• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1440-1443
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• 2004

Most previous robots had used the wheels as means for movement. These structures were relatively simple and easy to control and this is why the method had been used until currently. However, there are many realistic problems to move from one place to another in human life, for instance, steps and edges. So we need to develop the two-legged walking humanoid robot. The 2-legged walking Robot system has been vigorously developed in so many corporations and academic circles of several countries. However, 2-legged walking Robot has been mostly studied in view of the static walk. We design a stable humanoid Robot which can walk in high-speed through the research of the dynamic walk in this paper. Especially, worldwide companies have been interested in developing humanoid robots for a long time to solve the before mentioned problems so that they can become more familiar with the human form. The most important thing, for the novel two-legged walk, is to create a stable and fast walking in two-legged robots. For realization of this movement, an optimal mechanical design of 12 DOFS, a distributed control and a parallel processing control are implemented in this paper. This paper proves that high speed and stable walking can be achieved, through experiments.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2004.11a
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• pp.391-396
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• 2004

For technical and economic reasons, the drum drive system employed in the domestic waking machines have traditionally been based on a combination of a high speed induction motor and a pulley and belt. This paper deals with washing machine drive based on an inverter fed induction motor. In this case, voltage is applied in proportion to frequency to achieve rated torque though the range. But scalar control such as V/f methode is somewhat simple to implement, but the inherent coupling effect given sluggish response. Therefore, this paper describes study on induction motor vector control for drum type washing machine.

• Journal of the Korean Society of Marine Environment & Safety
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• v.22 no.1
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• pp.74-81
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• 2016

Because most of the passengers are not accustomed with onboard environments, it is very important to analyze and predict the behaviors' characteristics of passengers under disasters' conditions, and apply those results for making countermeasures. On this view point, this study focused on the walking characteristics of onboard-novices are tested and analyzed under blackout condition that has high possibility to happen. As a result, comparing to under normal lighting conditions, the waking times under blackout conditions are 155.8~247.1 % longer on full path, 56.9~331.7 % on corridors, 75.3~152.9 % on stairs, respectively. And under the same blackout conditions, walking times in cases of the exit guidance marks being attached on top side of walls saved times, like 21.6~24.0 % on full path, 37.7~58.9 % on corridors, 18.7~19.2 % on stairs, comparing to the cases of exit guidance marks being not attached. On the other hand, after tests under without exit guidance marks, 60.7% among respondents answered that internal structures like wall/stair (35.7 %) and handrail (25 %) are very helpful to decide way findings, and 28.6 % selected personal instincts is important. But 50 % responded that exit guide marks are effective to find ways, after the tests under with exit guidance marks.