate array. This unique device phase-aligns the skewed input signals with refernce frame synchronous signal and reference clok for subsequent synchronous multiplexing process. the performance of fabricated device is evaluated by the STM-16 transmission system and DS-3 meansurement set. The frame phase margin of +2/-3 bit periods has been demonstrated.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.228-231
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• 2003

This paper presents the leg trajectory generation for the quadruped robot with genetic-fuzzy algorithm. To have the nobility even at uneven terrain, a robot is able to recognize obstacles, and generates moving path of body that can avoid obstacles. This robot should have its own avoidance algorithm against obstacles, forwarding to target without collision. During walking period, n robot recognizes obstacle from external environment with a PSD and some interface, and this obstacle information is converted into proper the body rotation angle by fuzzy inference engine. After this process, we can infer the walking direction and walking distance of body, and finally can generate the optimal Beg trajectory using genetic algorithm. All these methods are verified with PC simulation program, and implemented to SERO-V robot.

• 유체기계공업학회:학술대회논문집
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• 2002.12a
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• pp.89-94
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• 2002

n general, the function of intake structure, whether it be a open channel, a fully wetted tunnel, a sump or a tank, is to supply an evenly distributed flow to a pump station. An even distribution of flow, characterized by strong local flow, can result in formation of surface or submerged vortices, and with certain low values of submergence, may introduce air into pump, causing a reduction of capacity and efficiency, an increase in vibration and additional noise. Uneven flow distribution can also increase or decrease the power consumption with a change in total developed head. To avoid these sump problems pump station designers are considered intake structure dimensions, such as approaching upstream, baffle size, sump width, width of pump cell and so on. From this background, flow characteristics of intake within sump are investigated numerically to obtain the optimal sump design data. The sump model is designed in accordance with HI code.

• Textile Coloration and Finishing
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• v.13 no.5
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• pp.58-58
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• 2001

This study surveys the fiber behavior in yarn formation and the physical properties of Solo-spun yarn. The specimens were made by six types of Solo-spun rollers with fixed twist multiplier. The physical properties such as yarn count, evenness, strength, and breaking elongation of these yarns were compared with the properties of ring spun yarns and analysed with the mechanism of Solo-spun yarn formation. The grooves on the surface of Solo-spun roller divide the web and interfere the twist propagation. These phenomena cause the uneven draft and the fly of fiber, so the Solo-spun yarn becomes finer than fing-spun yarn and the yarn breaking strength and elongation deteriorate, but these demerits can be improved with rounding the protruded edge of Solo-spun roller grooves.

• Textile Coloration and Finishing
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• v.13 no.5
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• pp.346-352
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• 2001

This study surveys the fiber behavior in yam formation and the physical properties of Solo-spun yam. The specimens were made by six types of Solo-spun rollers with fixed twist multiplier. The physical properties such as yam count, evenness, strength, and breaking elongation of these yams were compared with the properties of ring spun yams and analysed with the mechanism of Solo-spun yarn formation. The grooves on the surface of Solo-spun roller divide the web and interfere the twist propagation. These phenomena cause the uneven draft and the fly of fiber, so the Solo-spun yam becomes finer than fing-spun yam and the yam breaking strength and elongation deteriorate, but these demerits can be improved with rounding the protruded edge of Solo-spun roller grooves.