• 한국정밀공학회지
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• 제22권6호
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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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• 제12권1호
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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.

• 대한간호학회지
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• 제35권3호
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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.

• 대한토목학회논문집
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• 제8권1호
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• pp.49-60
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• 1988

낙동강 수계의 남강(南江)-안동(安東)댐군(群)을 하나의(가상적) 시스템으로 간주하여 홍수시 두 댐 하류의 합류점에서의 최대 유량을 최소로하기 위한 min-max IDP(Incremental Dynamic Programming) 모델을 수립하였다. 200년 반도의 예촉유입홍수량에 대하여 분석한 결과, 단일댐운영 방식에 의한 홍수조절보다 댐군(群)을 시스템적 관점에서 최적화 과정에 의한 홍수조절(洪水調節)을 하는 것이 효율적임을 수치적으로 입증하였다.

• 전력전자학회논문지
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• 제4권1호
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• pp.99-104
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• 1999

최근 산업이 대규모화함에 따라 고압 전력 변환 장치의 필요성이 증가하고 있고, 이에 따라 전력용 반도체 소자의 직렬 구동이 많이 이용되고 있다. 소자의 직렬 구동은 소자간에 적절한 전압 분배가 이루어져 개별 소자에 정격이상의 과전압이 인가되는 것을 방지하는 것이 큰 관건이다. 또한 고전압 회로에서는 부유 인덕턴스에 의한 소자의 과전압도 방지하여야 한다. 본 논문에서는 직렬 연결된 IGBT의 턴-오프 과도상태시 컬렉터 전압 기울기 조절로 안정된 전압 분배와 과전압을 방지하는 새로운 게이트 구동기법을 제안한다. 제안하는 게이트 구동기법은 컬렉터 전압을 검출하여 능동적으로 게이트 신호를 제어함으로써 과전압을 제한한다. 새로운 IGBT 게이트 구동회로를 제작하고 직렬 연결된 IGBT 회로에 적용하여 게이트 구동기법의 타당성을 검증하였다.

• Journal of Power Electronics
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• 제9권5호
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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.

• 설비공학논문집
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• 제26권7호
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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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• 제10권4호
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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.

• 제어로봇시스템학회논문지
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• 제20권10호
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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.

• 한국정보전자통신기술학회논문지
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• 제10권6호
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• pp.587-593
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• 2017

본 논문에서는 로봇제어분야의 이론적인 내용에 대해서 실제 실습교육이 가능한 환경을 구축하는데 따른 애로를 해결하기 위한 하나의 방안을 제시하기 위해서 세그웨이 구조의 양바퀴 이동로봇을 레고(LEGO) 블록을 사용하여 제작하고, 제작된 로봇이 로봇공학 교육의 동적시스템이나 비선형 시스템과 같은 고급제어 이론기술을 적용하는 실습용으로 활용하는 것에 대한 타당성을 제시하기 위하여 로봇이 주행 중에 중력의 변화에 대해서도 균형을 유지하면서 안정된 자세를 취하도록 하는 자세제어에 대한 실험을 수행하고 그 결과를 제시하였다. 로봇의 자세제어 주행 실험은 평면과 경사로에서 각각 수행하였으며, 평면 주행실험에서는 장애물을 인식하고 회피하는 실험을 병행하여 그 결과도 함께 제시함으로써 로봇공학의 고급제어 이론의 실습교육용으로 레고(LEGO) 블록을 이용해서 제작한 로봇이 효과적인 실습도구로 활용될 수 있음을 확인하였다.