• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1998년도 추계학술대회 학술발표 논문집
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• pp.304-309
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• 1998

In this paper, a fuzzy controller for stabilization of the inverted pendulum system is propose. The facility of this fuzzy controller which has a swing-up control mode and a stabilization one, moves a pendulum in an initial natural stable equilibrium point and a cart in arbitary position, to an unstable equilibrium point and a center of rail. Specially, the virtual equilibrium point ($\Phi$veq) which describes functionally considers the interactive dynamics between a position of cart and a angle of inverted pendulum is introduced. And comparing with the convention optimal controller, the proposed hierarchical fuzzy inference structur made substantially the inverted pendulum system robust and stable.

• Nuclear Engineering and Technology
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• 제30권4호
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• pp.342-352
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• 1998

A nuclear design feasibility of soluble boron free(SBF core for the medium-sized(600MWe) PWR was investigated. The result conformed that soluble boron free operation could be performed by using current PWR proven technologies. Westinghouse advanced reactor, AP-600 was chosen as a design prototype. Design modification was applied for the assembly design with burnable poison and control rod absorber material. In order to control excess reactivity, large amount of gadolinia integral burnable poison rods were used and B4C was used as a control rod absorber material. For control of bottom shift axial power shape due to high temperature feedback in SBF core, axial zoning of burnable poison was applied to the fuel assemblies design. The combination of enrichment and rod number zoning for burnable poison could make an excess reactivity swing flat within around 1% and these also led effective control on axial power offset and peak pin power, The safety assessment of the designed core was peformed by the calculation of MTC, FTC and shutdown margin. MTC in designed SBF core was greater around 6 times than one of Ulchin unit 3&4. Utilization of enriched BIO(up to 50w1o) in B4C shutdown control rods provided enough shutdown margin as well as subcriticality at cold refueling condition.

• 한국소음진동공학회논문집
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• 제14권5호
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• pp.385-393
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• 2004

This paper proposes a swing-arm type dual-stage actuator, which consists of a PZT actuator for fine motion and a VCM(voice coil motor) for coarse motion, for an SFF ODD(small form factor optical disk drive), in order to achieve fast access speed and precise track-following control. Over the past few decades there have been a lot of researches related to the VCM and dual-stage actuator. In this paper, we focus our attention on the design and control of the PZT actuator. Due to the dual cantilever structure. the PZT actuator can generate precise translational tracking motion at its tip to which an optical pickup is attached. and the effect of hysteric behavior of the PZT element is reduced. The dynamic model of the PZT actuator is derived by using the Hamilton's principle, and verified by comparing it with the experimental frequency response. The sliding mode control is designed in order to be robust against modeling uncertainties. Simulations and experimental results confirm the effectiveness of the suggested control scheme.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.1104-1106
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• 1996

In this paper, a hierarchical fuzzy controller is proposed for the stabilization control of the inverted pendulum system. The design of controller for that system is difficult because of its complicated nonlinear mathematical model with unknown parameters. Conventional fuzzy control strategy based only on dynamics of pendulum made have failed to stabilize. However, proposed control strategies are to swing pendulum from natural stable up equilibrium point to an unstable equilibrium point and are to transport a cart from an arbitrary position toward a center of rail. Thus, the proposed fuzzy stabilization controller have a hierarchical fuzzy inference structure; that is, the lower level is for inference interface for the virtual equilibrium point and the higher level one for the position control of cart according to the firstly inferred virtual equilibrium point.

• 한국정밀공학회지
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• 제23권4호
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• pp.75-82
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• 2006

In this paper, we propose an optimal trajectory for biped robots to move up-and-down stairs using a genetic algorithm and a computed-torque control for biped robots to be dynamically stable. First, a Real-Coded Genetic Algorithm (RCGA) which of operators are composed of reproduction, crossover and mutation is used to minimize the total energy. Constraints are divided into equalities and inequalities: Equality constraints consist of a position condition at the start and end of a step period and repeatability conditions related to each joint angle and angular velocity. Inequality constraints include collision avoidance conditions of a swing leg at the face and edge of a stair, knee joint conditions with respect to the avoidance of the kinematic singularity, and the zero moment point condition with respect to the stability into the going direction. In order to approximate a gait, each joint angle trajectory is defined as a 4-th order polynomial of which coefficients are chromosomes. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot that consists of seven links in the sagittal plane. The trajectory is more efficient than that generated by the modified GCIPM. And various trajectories generated by the proposed GA method are analyzed in a viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.

• 한국전자통신학회논문지
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• 제9권5호
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• pp.625-632
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• 2014

건설현장에서의 포크레인과 같이 어장 작업을 위한 수산작업용 조력기로서 어장관리기가 필수적이다. 기존의 어장관리기의 제어방식이 ON/OFF제어에 기반을 두고 있어 급조작시 집게에 매달린 양식제품이 흔들리는 현상의 문제점이 발생되고 있다. 이는 심할 경우 작업자에게 위협을 하는 경우도 발생되고 있다. 본 논문에서는 흔들림을 감소시킬 수 있는 마이컴 기반의 조작제어장치를 개발한다. 본 논문에서는 어장관리기의 유압제어 특성, 제어기의 설계 방법 그리고 제어 알고리즘 개발에 대하여 기술한다. 제안하는 시스템을 어장관리기에 적용하여 개선 전 후 흔들림의 개선정도의 성능평가를 수행한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1520-1523
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• 1997

A rigorous dynamic simulation was performed in binary gas mixture H$_{2}$/CO (70:30 vol.%) to determinate start-up operating conditions of PSA(Pressure Swing Adsorption) processes. The rigorous dynamic model for the PSA process contains an Ergun equation for expressing the pressure drop in a bed, and valve equations to compute the boundary pressure change of the bed. As the result of the continuous dynamic simulation of 100 operating cyles in various initial conditions, the unsteady-state appeared in the early period and the cyclic steady-state came out about 20th cycle in feed condition and vaccum condition, and 30th cycle in pure H$_{2}$ condition. As time goes by valve equations made change the pressure at each end of the bed in ressurization, countercurrunt-depressurization and pressure equalization steps. The H$_{2}$ purity and the recovery is 99.99% and 86.73% respectively, which is slightly higher than the experimental data. Main contributiion of this study includes supplying fundamental technologies of handling combined variables PSA processes by developing rigorous models.

• 대한골관절종양학회지
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• 제3권1호
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• pp.18-25
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• 1997

Prosthetic replacement is one of the most common methods of reconstruction after resection of malignant tumor around the knee. Gait analysis provides a relative objective data about the gait function of patients with prosthesis. The purpose of this study was to compare the gait pattern of the patients who underwent limb salvage surgery with prosthesis for distal femur and that of patients with prosthesis for proximal tibia. This study included ten patients (4 males, 6 females, mean age 22.7 years, range 14-36) who underwent a wide resection and Kotz hinged modular reconstruction prosthesis replacement and six normal adult(Control). The site of bone tumor was the distal femur (Group 1) in six patients and proximal tibia (Group 2) in 4 patients. The follow-up period ranged from 15 to 82 months (mean : 33 months). The evaluation consisted of clinical assessment, radiographic assessment, gait analysis using VICON 370 Motion Analysis System. The gait analysis included the linear parameters such as, walking velocity, cadence, step length, stride length, stance time, swing time, single support and double support time and the three-dimensional kinematics (joint rotation angle, velocity of joint rotation) of ankle, knee, hip and pelvis in sagittal, coronal and transverse plane. For the kinetic evaluation, the moment of force (unit: Nm/kg) and power (unit: Watt/kg) of ankle, knee and hip joint in sagittal, coronal and transverse plane. In the linear parameters, cadence, velocity, step time and single support were decreased in both group 1 and group 2 compared with control. Double support decreased in group 2 compared with control significantly(p<.05). In contrast to our hypothesis, there was no significant difference between group 1 and group 2. In Kinematics, we observed significant difference (p<.05) of decreased knee flexion in loading response (G2

• Nuclear Engineering and Technology
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• 제52권6호
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• pp.1099-1109
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• 2020

The performance of gadolinium burnable absorber (GdBA) for reactivity control in UO₂ and (U, Th)O₂ fuels and its impact on spent fuel characteristics was performed. Five fuel assemblies: one without GdBA fuel rod and four each containing 16, 24, 34 and 44 GdBA fuel rods in both fuels were investigated. Reactivity swing in all the FAs with GdBA rods in UO₂ fuel was higher than their counterparts with similar GdBA fuel rods in (U, Th)O₂ fuel. The excess reactivity in all FAs with (U, Th)O₂ fuel was higher than UO₂ fuel. At the end of single discharge burn-up (~ 49.64 GWd/tHM), the excess reactivity of (U, Th) O₂ fuel remained positive (16,000 pcm) while UO₂ fuel shows a negative value (-6,000 pcm), which suggest a longer discharge burn-up in (U, Th)O₂ fuel. The concentration of plutonium isotopes and minor actinides were significantly higher in UO₂ fuel than in (U, Th)O₂ fuel except for ²³⁶Np. However, the concentration of non-actinides (gadolinium and iodine isotopes) except for ¹³⁵Xe were respectively smaller in (U, Th)O₂ fuel than in UO₂ fuel but may be two times higher in (U, Th)O₂ fuel due to its potential longer discharge burn-up.

• 대한물리의학회지
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• 제1권1호
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• pp.1-12
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• 2006

Purpose : The purpose of this study was to investigate the effect of electromechanical gait trainer therapy in stroke patients. The gait trainer was designed to provide nonambulatory subjects the repetitive practice of a gait-like movement without overstraining therapist. To simulate normal gait, discrete stance and swing phase, lasting 60% and 40% of the gait cycle respectively, and the control of the movement of the centre of mass were required. Methods : This preliminary study investigated during 8 weeks therapy on the gait trainer could improve gait ability in 5 subacute and chronic hemiparetic stroke patients. Gait ability(time up & go [TUG], comfortable and maximal gait speed and functional ambulation category[FAC]), functional movement of lower extremity(Fugl-Meyer Assessment [FMA] and composite spasticity score [CSS]) and sensory of lower extremity(Fugl-Meyer Assessment sensory [FMA-s])were the measured. Results : TUG, comfortable and maximal gait speed and FMA were improved significantly. Although FAC, FMA-s and CSS were improved, there were not statistically significant. Conclusion : Therefore, the gait trainer enabled affected patients the repetitive practice of a gait-like movement, which is important for the restoration of walking ability.