• Journal of Navigation and Port Research
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• v.28 no.6
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• pp.541-548
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• 2004

In the maritime container terminal. LMCTS (Linear Motor-based Container Transfer System) is horizontal transfer system for the yard automation, which In., been proposed to take the place of AGV (Automated Guided Vehicle). The system is based on PMLSM (Permanent Magnetic Linear Synchronous Motor) that is consists of stator modules on the rail and shuttle car (mover). Because of large variant of mover's weight by loading and unloading containers, the difference of each characteristic of stator modules, and a stator module's trouble etc. LMCTS is considered as that the system is changed its model suddenly and variously. In this paper, we will introduce the softcomputing method of a multi-step prediction control for LMCTS using DR- FNN (Dynamically-constructed Recurrent Fuzzy Neural Network). The proposed control system is used two networks for multi step prediction Consequently, the system has an ability to adapt for external disturbance, detent force, force ripple, and sudden changes by loading and unloading the container.

• Earthquakes and Structures
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• v.20 no.1
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• pp.39-53
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• 2021

By means of installing sloped rolling-type seismic isolators (SRI), the horizontal acceleration transmitted to the to-be-protected object above can be effectively and significantly reduced under external disturbance. To prevent the maximum horizontal displacement response of SRI from reaching a threshold, designing large and conservative damping force for SRI might be required, which will also enlarge the transmitted acceleration response. In a word, when adopting seismic isolation, minimizing acceleration or displacement responses is always a trade-off. Therefore, this paper proposes that by exploiting the possible information provided by an earthquake early warning system, the damping force applied to SRI which can better control both acceleration and displacement responses might be determined in advance and accordingly adjusted in a semi-active control manner. By using a large number of ground motion records with peak ground acceleration not less than 80 gal, the numerical results present that the maximum horizontal displacement response of SRI is highly correlated with and proportional to some important parameters of input excitations, the velocity pulse energy rate and peak velocity in particular. A control law employing the basic form of hyperbolic tangent function and two objective functions are considered in this study for conceptually developing suitable control algorithms. Compared with the numerical results of simply designing a constant, large damping factor to prevent SRI from pounding, adopting the recommended control algorithms can have more than 60% reduction of acceleration responses in average under the excitations. More importantly, it is effective in reducing acceleration responses under approximately 98% of the excitations.

• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.419-424
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• 2017

Twisted string actuators (TSAs) are tendon-driven actuators that provide high transmission ratios. Twisting a string reduces the length of the string and generates a linear motion of the actuators. In particular, TSAs have characteristic properties (compliance) that are advantageous for operations that need to interact with the external environment. This compliance has the advantage of being robust to disturbance in force control, but it is disadvantageous for precise control because the modeling is inaccurate. In fact, many previous studies have covered the TSA model, but the model is still inadequate to be applied to actual robot control. In this paper, we introduce a modified variable radius model of TASs and experimentally demonstrate that the modified variable radius model is correct compared to the conventional variable radius string model. In addition, the elastic characteristics of the TSAs are discussed along with the experimental results.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.2
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• pp.45-53
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• 2009

Today, reduction of $CO_2$ exhaustion gas for global-warming prevention becomes important issues in all industrial fields. Hydraulic systems have been widely used in industrial applications due to high power density and so on. However hydraulic pump is always being operated by engine or electric motor in the conventional hydraulic system. Therefore most of the conventional hydraulic system is not efficient system. Recently, an electro-hydraulic hybrid system, which combines electric and hydraulic technology in a compact unit, can be adapted to a wide variety of force, speed and torque requirements. In the electro-hydraulic hybrid system, hydraulic pump is operated by electric motor only when hydraulic power is needed. Therefore the electro-hydraulic system can reduce the energy consumption drastically when compared to the conventional hydraulic systems. This paper presents a new kind of hydraulic load simulator which is composed of electro-hydraulic hybrid system. Disturbances in the real working condition make the control performance decrease or go bad. QFT controller is designed to eliminate or reduce the disturbance and improve the control performance of the electro-hydraulic load simulator. Experimental results show that the proposed controller is verified to apply for electro-hydraulic hybrid system with varied external disturbances.

• Journal of Korean Society of Forest Science
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• v.74 no.1
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• pp.82-87
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• 1986

Noticed that large number of the Korean white pine (Pinus koraiensis S. et Z.) has lost its typical excurrent tree from by removal of apical shoot in the process of cone harvesting, the investigation and analysis for the species were made on the basis of the relationship among DBH, total height, merchantable height, and merchantable volume, compared with normally grown Japanese larch (Larix leptolepis Gordon). One hundred sample trees for each species were selected in the same aged stands for the study. Results have indicated that the pine has shown abnormal height growth pattern mainly by the disturbance of external artificial force. The pine's forked and/or crooked stems by the reason lave led the result of less merchantable volume in the same DBH classes. Consequently, the pine would have undesirable tree form in terms of timber production, unless free from apical shoot disturbances. Considered to the merit of the Korean white pine that can produce timber and pine nuts, management alternatives for the pine stand were suggested to achieve maximum rate of return for the silvicultural investment.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• v.39 no.6
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• pp.257-262
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• 2013

Objectives: Oral and maxillofacial defects often require bone grafts to restore missing tissues. Well-recognized donor sites include the anterior and posterior iliac crest, rib, and intercalvarial diploic bone. The proximal tibia has also been explored as an alternative donor site. The use of the tibia for bone graft has many benefits, such as procedural ease, adequate volume of cancellous and cortical bone, and minimal complications. Although patients rarely complain of pain, swelling, discomfort, or dysfunction, such as gait disturbance, both patients and surgeons should pay close attention to such after effects due to the possibility of tibial fracture. The purpose of this study is to analyze tibial fractures that occurring after osteotomy for a medioproximal tibial graft. Materials and Methods: An analysis was intended for patients who underwent medioproximal tibial graft between March 2004 and December 2011 in Inha University Hospital. A total of 105 subjects, 30 females and 75 males, ranged in age from 17 to 78 years. We investigated the age, weight, circumstance, and graft timing in relation to tibial fracture. Results: Tibial fractures occurred in four of 105 patients. There were no significant differences in graft region, shape, or scale between the fractured and non-fractured patients. Conclusion: Patients who undergo tibial grafts must be careful of excessive external force after the operation.

• Journal of the Korean Geosynthetics Society
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• v.16 no.4
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• pp.231-240
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• 2017

Recently, there have been frequent occurrences of ground sink in the urban area, which have resulted in human and material damage and are accompanied by economic losses. This is caused by artificial factors such as soil loss, poor compaction, horizontal excavation due to the breakage of the aged sewage pipe, and lack of water proof at vertical excavation. The ground sink can be prevented by preliminary restoration and reinforcement through exploration, but it can be considered that it is not suitable for urgent restoration by the existing method. In this study, a model experiment was carried out to simulate the in-ground cavities caused by groundwater flow for developing non-excavation urgent restoration in underground cavity and the range of the relaxation zone was estimated by detecting the around the cavity using a relaxation zone detector. In addition, disturbance region and relaxation region were separated by injecting gypsum into cavity formed in simulated ground. The shape of the underground cavity due to the groundwater flow was similar to that of the failure mode III formed in the dense relative density ground due to water pipe breakage in the previous study. It was confirmed that the relaxed region detected using the relaxation zone detector is formed in an arch shape in the cavity top. The length ratio of the relaxation region to the disturbance region in the upper part of the cavity center is 2: 1, and it can be distinguished by the difference in the decrease of the shear resistance against the external force. In other words, it was confirmed that the secondary damage should not occur in consideration of the expandability of the material used as the injecting material in the pre-repair and reinforcement, and various ground deformation states will be additionally performed through additional experiments.