• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2132-2137
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• 2005

This paper is concerned with computer simulations of a biped robot walking in dynamic gaits. To this end, a three-dimensional robot is considered possessing a torso and two identical legs of a kinematically ingenious design. Specific walking patterns are off-line generated meeting stability based on the ZMP condition. Subsequently, to verify whether the robot can walk as planned, a multi-body dynamics CAE code has been applied to the corresponding joint motions determined by inverse kinematics. In this manner, complex mass effects could be accurately evaluated for the robot model. As a result, key parameters to successful gaits are identified including inherent characteristics as well. Also, joint actuator capacities are found required to carry out those gaits.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.602-607
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• 1997

Ball balance belong to a kind of automatic balancers opten referred to as direct balancer or passive mass systems. In such systems the balancing is achieved with free masses. One of the most prevalent problems encountered in washing is the vibration during spin cycle. The primary cause of this vibration is mass unbalance associated with non unform distribution of clothes. Front loading type machine of European style, especially, has inherent unbalance mass due to its shape and this then makes the vibration worse than top loading type machine, which is more popular in Korea. Since the mass distribution of cloths is random and can not be predicted in advance, direct automatic balances appear to be the only feasible alternative. The results form computer simulation and experimental testing will be presented together with stability implications.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.6 s.249
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• pp.643-652
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• 2006

This paper is concerned with computer simulations of a biped robot walking in static and dynamic gaits. To this end, a three-dimensional robot is considered possessing a torso and two identical legs of a typical design. For such limbs, a set of inverse kinematic solutions is analytically derived between the torso and the feet. Specific walking patterns are off-line generated meeting stability based on the VPCG or ZMP condition. Subsequently, to verify whether the robot can walk as planned in the presence of mass and ground effects, a multi-body dynamics CAE code has been applied to the resulting joint motions determined by inverse kinematics. As a result, the key parameters to successful gaits could be identified including inherent characteristics as well. Upon comparisons between the two types of gaits, dynamic gaits are concluded more desirable for larger humaniods.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.41 no.1
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• pp.32-41
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• 1992

This paper presents a comprehensive study on the stability of several control schemes for the induction motor driven by current source inverters. A stator voltage controlled current source inverter drive system without a speed sensor is investigated in order to find appropriate control schemes, which are primarily based on direct or, alternatively, indirect frequency control scheme. It can be seen, especially that an introduction of the indirect frequency control method improves the inherent instability of the current source inverter drive system for the induction motor. The overall control systems with either voltage control loop or current and voltage control loops in addition to each frequency control scheme, are analyzed by utilizing the root locus method and simulated by computer to show the validity of this analysis.

• Structural Engineering and Mechanics
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• v.3 no.2
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• pp.145-162
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• 1995

A damped trapezoidal rule method for numerical time-integration is presented, and its application in analyses of dynamic response of damped structures is discussed. It is shown that the damped trapezoidal rule method has features that make it an attractive approach for applications in dynamic analyses of structures. Accuracy and stability analyses are developed for the damped single-degree-of-freedom systems. Error analyses are also performed for the Newmark beta method and compared with the damped trapezoidal rule method as a basis for discussion of the relative merits of the proposed method. The procedure is fully explicit and easy to implement. However, since the method is an explicit method, it is conditionally stable. The methodology is applied to several example problems to illustrate its strengths, limitations and inherent simplicity.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.3
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• pp.387-394
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• 2016

This paper proposes a new disturbance observer(DOB). The purpose of the DOB is to realize the plant performing like a model in the presence of disturbances which come from external environment and inherent nonlinearities and uncertainties in the plant. It is shown that the proposed DOB compensates those disturbances, nonlinearities and uncertainties, effectively. And it is theoretically proved that the proposed DOB can be guaranteed its stability for the stable plant. Its availability is shown by applying the DOB to the stabilization platform for EOTS(Electro Optical Tracking System).

• Journal of Microbiology and Biotechnology
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• v.27 no.4
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• pp.718-724
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• 2017

The combination of rabies immunoglobulin (RIG) with a vaccine is currently effective against rabies infections, but improvements are needed. Genetic engineering antibody technology is an attractive approach for developing novel antibodies to replace RIG. In our previous study, a single-chain variable fragment, scFv57R, against rabies virus glycoprotein was constructed. However, its inherent weak stability and short half-life compared with the parent RIG may limit its diagnostic and therapeutic application. Therefore, an acidic tail of synuclein (ATS) derived from the C-terminal acidic tail of human alpha-synuclein protein was fused to the C-terminus of scFv57R in order to help it resist adverse stress and improve the stability and half-life. The tail showed no apparent effect on the preparation procedure and affinity of the protein, nor did it change the neutralizing potency in vitro. In the ELISA test of molecular stability, the ATS fusion form of the protein, scFv57R-ATS, showed an increase in thermal stability and longer half-life in serum than scFv57R. The protection against fatal rabies virus challenge improved after fusing the tail to the scFv, which may be attributed to the improved stability. Thus, the ATS fusion approach presented here is easily implemented and can be used as a new strategy to improve the stability and half-life of engineered antibody proteins for practical applications.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.2
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• pp.472-482
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• 2018

The purpose of this study is to examine the effects of work value of vocational counselors on organizational commitment and the mediating effect of job satisfaction. For this aim, this study conducted a survey concerning vocational counseling, work value, organizational commitment and job satisfaction targeting 207 vocational counselors in the Jeonbuk region. Analysis results found higher work value of vocational counselors resulted in higher organizational commitment. Second, concerning the relationship between work value and organizational commitment of vocational counselors, job satisfaction showed a significant mediating effect. Furthermore, in accordance with the type of work value, the relationship between organization commitment and both inherent and extrinsic work value had significant mediating effects on job satisfaction. Through this, the study confirmed that when vocational counselors recognize not only the inherent value of work is high, but also the extrinsic value such as benefits that could be obtained socially and economically through job, it is more likely to lead to increased organizational commitment. In particular, it was confirmed that extrinsic value is relatively more influential on job satisfaction and organizational commitment compared with inherent value. This indicates the importance of improving extrinsic value, such as material compensation and job stability, as well as inherent value, such as confidence and pride about the job, for increasing job satisfaction and organizational commitment.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.324-327
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• 1996

This paper describes the robust controller design methods applied to the problem of an automatic system for tow-vehicle/trailer combinations. This study followed an inverse Linear Quadratic Regulator(LQR) approach which combines pole assignment methods with conventional LOR methods. It overcomes two concerns associated with these separate methods. It overcomes the robustness problems associated with pole placement methods and trial and error required in the application of the LQR problem. Moreover, a Kalman filter is used as the observer, but is modified by using the loop transfer recovery (LTR) technique with modified transmission zero assignment. The proposed inverse LQG,/LTR controllers enhances the forward motion stability and maneuverability of the combination vehicles. At high speeds, where the inherent yaw damping of the vehicle system decreases, the controller operates to maintain an adequate level of yaw damping. At backward moton, both 4WS (2WS tow-vehicle, 2WS trailer) and 6WS (4WS tow-vehicle, 2WS trailer) control laws are proposed by using inverse LQG/LTR method. To evaluate the stability and robustness of the proposed controllers, simulations for both forward and backward motion were conducted using a detailed nonlinear model. The proposed controllers are significantly more robust than the previous controllers and continues to operate effectively in spite of parameter perturbations that would cause previous controllers to enters limit cycles or to loose stability.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.8
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• pp.1-11
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• 2004

A comprehensive study has been made for the investigation of the convergence and stability characteristics of the LU scheme for solving the Navier-Stokes equations on unstructured meshes. For this purpose the characteristics of the LU scheme was initially studied for a scalar model equation. Then the analysis was extended to the Navier-Stokes equations. It was shown that the LU scheme has an inherent stiffness in the streamwise direction. This stiffness increases when the grid aspect ratio becomes high and the cell Reynolds number becomes small. It was also shown that the stiffness related to the grid aspect ratio can be effectively eliminated by performing proper subiteration. The results were validated for a flat-plate turbulent flow.