• The Transactions of the Korean Institute of Electrical Engineers P
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• v.59 no.1
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• pp.29-34
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• 2010

This paper presents an intelligent learning controller for repetitive walking motion of biped walking robot. The proposed learning controller consists of an iterative learning controller and a direct learning controller. In the iterative learning controller, the PID feedback controller takes part in stabilizing the learning control system while the feedforward learning controller plays a role in compensating for the nonlinearity of uncertain biped walking robot. In the direct learning controller, the desired learning input for new joint trajectories with different time scales from the learned ones is generated directly based on the previous learned input profiles obtained from the iterative learning process. The effectiveness and tracking performance of the proposed learning controller to biped robotic motion is shown by mathematical analysis and computer simulation with 12 DOF biped walking robot.

• 유체기계공업학회:학술대회논문집
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• 2006.08a
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• pp.557-560
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• 2006

The contact angle of a meniscus and a droplet can be controlled by using electrowetting phenomena. We investigated the dynamic aspect of electrowetting for an oil-electrolyte interface formed inside a closed glass tube. A step input voltage is applied and the subsequent motion of the interface is recorded by a high-speed camera. A kind of capillary instability is observed near the three-phase contact line, which could degrade the reliability of device utilizing electrowetting such as electrowetting liquid lens. The dynamics of interface motion for different input voltages and the fluid viscosities are analyzed and discussed based on the experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.452-455
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• 1995

Various physical limitations which intrinsically exist in the manipulator control system, for example kinematic limits and torque limit, cause some undesirable effects. Specifically, when one or more actuators are saturated the expected control performance can not be anticipated and in some cases it induces instability of the system. The effect of torque limit, especially for redundant manipulators, is studied in this article, and an analytic method to reconstruct the control input using the redundancy is proposed based on the kinematically decomposed modeling of redundant manipulators. It results to no degradation of the output motion closed-loop dynamics at the cost of the least degradation of the null motion closed-loop dynamics. Numerical simulations help to verify the advantages of the proposed scheme.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.11
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• pp.673-679
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• 2005

This Paper presents the 3D wavelet transformation based video compression system, which possesses the capability of progressive transmission by increasing resolution and increasing rate for multimedia applications. The 3D wavelet packet based video compression system removes the temporal correlation of the input sequences using the motion compensation filter and decomposes the spatio-temporal subband using the spatial wavelet packet transformation. The proposed system allocates the higher bit rate to the low frequency image of the 3D wavelet sequences and improves the 0.49dB PSNR performance of the reconstructed image in comparison with that of H.263. In addition to the limitation on the propagation of the motion compensation error by the 3D wavelet transformation, the proposed system progressively transmits the input sequence according to the resolution and rate scalability.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.303-303
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• 2000

It is difficult to determine the static axle weight of a vehicle with weigh-in-motion systems which in absence measure instantaneous axle impact forces. The difficulty in determining a static axle weight results from dynamic effects induced by vehicle/road interactions. One method to improve the problem is to quantify a statistical confidence level for measured axle weight. The quarter-car model is used to simulate vehicle motion, Also, the road input to vehicle model can be characterized in statistical terms by PSD (power spectral density) of appropriate amplitude and frequency contents other than an exact spatial distribution. The confidence levels for the measured axle weight can be obtained by the random process analysis using both vehicle model and road input.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1999.10a
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• pp.241-248
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• 1999

Structural damage during an earthquake is caused by the response of the structure to the ground motion input at its base. The dynamic force produced in the structure are due to the inertia of its vibrating elements. The response of the structure exceeds the ground motion and this dynamic magnification depends on the duration and frequency content of the ground vibration, the soil properties at the site, distance from the epicenter and the dynamic characteristics of the structure. Earthquake load used in this study as a input data was artificially simulated with the design spectrum diagram in the Korean Earthquake Resistant Design Code. This paper presents the seismic analysis of the continuous preflex composite girder bridges according to variation of pier's height and span's length.

• Journal of the Earthquake Engineering Society of Korea
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• v.20 no.1
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• pp.1-8
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• 2016

Permanent deformation plays a key role in performance based earthquake resistant design. In order to estimate permanent deformation after earthquake, it is essential to secure reliable response history analysis(RHA) as well as earthquake scenario. This study focuses on permanent deformation of an inverted T-type wall under earthquake. The study is composed of two separate parts. The first one is on the verification of RHA and the second one is on an effect of input earthquake motion. The former is discussed in this paper and the latter in the companion paper. The verification is conducted via geotechnical dynamic centrifuge test in prototype scale. Response of wall stem, ground motions behind the wall obtained from RHA matched pretty well with physical test performed under centrifugal acceleration of 50g. The rigorously verified RHA is used for parametric study to investigate an effect of input earthquake motion selection in the companion paper.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 1999.04a
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• pp.178-185
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• 1999

Minimum life-cycle cost helps to evaluate cost effectiveness of base-isolated bridges under specific condition. Life-cycle cost mainly consists of the initial construction cost and the expected damage cost. Damage cost estimation needs proper model of input ground motion failure probability evaluation method and limit states definition. We model the input ground motion as spectral density function compatible with the response spectra defined at each seismicity and site condition. Spectrum analysis and crossing theory is suitable for reseating calculation of failure probabilities in the process of cost minimization. Limit states of base-isolated bridges re defined for superstructure isolator and pier respectively The method is applied to both base-isolated bridges and conventional bridges under the same conditions to investigate cost effectiveness of base isolation in low and moderate seismic region. the results show that base-isolation of bridges are more effective in low and moderate seismic region and that the site effects on the economical efficiency may not be negligible in such a region.

• Structural Engineering and Mechanics
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• v.27 no.2
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• pp.173-197
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• 2007

A wavelet-based procedure to generate artificial accelerograms compatible with a prescribed seismic design spectrum is described. A procedure to perform a baseline correction of the compatible accelerograms is also described. To examine how the frequency content of the modified records evolves with time, they are analyzed in the time and frequency using the wavelet transform. The changes in the strong motion duration and input energy spectrum are also investigated. An alternative way to match the design spectrum, termed the "two-band matching procedure", is proposed with the objective of preserving the non-stationary characteristics of the original record in the modified accelerogram.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.11
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• pp.1733-1740
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• 2004

In the transverse flux linear induction motor(TFLIM) with the general secondary composed of conductor and back-yoke, there exists a magnetized force into the normal direction or the air-gap direction of the thrust motion as well as the thrust force. Therefore, the various methodologies have been tried to use the normal force by the two independent control variables of the multi-phase input. But, as the force depends inevitably and strongly on the thrust force, it is essential to decouple both forces for two control index. In this paper, we suggest a novel approach capable of compensating the couple between both forces and the control index by using the DC-biased multi-phase input, and then realizing the independent control of TFLIM.