• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.5
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• pp.466-472
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• 2013

In this paper, we propose a gait generation method for a quadruped robot using the waist joints which can minimize the body shake during the locomotion. In this proposed method, we first calculate the hip coordinate of tilted body using the geometrical model of a quadruped robot, and then move the CoG(Center of Gravity) of a quadruped robot using 2-DOF waist joints to minimizes the body shake. In addition, the gait of a quadruped robot is generated based on the wave gait method. Finally, we verify the effectiveness of the proposed method by comparing with that of the previous method through the computer simulations.

• Journal of Fashion Business
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• v.28 no.1
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• pp.83-97
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• 2024

A plantar pressure mat with visual notifications was developed to confirm whether individuals can effectively balance themselves and correct imbalances. The sensor-embedded mat was made with a commercial yoga mat, and was tested on seven working women in their 30s to determine plantar pressure distribution when standing and squatting, and if they could recognize and correct imbalances with visual feedback. The study found that visual notifications significantly changed the plantar pressure ratio of the forefoot and hindfoot, as well as the left and right foot plantar pressure ratio. Without notifications, the center of gravity was more concentrated in the rear foot than the forefoot in both standing and squatting positions. Visual notifications showed that the center of gravity, which was largely focused on the rear foot, was distributed to the forefoot, resulting in a more evenly distributed center of gravity throughout the sole. For the change in left and right plantar pressure, the weight that was largely loaded on the left side was distributed to the right foot through the visual notification mat, confirming a more balanced plantar pressure.

• Korean Journal of Metals and Materials
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• v.50 no.7
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• pp.531-538
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• 2012

In this study, we evaluated the fluidity of the Al-Zn based alloys which exhibit excellent mechanical properties. We conducted computer simulations of fluid flow using the results of DSC, DTA analysis and Java-based Materials Properties software (J. Mat. Pro). Such computer simulations were then compared with the results obtained from experimental observations. The computer simulation results and the experimental results were very similar in fluidity length. It was found that the fluidity length of Al-Zn alloys is improved by increasing the Zn content while decreasing the solidus temperature of an alloy. In addition, we elucidate the effect of Zn addition on variations in different mechanical properties and the microstructure characteristics of (Al-xZn3Cu0.4Si0.3Fe) x=20, 30, 40, and 45 wt% alloys fabricated by gravity casting.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.1
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• pp.69-74
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• 2012

In this research equations of motion of a Wheeled Inverted Pendulum (WIP) which is running on the inclined road and changing its center of gravity. Difference between a conventional cart inverted pendulum and the WIP is also considered. The WIP has small planar size so that it has been used as a mobile platform for several applications which require slender frame in order to travel on the narrow road. The WIP has almost the same unstable properties as conventional inverted pendulums have. There needs an aggressive control scheme for the WIP not to fall down. In order to design a high performance control scheme, equations of motion of the WIP, which is running under various environment and operating conditions, should be derived and considering its properties is necessary.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.8
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• pp.574-581
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• 2019

This paper investigates the effects of thrust misalignments and offsets of the lateral center of gravity of a space launch vehicle on its guidance performance. Sensitivity analysis and Monte Carlo simulations are applied to analyze their effects by computing changes in orbit injection errors when including the error sources. To compensate their effects, the attitude controller including an integrator additionally and the Steering Misalignment Correction (SMC) routine of the Saturn V are considered, and then Monte Carlo simulations are performed to evaluate their performances.

• Journal of Korean Society of Steel Construction
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• v.26 no.5
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• pp.441-452
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• 2014

In this paper, steel reinforced concrete(SRC) column and composite beam connections were statically tested under gravity loading. The composite beam consists of H-section and U-section members. Five full-scaled specimens were designed to investigate the effect of a number of parameters on behavior of connections such as H-section size, the presence of stud connector, the presence of stiffeners and top bars. In addition, structural performance of welded joint between the H-section and the U-section members is mainly discussed, with an emphasis on initial stiffness, strength, deformation capacity.

• Economic and Environmental Geology
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• v.32 no.2
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• pp.177-187
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• 1999

Gravity, magnetic and VLF surveys were conducted to investigat the structural stability and hazards associated with the Ubong landfill in Pohang City, which has been built to dump industrial wastes. In 1994, the collapse of a bank happened in the 6th landfill site due to sudden heavy rain, and a large quantity of waste materials flowed out to the nearby landfill sites, factories and roads. We used $10{\times}10m$ resolution DEM data for gravity reductions. The maximum variation of the terrain effect in the survey area is about 0.5 mgal and the terrain effect is large in the vicinity of bank boundary. The Bouguer gravity anomaly map shows the effect due to the variatino of thickness and type of waste materials. The small negative gravity anomaly increases from the 9th site to the 6th site. The small negative gravity anomaly of the 9th site reflects the relatively shallow dumping depth of average 14.5 m in this site and increased density of waste materials by the repeated stabilization process of soil overlaying. The 6th site is located at the center of the former valley and rainfall and groundwater are expected to flow from south-east to north-west. Therefore, considering the previous accident of mixing waste and bank materials at the north-west boundary of the landfill, there may be some environmental problems of leakage of contaminated water and bank stability. The complex inversion technique using Simulated annealing and Marquardt-Levenberg methods was applied to calculate three-dimensional density distribution from gravity data. In the case of 6th site, it is apparent that the landfill had been dumped in four sectors. However, most part of the 9th site and showed that high magnetic industrial wastes were concentrated in the 6th site. The result of magnetic survey showing low magnetic anomalies along the boundaries of two sites is similar to that of gravity data. The VLF data also reveals four divided sectors in the 6th site, and overall anomaly trend indicates the directio of former valley.

• Journal of the Korea Society of Computer and Information
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• v.17 no.6
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• pp.49-55
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• 2012

Pacman is one of the world-famous and have been chosen game in the game room at the arcade. In this paper, pacman game gives you the ability to perform by simple hand movement alone. First, we obtain binary RGB image to extract skin color, and convert into binary image YCbCr by minus the luminance in this image. Next, we extract the hand region by the product of an binary RGB image and binary YCbCr image. Finally, the hand region, we obtain the center of gravity by the minimum bounding rectangle and the center of the hand pixel area, and we used to obtain the center of the hand area with an average of two center of gravity. In other words, we presented the game of motion that can take the place of arrow key by using the center coordinates of hand. In addition, these experiments showed the average movement and error rate, and cause of the error type was also investigated.

• Journal of the Korean Society of Visualization
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• v.20 no.1
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• pp.18-28
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• 2022

In this study, a cavity shape measurement experiment was conducted by changing the diameter and the angle of attack of a disk cavitator. Since the gravity effect is proportional to the cavity volume, the larger the cavity, the greater the effect. It is concluded that the gravity effect becomes smaller as the cavitation number decreases because of a short cavity maintaining time. The cavity centerline rises in case of the positive angle of attack and descends in case of the negative angle of attack. Since the effect of the angle of attack is inversely proportional to the square of the cavity radius, the effect of the angle of attack becomes dominant in the vicinity of the cavitator. It is judged that the horizontal section of the cavity centerline cannot be extended because the factors affecting the gravity effect and the angle of attack effect are different.

• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.44-46
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• 2004