• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.307-314
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• 2006

In this paper, we present a comprehensive study for the development of quadruped walking robot. To understand the walking posture of a tetrapod animal, we begin with a careful observation on the skeletal system of tertapod animals. From taking a side view of their skeletal system, it is noted that their fore limbs and hind limbs perform characteristic roles during walking. Moreover, the widths of footprints and energy efficiency in walking have a close relationship through taking a front view of their walking posture. According to these observations, we present a control method where the kinematical solutions are not necessary because we develop a new rhythmic gait pattern for the quadruped walking robot. Though the proposed control method and rhythmic pattern are simple, they can provide the suitable motion planning for the robot since the resultant movement is based on the animal's movements. The validity of the proposed idea is demonstrated through dynamic simulations.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1424-1429
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• 2004

In this paper a mathematical framework for deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1201-1204
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• 2004

This paper suggests a DCS (Distributed Control System) model for steam temperature system of the thermal power plant. The model calculated within sectional range is linear. In order to calculate mathematical models, the system is partitioned into two or three sectors according to its thermal conditions, that is, saturated water/steam and superheating state. It is divided into three sections; water supply, steam generation and steam heating loop. The steam heating loop is called 'superheater' or steam temperature system. Water spray supply is the control input. A first order linear model is extracted. For linear approach, sectional linearization is achieved. Modeling methodology is a decomposition-synthetic technique. Superheater is composed of several tube-blocks. For this block, linear input-output model is to be calculated. Each tiny model has its transfer function. By expanding these block models to total system, synthetic DCS linear models are derived. Control instrument include/exclude models are also considered. The resultant models include thermal combustion conditions, and applicable to practical plant engineering field.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.514-518
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• 2003

In this paper, we investigate three dimensional optimal evasive maneuver patterns for air-to-surface attack missiles against proportionally navigated anti-air defense missiles. Interception error of the defense missile can be generated by evasive maneuver of the attack missile during the time of flight for which the defense missile intercepts the attack missile. Time varying weighted sum of the inverse of these interception errors forms a performance index to be minimized. Direct parameter optimization technique using CFSQP is adopted to get the attack missile's optimal evasive maneuver patterns according to parameter changes of both the attack missile and the defense missile such as maneuver limit and time constant of autopilot approximated by the 1st order lag system. The overall shape of resultant optimal evasive maneuver to enhance the survivability of air-to-surface missiles against proportionally navigated anti-air missiles is a kind of deformed barrel roll.

• Bulletin of the Korean Chemical Society
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• v.33 no.8
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• pp.2635-2641
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• 2012

Novel silver/salep-g-poly(acrylic acid) nanocomposite hydrogel were prepared in aqueous solution using poly(acrylic acid) grafted onto salep as a biopolymer based material. FT-IR spectra confirmed that poly(acrylic acid) (PAA) had been grafted onto salep in graft copolymerization reaction. TEM observations showed that silver nanoparticles have been uniformly dispersed in polymeric matrix. Effects of pH, acrylic acid (AA) amount and silver ion concentration on swelling capabilities were investigated. Results indicate that modifying AA and silver ion can improve swelling properties of the resultant nanocomposite hydrogel. pH response of this nanocomposite hydrogel in acidic and neutral pH made it suitable for drug delivery applications.

• Bulletin of the Korean Chemical Society
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• v.35 no.9
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• pp.2660-2664
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• 2014

A simple method of depositing titanium dioxide ($TiO_2$) nanoparticles onto graphene oxide (GO) as a catalytic support was devised for photocatalytic degradation of methylene blue (MB). Thiol groups were utilized as linkers to secure the $TiO_2$ nanoparticles. The resultant GO-supported $TiO_2$ (GO-$TiO_2$) sample was characterized by transmission electron microscopy (TEM), near-edge X-ray absorption fine structure (NEXAFS), and X-ray photoelectron spectroscopy (XPS) measurements, revealing that the anatase $TiO_2$ nanoparticles had effectively anchored to the GO surface. In the photodegradation of MB, GO-$TiO_2$ exhibited remarkably enhanced photocatalytic efficiency compared with thiolated GO and pure $TiO_2$ nanoparticles. Moreover, after five-cycle photodegradation experiment, no obvious deactivation was observed. The overall results showed that thiolated GO provides a good support substrate and, thereby, enhances the photodegradation effectiveness of the composite photocatalyst.

• Corrosion Science and Technology
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• v.10 no.3
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• pp.87-94
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• 2011

The typical corrosion prevention method inside the steel upper box girder in a suspension bridge involves the use of paints. However, in an effort to reduce environmental impact and cost, the suspension portion of the Yeongjong Bridge, Korea utilizes dehumidification systems to control humidity and prevent corrosion inside its box girder. Maintaining a uniform humidity distribution at the proper level inside the box girder is critical to the successful corrosion control. In this study, the humidity and the resultant atmospheric corrosivity inside the box girder of the Yeongjong Bridge was monitored. The corrosion rate of the steel inside the box girder was obtained using thin-film electrical resistance (TFER) corrosion sensors. Time-of-wetness (TOW) measurements and the deposition rates of atmospheric pollutants such as $Cl^{-}$ and $SO_{x}$ were also obtained. Classification of the atmospheric corrosivity inside the box girder was evaluated according to ISO 9223. As a result, no corrosion was found in the upper box girder, indicating that the dehumidification system used in the Yeongjong Bridge is an effective corrosion control method.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2717-2720
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• 2003

A mathematical framework for deriving acceleration bounds from given joint torque limits of two cooperating robots are described in this paper. Especially when the torque limits are given in 2-norm, the resultant geometrical configuration is ellipsoid(the ellipsoid is often called manipulability ellipsoid in many works). At first, the mathematical derivation starts from the dynamics of both object and robots as well as the kinematics of the robots, and is finally arranged in a form of equation relating joint torques to object acceleration through a complete constraint contact(or “very-soft contact”). To show the usefulness of the proposed method, two examples are included, and especially the case where friction effects the ellipsoid shape is also considered In the example.

• Proceedings of the IEEK Conference
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• 2004.06a
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• pp.317-320
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• 2004

In this paper, it is analyzed a performance improvement of ACL Packet using turbo code scheme in bluetooth system. In order for segment to improve the transfer capability, the transmission of messages have been simulated using a fragmentation that begins with the total package and incremental fragmentation for each layer using the TCP to define the resultant packet size and the level of fragmentation for each proceeding layer. This turbo code scheme decreases transmission time of L2CAP baseband packets by sending packets. From the results, we were able to obtain packet transmission time, optimal TCP packet size, ACL(DM packet) in AWGN.

• Journal of the Korean Institute of Telematics and Electronics
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• v.11 no.4
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• pp.19-24
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• 1974

An ungrounded inductance, necessary for construction of general type networks, is synthesized using two operational amplifiers and several passive elements. Through indefinite admittance matrix procedure. it is proved that the synthesized network is equivalent to an ungrounded pure inductance with a positive and a negative resistance in the parallel arms. A practical low-pass filter is made according to this synthesis method, and the resultant characteristic has been verified by means of IBM's simulation program ECAP (Electronic Circuit Analysis Program).