• 한국소음진동공학회논문집
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• 제24권4호
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• pp.299-309
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• 2014

When biped robots make turns, the ability to walk stably and precisely along any circular path is crucial. In this context, inverse kinematics solutions are found for accurate gait realization, and new zero moment point(ZMP) equations are derived with respect to the cyclindrical coordinate system to facilitate generation of stable walking patterns. Then, appropriate steady and transitional walking patterns are both proposed in form of time functons. Subsequently, walking patterns for a path but of different speeds are generated using the functions and associated formulas, and preliminarily checked for stability based on the ZMP equations. Upon comparison of those cases, one can see how and when robots may fall down during circular walking. Finally, those patterns are put to test on the sample robot by ADAMS(R) along with the inverse kinematics solutions and a new balance control scheme compensating for insufficient stability particulary during the initial transition period. Test results show that the robot can walk along the circular path as predicted at a resonably high speed despite the distributed mass and ground contact effects, validating effectiveness of the suggested approach.

• Bulletin of the Korean Chemical Society
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• 제22권1호
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• pp.25-29
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• 2001

Nucleophilic substitution reactions of O-imidomethyl derivatives of phenols with OH- were studied theoretically using the semiempirical AM1 and Solvation Model 2.1 (SM2.1) methods in the gas phase and aqueous solution, respectively. In the gas phase, the two reaction paths, in which the imide (1a) or phenol (1b) is functioning as a leaving group, can occur competitively. In contrast, in aqueous solution, path (1b) becomes more favorable than (1a) because the transition states (TS) of path (1b) are more stabilized by solvent. Differences in solvation energies are caused by the structural differences of TS, i.e., the TS via path (1b) is more dissociative than that via path (1a). Therefore we conclude that the solvent effects play an important role in the hydrolysis of O-imidomethyl derivatives of phenols. However, reactivity is dependent on the acidities of both the imide and the phenol fragments since the ρz values vary progressively from 4.2 (Z' = I) to 2.5 (Z' = IV) as the acidities of imide increase. These are in good agreement with the experimental results.

• Bulletin of the Korean Chemical Society
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• 제13권1호
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• pp.11-17
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• 1992

Vibration-to-vibration energy transfer probabilities for $HF(v=n)+H_2(v=0){\to}HF(v=n-1)+H_2(v=1)$ and $DF(v=n)+D_2(v=0){\to}DF(v=n-1)+D_2(v=1)$ including both the vibration-to-vibration and translation (V-V, T) and vibration-to-vibration and rotation (V-V, R) energy transfer paths have been calculated semiclassically using a simplified collision model and Morse-type intermolecular interaction potential. The calculated results are in reasonably good agreement with those obtained by experimental studies. They also show that the transition processes for $HF(v=1-3)+H_2(v=0){\to}HF(v=0-2)+H_2(v=1)$ and $DF(v=1,\;4)+D_2(v=0){\to}DF(v=0,\;3)+D_2(v=1)$ are strongly dependent on the V-V, T path at low temperature but occur predominantly via the V-V, R path with rising temperature. The vibration-to-vibration energy transfer for $HF(v=4)+H_2(v=0){\to}HF(v=3)+H_2(v=1)$ and $DF(v=2-3)+D_2(v=0){\to}DF(v=1-2)+D_2(v=1)$ occur predominantly via V-V, R path and V-V, T path through whole temperatures, respectively.

• Asia pacific journal of information systems
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• 제7권2호
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• pp.225-266
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• 1997

A Causal Transition Model of the IT impact on organization is proposed. The model is based upon the premise that the IT impact is a multi-phase, multi-realm phenomenon, and that the IT impact in one organizational realm logically transpires to another realm, thus forming complex causal webs among them. Two exploratory research studies, the one qualitative and the other quantitative, were conductea to validate the model in a setting involving major structural reorganization of the organizations' IT function. The research results provide support for the general theory structure of the model. The findings include: ⅰ) the IT impact manifests on multiple organizational realms, with different degrees of strength, ⅱ) the impact on the realms follow a particular causal transition path among them, and ⅲ) the IT impact manifests on and through the information processing aspect of work. The results, however, indicate that people's perception of the IT impact is strongly mitigated by the IT relevance of work, and that the organization is affected as much by the structural arrangement surrounding and accompanying the IT as by the technology itself, suggesting that the IT impact is an organizational phenomenon as well as a technological phenomenon. The implications of the research results are discussed at the end.

• ETRI Journal
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• 제35권6호
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• pp.1029-1037
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• 2013

This paper introduces a novel and fast synthesizing method for 3D motions of quadrupedal animals that uses only a small set of motion capture data. Unlike human motions, animal motions are relatively difficult to capture. Also, it is a challenge to synthesize continuously changing animal motions in real time because animals have various gait types according to their speed. The algorithm proposed herein, however, is able to synthesize continuously varying motions with proper limb configuration by using only one single cyclic animal motion per gait type based on the biologically driven Froude number. During the synthesis process, each gait type is automatically determined by its speed parameter, and the transition motions, which have not been entered as input, are synthesized accordingly by the optimized asynchronous motion blending technique. At the start time, given the user's control input, the motion path and spinal joints for turning are adjusted first and then the motion is stitched at any speed with proper transition motions to synthesize a long stream of motions.

• 전자공학회논문지B
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• 제31B권6호
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• pp.17-24
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• 1994

This paper is a study on Korean word recognition and suggest the method that stabilizes the state-transition in the HMM by applying the `inertia' to the feature vector sequences. In order to reduce the quantized distortion considering probability distribution of input vectors, we used SOFM, an unsupervised learning method, as a vector quantizer, By applying inertia to the feature vector sequences, the overlapping of probability distributions for the response path of each word on the self organizing feature map can be reduced and the state-transition in the Hmm can be Stabilized. In order to evaluate the performance of the method, we carried out experiments for 50 DDD area names. The results showed that applying inertia to the feature vector sequence improved the recognition rate by 7.4% and can make more HMMs available without reducing the recognition rate for the SOFM having the fixed number of neuron.

• Bulletin of the Korean Chemical Society
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• 제31권12호
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• pp.3718-3722
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• 2010

Theoretical investigations are carried out on the title reaction by means of ab-initio and DFT methods. The optimized geometries, frequencies and minimum energy path are obtained at UB3LYP/6-311G(d,p) level. Single point energy calculations are performed at MP2 and MP4 levels of theory. Energetics are further refined by calculating the energy of the species with a modified Gaussian-2 method, G2M(CC,MP2). The rate constant of the reaction is calculated using Canonical Transition State Theory (CTST) utilizing the ab-initio data obtained during the present study and is found to be $5.47{\times}10^{-12}\;cm^3\;molecule^{-1}s^{-1}$ at 298 K and 1 atm.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제48권8호
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• pp.455-460
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• 1999

A novel zero-voltage-transition (ZVT) PWM converter for switched reluctance motor (SRM) drives is proposed. A simple auxiliary circuit which consists of one active switch, one resonant inductor, and three diodes provides ZVS condition to all main switches and diodes allowing high frequency operation of the converter with high efficiency. The auxiliary circuit is placed in parallel with the main power flow path and thus it handles only a small fraction of the main power. So, the power rating of the auxiliary circuit can be very small (about 30% of main power). So, the auxiliary circuit can be realized with small power rating and low cost. Operation, features and characteristics of the proposed converter are illustrated and verified on a 1.5 kW, 50 kHz IGBT based (a MOSFET for the auxiliary with) experimental circuit.

• 응용통계연구
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• 제28권5호
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• pp.895-906
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• 2015

확산모형은 입자의 운동현상과 금융자산의 미시적 가격변동을 설명하기 위하여 사용되는 수리적 모형이다. 확산모형의 추정방법에 관한 논의는 다양한 분야에서 이루어져 왔다. 통계학적 관점에서 우도적 방법에 기반한 확산모형의 추정방법을 개발하려는 시도가 계속되어 왔다. 이산시간 간격으로 관측된 자료를 이용하여 확산모형을 추정할 때 최대우도 추정법을 적용하기 위해서는 확산모형에 대한 전이확률 밀도함수를 구해야 한다. 본 연구에서는 확산모형의 전이확률밀도를 근사하기 위하여, 정규분포를 따르는 확률변수를 이용하여 브라운다리 확률과정에 대한 경로적분을 대체하는 방법을 제안하고, 그 수치적 성질을 다른 방법들과 비교한다.

• Journal of Computational Design and Engineering
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• 제2권4호
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• pp.197-205
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• 2015

Bladed disk (BLISK) is a vital part in jet engines with a complicated shape which is exclusively machined on a five-axis machine and requires high accuracy of machining. Poor quality of tool orientation (e.g., false tool positioning and unsmooth tool orientation transition) during the five-axis machining may cause collision and machine vibration, which will debase the machining quality and in the worst case sabotage the BLISK. This paper presents a reference plane based algorithm to generate a set of smoothly aligned tool orientations along a tool path. The proposed method guarantees that no collision would occur anywhere along the tool path, and the overall smoothness is globally optimized. A preliminary simulation verification of the proposed algorithm is conducted on a BLISK model and the tool orientation generated is found to be stable, smooth, and well-formed.