• Journal of the Korean Society for Precision Engineering
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• v.22 no.6 s.171
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• pp.118-126
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• 2005

There are many types of walking robots in the world. For dynamic walking of the robots it is necessary to keep its dynamic stability. The dynamic stability is influenced by the position of ZMP (zero moment point). In this paper we study the control of the ZMP position of walking robot. For experiment we developed a quadruped robot and analyzed the dynamic stability of the robot. Developed robot has 2 joints at each leg and WBO (weight balancing oscillator) on the body of the robot. The WBO is designed to move linearly from side to side when the robot walks dynamically. Walking test was performed to verify the validity of the proposed methods. Especially we showed that the dynamic stability of the robot can be improved without sacrifice of the walking speed by control the WBO.

• PNF and Movement
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• v.12 no.1
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• pp.1-5
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• 2014

Purpose: The purpose of this study was to investigate PNF exercises for balance ability in elderly. Methods: This is a literature study with books and articles. Results: The balance ability in elderly is reduced by decreasing proprioception, visual and vestibular sensation. PNF exercise is highly efficient for functional activities to control posture and movement. It is also highly efficient for balance ability in elderly. This is considered effective exercise program for maintain and to promote balance ability in elderly. Conclusion: PNF exercise is highly efficient for functional activities to control posture and movement. In addition, it is also efficient for balancing posture and movement in cooperation with visual information and vestibular system. This exercise is considered to be effective exercise program to maintain posture and improve balance ability.

• Journal of Korean Academy of Nursing
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• v.35 no.3
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• pp.593-601
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• 2005

Purpose: The purpose of this study was to determine the effects of Nei-Guan(P6) acupressure on nausea and vomiting in pregnant women having hyperemesis gravidarum. Method: The research design was a randomized control-group pretest-posttest repeated measure design with counter balancing. For the experimental treatment, P6 acupressure was carried out for ten minutes. Data was collected from April 1. 2003 to April 30. 2004. The participants were 66 patients admitted with hyperemesis gravidarum. They were divided into three groups, a P6 acupressure group, placebo point group and a control group. Result: Hyperemesis gravidarum patients who received P6 acupressure during admission experienced much less nausea and vomiting than the placebo acupressure and control group(F=8.259, p=.001). Conclusion: Nei-Guan(P6) acupressure is considered an effective intervention for reducing nausea and vomiting in pregnant women having hyperemesis gravidarum. Further more Nei-Guan(P6) acupressure maybe used as an independent nursing intervention method for pregnant women with severe nausea and vomiting.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.8 no.1
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• pp.49-60
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• 1988

The use of an Incremental Dynamic Programming (IDP) for real-time flood control operation is investigated. The optimization model has been applied for the Namgang and Andong hypothetical flood control system in the Nakdong river basin. The objective of the operation is defined to minimize the maximum flow at the confluence of downstreams from the two reservoirs. The results are compared to the direct summation of the flood routing results from individual flood control simulation run. It shows that peak flow at the confluence is reduced markedly by reducing peak outflows from individual reservoirs and by balancing the time of the peak release between the two reservoirs.

• The Transactions of the Korean Institute of Power Electronics
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• v.4 no.1
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• pp.99-104
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• 1999

The large scale industry needs high voltage converters. Therefore series connection of power semiconductor devices is necessary. It is important to prevent the overvoltage from being induced across a device above ratings by the proper voltage balancing in the field of IGBT series connection. In addition, the overvoltage induced by a stray inductance has to be limited in the high power circuit. This paper proposes a new gate control scheme which can balance the voltage properly and limit the overshoot by controlling the slope of collector voltage under the turn-off transient in the series connected IGBTs. The proposed gate control scheme which senses the collector voltage and controls the gate signal actively limits the overvoltage. The new series connected IGBT gate driver is made and its validity is verified by the experimental results in the series connected IGBT circuit.

• Journal of Power Electronics
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• v.9 no.5
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• pp.691-699
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• 2009

This paper presents the analysis of series active power filter for reactive power compensation, load balancing, harmonic elimination, and neutral current eradication in three-phase four-wire power systems. Generally, the three-phase four-wire system is widely employed in distributing electric energy to several office building and manufacturing plants. In such systems, the third harmonic and its 3rd harmonics are termed as triple and zero sequence components that do not cancel each other in the system neutral. Consequently, the triple harmonics add together creating a primary source of excessive neutral current. Regarding this concern, this paper presents a new control algorithm for a series hybrid active system, whereas the control approach it adopts directly influence its compensation characteristics. Hence, the advantage of this control algorithm is the direct extraction of compensation voltage reference without phase transformations and multiplying harmonic current value by gain and the required rating of the series active filter is much smaller than that of a conventional shunt active power filter. In order to show the effectiveness of the proposed control algorithm, experiments have been carried out.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.26 no.7
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• pp.343-350
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• 2014

Regardless of the building design scenarios, evaluation of high-rise buildings required to have smoke-proof enclosures that are provided with a smoke management system. The goal of the smoke management system design is to make sure the pressure differentials at every story within the building fall within the allowable pressure range. If the minimum design pressure is not met, smoke may enter the stair. If the provided pressure is too great, it becomes difficult for occupants to open the doors, while attempting to egress. Ensuring that the pressure differential between the vestibule and the floor is within the prescribed range becomes challenging, due to natural effects on the building, such as the stack effect. In this research, smokeproof enclosure design scenarios were evaluated; and as a result, separation levels for compartmentation were deduced, in the balancing of pressurized-vestibule smoke control systems.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.4
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• pp.1877-1891
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• 2016

In video coding, the goal of rate control (RC) is not only to avoid the undesirable fluctuation in bit allocation, but also to provide a good visual perception. In this paper, a novel frame-level rate control algorithm for High Efficiency Video Coding (HEVC) is proposed. Firstly a model that reveals the relationship between bit per pixel (bpp), the bitrate of the intra frame and the bitrate of the subsequent inter frames in a group of pictures (GOP) is established, based on which the target bitrate of the first intra frame is well estimated. Then a novel frame-level bit allocation algorithm is developed, which provides a robust bit balancing scheme between the intra frame and the inter frames in a GOP to achieve the visual quality smoothness throughout the whole sequence. Our experimental results show that when compared to the RC scheme for HEVC encoder HM-16.0, the proposed algorithm can produce reconstructed frames with more consistent objective video quality. In addition, the objective visual quality of the reconstructed frames can be improved with less bitrate.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.10
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• pp.1063-1066
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• 2014

The humanoid robot, DRC-HUBO is developed from the KHR (KAIST Humanoid Robot) series to meet the requirements of the DARPA Robotics Challenge. DARPA Robotics Challenge was a competition to develop semi-autonomous humanoid robot so that dispatched in dangerous environments in place of humans like the Fukushima nuclear accident. In this paper, we introduce DRCH-UBO briefly and a methodology to remove debris blocking an entryway. The methodology includes inverse kinematics for DRC-HUBO and stabilization controller based on ZMP. Proposed inverse kinematics is robust, and pelvis-related tasks improve the manipulability and workspace of the arms. The controller improves the damping characteristic of the system and mitigates the instability during removal of debris. For given position and orientation of the debris, DRC-HUBO generates motion to reach the debris and lift up while stabilizing itself. Many experimental results verify our proposed methodology.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.10 no.6
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• pp.587-593
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• 2017

In this paper, we propose a method to solve the difficulties in constructing an environment capable of practical training on the theoretical contents of robot control field. We make a two-wheeled mobile robot with Segway structure using LEGO block. In order to demonstrate the validity of using the developed robot as a practical application of advanced control theory of robotics education such as dynamic system and nonlinear system, the robot takes a stable posture while balancing the change of gravity during running. The results of the experiment are shown. By presenting the results, the robots made using the LEGO block are used for practical training of advanced control theory of robotics. It can be used as a tool.