• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1993.10a
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• pp.29-34
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• 1993

In many circumstances, it is desired to move a mass from one position to another without inducing any vibration in the mass being moved. Two such problems are considered here: the motion of a pendulum initiated by the specified motion of its support. In each case, it is desired that the system start at rest and come to rest in the second position. A simple strategy for the specified motion is given here. The method is motivated by engine cam-follower design. The force required to move the system in question is determined as well as the maximum value of the force required (and the times at which these forces take place) is determined.

• International Journal of Railway
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• v.2 no.1
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• pp.22-29
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• 2009

A simple pendulum shows how efficient gravity is in recovering energy. Any transportation is a linearly oscillating system; every load gains kinetic energy, but loses the same to come to a stop. The Gravity Power Towers comprise of a set of vertically moving heavy masses coupled, through microprocessor controlled continuously variable gear and cable system, to a horizontally rolling unit on wheels either on rail or road. The heavy masses move vertically up against gravity gaining potential energy while stopping a moving mass; move down under gravity force, giving out energy. The Tower thus accelerates or sustains the speed a rolling unit, and while decelerating, recover the kinetic energy. Speeds of 360 kmph can be attained. Recovery of energy varies from 98.5-70%; the longer the distance between stops, the lesser is recovery. The economical, omnipresent & eternal Gravity Power grants energy independence to many a nation. Global warming reduces.

• The Journal of Korea Robotics Society
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• v.13 no.4
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• pp.256-264
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• 2018

Unlike normal wheels, the Mecanum wheel enables omni-directional movement regardless of the orientation of a mobile robot. In this paper, a robust trajectory tracking control method is developed based on the dynamic model of the Mecanum wheel mobile robot in order that the mobile robot can move along the given path in the environment with disturbance. The method is designed using the impedance control to make the mobile robot to track the path, and the integral sliding mode control for robustness to disturbance. The good performance of the proposed method is verified using the MATLAB /Simulink simulation and also through the experiment on an actual Mecanum wheel mobile robot. In both the simulation and the experimentation, we make the mobile robot move along a reference trajectory while maintaining the robot's orientation at a constant angle to see the characteristics of the Mecanum wheel.

• The Journal of Korea Robotics Society
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• v.14 no.3
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• pp.196-202
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• 2019

Snake robots are slower than wheeled robots or legged robots, while they have an excellent terrainability in a disastrous area. Considering their advantages and disadvantages, a legged robot whose legs are snake robots, 'Quadnake' was proposed in this research. Five motions of the snake were analyzed. Applying these motions, Quadnake could implement eight kinds of motions which snake robots and quadruped walking robots can implement. As a result of it, Quadnake can have the advantages of both a snake robot and a walking robot. It is expected to move stably in a harsh terrain with snake's motion and move fast with walking.

• Smart Structures and Systems
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• v.24 no.2
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• pp.183-191
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• 2019

A piezoelectric paper feeder actuator using Micro Virtual Roller (MVR) is proposed, designed, fabricated and tested. This actuator can drive a sheet of paper forward or backward without any mechanical parts, such as the costly and heavy rollers used in traditional paper feeders. In this paper feeder actuator, two vibrating stators which produce traveling waves are used to drive the paper. The vibrations of the stators are similar to those of piezoelectric motors and follow a similar procedure to move the paper. A feasibility study simulated the actuator in COMSOL Multiphysics Software. Traveling wave and elliptical trajectories were obtained and the dimensions of the stator were optimized using FEM so that the paper could move at top speed. Next, the eigenfrequencies of the actuator was determined. Experimental testing was done in order to validate the FEM results that revealed the relationships between speed and parameters such as frequency and voltage. Advantages of this new mechanism are the sharp decrease in power consumption and low maintenance.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.122-129
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• 2021

For the Simultaneous Localization and Mapping (SLAM) problem, a different path results in different SLAM results. Usually, SLAM follows a trail of input data. Active SLAM, which determines where to sense for the next step, can suggest a better path for a better SLAM result during the data acquisition step. In this paper, we will use reinforcement learning to find where to perceive. By assigning entire target area coverage to a goal and uncertainty as a negative reward, the reinforcement learning network finds an optimal path to minimize trajectory uncertainty and maximize map coverage. However, most active SLAM researches are performed in indoor or aerial environments where robots can move in every direction. In the urban environment, vehicles only can move following road structure and traffic rules. Graph structure can efficiently express road environment, considering crossroads and streets as nodes and edges, respectively. In this paper, we propose a novel method to find optimal SLAM path using graph structure and reinforcement learning technique.

• Journal of Information Processing Systems
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• v.17 no.1
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• pp.28-36
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• 2021

This paper proposes two novel methods to model and simulate a mobile Internet of Things (IoT) system using the discrete event system specification (DEVS) formalism. In traditional simulation methods, it is advantageous to partition the simulation area hierarchically to reduce simulation time; however, in this case, the structure of the model may change as the IoT nodes to be modeled move. The proposed methods reduce the simulation time while maintaining the model structure, even when the IoT nodes move. To evaluate the performance of the proposed methods, a prototype mobile IoT system was modeled and simulated. The simulation results show that the proposed methods achieve good performance, even if the number of IoT nodes or the movement of IoT nodes increases.

• International journal of advanced smart convergence
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• v.10 no.1
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• pp.176-183
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• 2021

The purpose of this study is was to analyze customer experience attribute of professional baseball. To achieve objectives of this study, a method was used the in-depth interview and experts' consultation which understanding the attributes and structure of customer experience attribute of professional baseball. As a result, the professional baseball customer experience attributes are 'viewing plan & purchase', 'stadium movement', 'entrance stadium', 'move to seat', 'game viewing', 'amenities/services', 'events/cheering', 'move after match'. The review of the experience section and attributes derived through in-depth interviews with professional baseball fans was verified through an expert' consultation to secure content validity. Through this process, 8 experience section and 41 attributes were analyzed. The customer experience journey was analyzed for a more in-depth analysis of the viewing experience of professional baseball fans. The customer experience journey was presented based on the needs of fans and discomfort in each experience section activity.

• International Journal of Computer Science & Network Security
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• v.22 no.3
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• pp.183-188
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• 2022

Educators have been making strides in the research into and practices supporting the policy of mainstreaming students with disability. A move towards including students with intellectual disability in community schools with all the other students can be seen in many countries' education systems, including that of the Kingdom of Saudi Arabia. The 'rights of the child' has been the main argument put forward by advocates of this policy in an attempt to move from the medical to the social model. This study argues that, although mainstreaming can be viewed as a positive trend toward effective education, its implementation remains somewhat problematic. It is believed that more investigative research into professionals' attitudes is needed to improve service provision and inform the administration of mainstreaming practices. The attitudes of special education teachers on the policy of mainstreaming are examined and emerging key themes discussed. Furthermore, challenges that continue to inhibit mainstreaming practices in Saudi Arabia are identified.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.216-220
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• 2022

This paper proposes an inspection robot that can operate on a single square rail. Various inspection robots have been developed to identify emergency situations in industrial environments, such as those involving fires or individuals with cardiac arrest. Because the robots must operate in wide areas and long tunnels, they are designed to move along a rail installed on the ceiling. Double rail track are typically used to ensure the stability of robot movement. However, the cost for installing a double rail track is nearly two times that for a single rail track. Moreover, it is challenging to install double rail tracks while ensuring the same curvature and interval between the two rails. Therefore, in this study, an inspection robot that operate on a single square rail track is developed. To ensure stable movement in the longitudinal and lateral directions, two passive guide parts are used, and the main active wheel is allowed to move on the upper side of the square rail. The prototype was manufactured, and experiments were performed for different robot velocities.