• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 G
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• pp.2339-2341
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• 1998

This paper is concerned with an energy optimization for the walking of IWR biped robot. The movement of balancing joints are determined by ZMP(Zero Moment Point) and dynamic properties caused by motion of a swing leg. Therefore, ZMP positions have an important role in walking and guarnateeing the stability of a robot. A genetic algorithm is utilized for solving this problem and finding ZMP with a minimum energy at each sampling time during the walk. In this study, we performed an energy optimization with desired ZMP trajectories and motion of balancing joints.

• 제어로봇시스템학회논문지
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• 제14권2호
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• pp.148-155
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• 2008

This paper proposes a method of adaptively generating a gait pattern of biped robot. The gait synthesis is based on human's gait pattern analysis. The proposed method can easily be applied to generate the natural and stable gait pattern of any biped robot. To analyze the human's gait pattern, sequential images of the human's gait on the sagittal plane are acquired from which the gait control values are extracted. The gait pattern of biped robot on the sagittal plane is adaptively generated by a genetic algorithm using the human's gait control values. However, gait trajectories of the biped robot on the sagittal plane are not enough to construct the complete gait pattern because the biped robot moves on 3-dimension space. Therefore, the gait pattern on the frontal plane, generated from Zero Moment Point (ZMP), is added to the gait one acquired on the sagittal plane. Consequently, the natural and stable walking pattern for the biped robot is obtained, as proved by the experiments.

• Journal of Power Electronics
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• 제16권1호
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• pp.142-152
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• 2016

Common mode voltage (CMV) generation is a major problem in switching power converter fed induction motor drive systems. CMV is the zero sequence voltage generated due to the switching action of power converters. Even a small magnitude of CMV with a high rate of change may circulate large bearing currents which may damage a machine's bearings and shorten its life. There are several methods of controlling CMV. This paper presents 3-level sinusoidal pulse width modulation based techniques to control the magnitude and rate of change of CMV in multilevel AC-DC-AC drive systems. Simulation and experimental investigations have been presented to validate the performance of proposed technique to control CMV in 3-level neutral point clamped inverter based AC-DC-AC system.

• 음성과학
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• 제7권1호
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• pp.171-186
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• 2000

The aim of this paper is to investigate the acoustic characteristics of the French vowel [e] and Korean [i] and to seek a way of understanding them from a phonological point of view. These two vowels have similar distributional properties, i.e. they alternate with zero in some contexts. Therefore, in both languages, they are not found when immediately followed by a nucleus with phonetic content and in word-final positions. We firstly compare the two vowels by measuring the actual frequencies of the formants, pitch and energy using CSL. We also consider whether the realisation of the two vowels is affected by the speed of speech sounds. In order to show that realisation of the two vowels in both languages is not arbitrary, rather predicted, we will introduce the notion of proper government, proposed and developed by Kaye (1987, 1990) and Charette (1991).

• 한국산업융합학회 논문집
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• 제17권4호
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• pp.245-254
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• 2014

In this paper, stable and robust dynamic walking for a biped motion is proposed. To success this objective, the following structures are processed. In this paper, the proposed control method is one that adjusts actual zero moment position to move to the closest possible point in the stable area instead of following desired zero moment position. This minimizes energy consumption with the smallest joint movements. The proposed control method makes mechanical energy that drives lower limb of the bipedal robot efficient. In this paper, walking experiment is carried out with the three control structures mentioned above. The trajectory generated by off-line is illustrated by performing to walking on flat ground. experiment with an obstacle whose height is lower than that of trajectory is executed to validate dynamic motion.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.215-219
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• 2003

In this paper, we generate a trajectory minimized the energy gait of a biped robot for walking a staircase using genetic algorithms and apply to the computed torque controller for the stable dynamic biped locomotion. In the saggital plane, a 6 degree of freedom biped robot that model consists of seven links is used. In order to minimize the total energy efficiency, the Real-Coded Genetic Algorithm (RCGA) is used. Operators of genetic algorithms are composed of a reproduction, crossover and mutation. In order to approximate the walking gait, the each joint angle is defined as a 4-th order polynomial of which coefficients are chromosomes. Constraints are divided into equality and inequality. Firstly, equality constraints consist of position conditions at the end of stride period and each joint angle and angular velocity condition for periodic walking. On the other hand, inequality constraints include the knee joint conditions, the zero moment point conditions for the x-direction and the tip conditions of swing leg during the period of a stride for walking a staircase.

• 대한전기학회논문지
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• 제40권1호
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• pp.73-81
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• 1991

In order to simulate the ceramic filter in the state of the one-strip electrode, the theory has been analyzed and a computer program has been developed using the energy trapping effect. The ceramic filters were fabricated using the PZT-4 specimen. The necessary condition that the ceramic filter has the energy trapping effect is that the electroded portion frequency should be smaller than the unelectroded portion frequency when the wave number is zero. Each of the average differences of the resonant point and bandwidth between by the theoretical calculations and by experiment results was 5.6[%] and 3.72[%]. It is considered that the one-strip ceramic filter having a desired characteristics and the lowest difference can be fabricated easily by means of the simulation developed in this paper and the fabrication methods.

• Bulletin of the Korean Chemical Society
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• 제35권12호
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• pp.3559-3566
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• 2014

Study on the unimolecular reaction for $CH_2FO$ and $CD_2FO$ is carried out. The structures, energy barriers and zero point energy of the three channels in the title unimolecular reactions are computed with the MP2/6-311++G(3df, 3pd) method. RRKM theory is used to calculate the rate constants of canonical case at temperature range of 500-5000 K and microcanonical system at total energy of 19.05-71.68 kcal/mol. The results indicate that the anharmonic effect and isotope effect are very small for the three channels, and the anharmonic rate constants, around $10^9-10^{11}s^{-1}$, are close to the experimental prediction reasonably.

• Tribology and Lubricants
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• 제29권3호
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• pp.186-191
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• 2013

Hydraulic systems are used to transform mechanical energy into fluid energy and vice versa. They are widely applied in various industries; e.g., they are used in automobiles, public works, rockets, machine tools, heavy construction equipment, and airplanes. Hydraulic pumps are used to transform the energy in these systems. In this study, with the basic operation principles as a starting point, I attempted to clarify how the shape of a slipper affects the lubrication characteristics under practical conditions. A swashplate with a tilt angle of zero and capable of rotating motion was used, along with other devices. A slipper was located at 45 mm eccentricity from the center of the swashplate. The results of this experiment indicated that the shape of the bottom surface of a slipper affects the load capacity, leakage flow, and lubrication characteristics and that the slipper is one of the most important parts for improving the pump efficiency.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1066-1071
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• 2005

This paper presents the two lossless auxiliary inductors-assisted voltage source type half bridge (single ended push pull: SEPP) series resonant high frequency inverter for induction heated fixing roller in copy and printing machines. The simple high-frequency inverter treated here can completely achieve stable zero current soft switching (ZCS) commutation for wide its output power regulation ranges and load variations under its constant high frequency pulse density modulation (PDM) scheme. Its transient and steady state operating principle is originally described and discussed for a constant high-frequency PDM control strategy under a stable ZCS operation commutation, together with its output effective power regulation characteristics-based on the high frequency PDM strategy. The experimental operating performances of this voltage source SEPP ZCS-PDM series resonant high frequency inverter using IGBTs are illustrated as compared with computer simulation results and experimental ones. Its power losses analysis and actual efficiency are evaluated and discussed on the basis of simulation and experimental results. The feasible effectiveness of this high frequency inverter appliance implemented here is proved from the practical point of view.