• Journal of KSNVE
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• v.8 no.3
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• pp.408-419
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• 1998

Dynamic characteristics are investigated when a nonlinear system showing periodic and chaotic responses under harmonic excitation is exposed to random perturbation. Approach for both qulitative and quantitative analysis of the noise effect in a nonlinear system under harmonic excitation is presented. For the qualitative analysis, Lyapunov exponents are calculated and Poincar map is illustrated. For the quatitative analysis. Fokker-Planck equatin is solved numerical by means of a Path-integral solution procedure. Eigenvalue problem obtained from the numerical caculation is solved and the relation of eigenvalue, eigenvector and chaotic motion is investigated.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.135-139
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• 1990

In general, the control of robot arms falls into two board categories (position control and force control). The joint interpolated trajectory schemes generally interpolate the desired joint path by a class of polynomial functions and generate a sequence of time based control set points for the control of a manipulator from a initial location to its destination. A digital position controller was designed and adapted to the industrial balancing manipulator. And also, the joint interpolated trajectory using 3rd order polynomial was generated in this study. The IBM PC used as the main controller and the trajectory planner had enough run-time capabilities. The 8097BH microcontroller is an integral pan of the joint controller which directly controls an axis of motion. The PI servo control system to treat each joint of the robot arm as a independent joint servo mechanism had satisfying performance, and a sequence of time-based intermediate configurations of the manipulator hand showed good continuity and smoothness on position and velocity of the manipulator's joint coordinates along the trajectory.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.7 s.178
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• pp.1795-1800
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• 2000

One of the principal sources of vibration and noise in permanent magnetic machines is cogging torque, which is induced by interaction between the rotor poles and the stator teeth. For its analysis, using finite element analysis is very time consuming and the calculation of performance factors is extremely sensitive to the discretization. Especially, Maxwell stress tensor method is sensitive to the location of integral path. In this paper, a cogging permeance fuction is defined and replaced by the straight line. And it is assumed that the flux density acting on the stator's tooth side is the euqal to the flux density of the slot area. Using this definition and assumption, analytical calculation of cogging torque is presented and validated. And several reduction method is introduced.

• Proceeding of EDISON Challenge
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• 2015.03a
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• pp.105-110
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• 2015

본 연구의 목적은 $SPC/F_2$ water model에 대하여 정해진 여러 온도(250K, 280K, 300K, 350K)에서 경수(light water)와 중수(heavy water)의 일정부피 열용량($C_V$)을 계산하는 것이다. 모의실험은 path integral molecular dynamics (PIMD) 방법을 바탕으로, 계산상에서 물 분자 64개에 대해서 실제 물의 밀도에 맞는 일정한 부피를 설정한 후, 이 때 ring-polymer의 bead수는 양자효과를 보일 수 있는 24개와, 양자효과가 없는1개로 실험을 진행했다. 그 결과로 system의 $C_V$를 얻었고, 수소 동위원소의 변화, 온도의 변화, 양자조건의 여부에 따라 나타나는 차이를 각각 비교했다. 모의실험 결과로 온도가 낮을수록, 양자효과가 클수록, 수소의 질량이 작을수록 열용량이 증가하는 결과를 보였다.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.29B no.3
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• pp.6-15
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• 1992

This paper proposes a method for the global optimization of redundancy over the whole task period for a kinematically redundant robot. The necessary conditions based on the calculus of variations for an integral type cost criterion result in a second-order differential equation. For a cyclic task, the periodic boundary conditions due to conservativity requirements are discussed. We refine the two-point boundary value problem to an initial value adjustment problem and suggest a numerical search method for providing the conservative global optimal solution using the gradient projection method. Since the initial joint velocity is parameterized with the number of the redundancy, we only search the parameter value in the space of as many dimensions as the number of degrees of redundancy. We show through numerical examples that multiple nonhomotopic extremal solutions and the generality of the proposed method by considering the dynamics of a robot.

• Journal of Korean Vacuum Science & Technology
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• v.7 no.1
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• pp.1-7
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• 2003

The pressure distributions in the test stand built for developing KSTAR NBI ion sources were obtained using a network system composed of conductance elements modeling the ion source, the neutralizer, and other beam line components. The allowable regime was defined on the coordinates of the gas supply rate to the ion source and the neutralizer, considering the proper conditions of the three critical parameters, the ion source pressure for good arc discharge, the pressure integral in the neutralizer for sufficient neutralization, and the chamber pressure for minimum neutral beam loss. The neutral beam evolution along the path from the ion source extraction grid to the calorimeter through the neutralizer, the bending magnet and the vacuum chamber was estimated for typical pressure distributions.

• Journal of Power Electronics
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• v.11 no.5
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• pp.655-661
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• 2011

This paper presents two topologies for single-stage single-phase double-buck type PFC converters, designed to operate at high power factor, near sinusoidal input currents and adjustable output voltage. Unlike the known buck type PFC topologies, in which the output voltage is always lower than the maximum input voltage, the proposed converters can operate at output voltages higher than the ac input peak voltage. A reduced number of switches on the main path of the current are another characteristic of the two proposed topologies. To shape the input line currents, a fast and robust controller based on a sliding mode approach is proposed. This active non-linear control strategy, applied to these converters allows high quality input currents. A Proportional Integral (PI) controller is adopted to regulate the output voltage of the converters. This external voltage controller modulates the amplitude of the sinusoidal input current references. The performances of the presented rectifiers are verified with experimental results.

• Journal of Korean Society of Transportation
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• v.20 no.1
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• pp.65-76
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• 2002

This study is realized using fuzzy evaluation and AHP(the analytic hierarchy process) for the optimum search of traffic route and estimated by the quantitative analysis in the vague subjective judgement. It is different from classical route search and noticed thinking method of human. Appraisal element, weight, appraisal value of route is extracted from basic of the opinion gathering fur the driving expert and example of route model was used for the finding of practice utility. Model assessment was performed attribute membership function making of estimate element, estimate value setting, weight define by the AHP, non additive presentation of weight according to $\lambda$-fuzzy measure, Choquet fuzzy integral.

• Journal of the Korean Society of Physical Medicine
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• v.11 no.4
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• pp.85-92
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• 2016

PURPOSE: A good, valid, and feasible tool for evaluating sit to stand (STS) is needed to help clinicians quantify the STS ability of stroke patients and people with balance disorders. The purpose of this study was to evaluate the concurrent validity of the Nintendo Wii Balance Board (WBB) and a force plate during STS and gait. METHODS: Seventeen healthy adults performed five trials of STS and gait on the WBB placed on the force plate. The force plate and the WBB were compared in regard to center of pressure (COP) and ground reaction force (GRF) data that were collected simultaneously. The variables used for analysis were time (s), integral summation (%), COP path length (mm), COP x range, and COP y range, all of which were measured for both tasks. Counter (%), peak (%), and rebound (%) were analyzed for STS, and $1^{st}$ peak (%), min peak (%), and 2nd peak (%) were analyzed for gait. The concurrent validity was analyzed using an intraclass correlation coefficient (ICC) and a standard error of measurement (SEM) with a 95% confidence interval. RESULTS: The concurrent validity of the WBB for STS ranged from fair to good (ICC=.701~.994, SEM=.029~3.815). The concurrent validity for gait was good (ICC=.869 ~.989, SEM=.007~2.052) aside from path length and x and y ranges of COP (ICC=-.150~.371, SEM=3.635~4.142). CONCLUSION: The GRF of the WBB has a good validity for STS and gait analysis. The WBB is remarkably portable, easy to use, and convenient for clinically assessing STS and gait.

• Physical Therapy Rehabilitation Science
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• v.7 no.4
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• pp.179-185
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• 2018

Objective: The purpose of this study was to analyze and compare vertical ground reaction forces during sit to stand (STS) and gait between female elderly and young individuals using the Wii Balance Board (WBB). Design: Cross-sectional study. Methods: Fifty-one female elderly people (age: $75.18{\pm}4.60years$), and 13 young people (age: $29.85{\pm}3.69years$) performed the five times STS test and gait respectively on the WBB. We analyzed time (s), vertical peak (%), integral summation (Int_SUM, %), and counter variables (%) in STS and 1st peak (body weight, BW%), 2nd peak (BW%), peak minimum (BW%), time (second), center of pressure (COP) path length (mm), and Int_SUM (BW%) in gait. The independent t-test was used to assess for differences in STS, gait ability, and general characteristics between the female elderly group and young adults group. With the first and last trials excluded, the mean value was obtained from the middle three of the five trials. Results: During STS, Int_SUM and time of young adults were significantly less than of the female elderly subjects. There were no significant differences in peak and counter variables. In gait, all variables (1st peak, 2nd peak, min, time, COP_path, and Int_SUM) showed significant differences between groups (p<0.05). This study demonstrated that the validity of vertical ground reaction forces occurring during STS and gait was significant in female elderly and young adults. Conclusions: Based on the measurement of vertical ground reaction forces in STS and gait using the WBB, it is possible to clinically improve the quality of geriatric physical therapy. Further studies are necessary to examine concurrent validity of elderly patients who have undergone total hip or knee replacement.