• 제어로봇시스템학회논문지
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• 제17권10호
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• pp.1029-1036
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• 2011

An energy-efficient reference walking trajectory generation algorithm is suggested utilizing allowable ZMP (Zero-Moment-Point) region, which maxmizes the energy efficiency for cyclic gaits, based on three-dimensional LIPM (Linear Inverted Pendulum Model) for biped robots. As observed in natural human walking, variable ZMP manipulation is suggested, in which ZMP moves within the allowable region to reduce the joint stress (i.e., rapid acceleration and deceleration of body), and hence to reduce the consumed energy. In addition, opimization of footstep planning is conducted to decide the optimal step-length and body height for a given forward mean velocity to minimize a suitable energy performance - amount of energy required to carry a unit weight a unit distance. In this planning, in order to ensure physically realizable walking trajectory, we also considered geometrical constraints, ZMP stability condition, friction constraint, and yawing moment constraint. Simulations are performed with a 12-DOF 3D biped robot model to verify the effectiveness of the proposed method.

• Child Health Nursing Research
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• 제13권4호
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• pp.436-443
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• 2007

Purpose: An exploratory study was done to examine the validity of the new Ballard scale with extended scoring system(eNBS) in estimating gestational age(AG) in full-term newborns. Method: The eNBS scoring system was extended to include all numbers of total score of NBS and GA to allow a 3-days variation in GA estimatio compared to the original scale which has a 2-week variation due to the application of a 5-score interval for the total NBS score and only even numbers for GA. GA by eNBS(GA-eNBS) was compared with GA by LMP(GA-LMP) and GA by standard NBS(GA-sNBS) in 133 full-term newborns. Difference between GA-LMP and GA-eNBS was analyzed for each GA. Results: Positive correlations were observed in GA-sNBS and GA-eNBS with GA-LMP. There was no difference between GA-LMP and GA-eNBS at 39GA and 40GA. At 37GA and 38GA, GA-eNBS overestimated GA-LMP up to 1 week, while underestimating up to 1 week at 41GA. Conclusions: The accuracy of eNBS was validated within 3 days of variation in GA estimation at 39-40GA. Overestimation by eNBS suggests the possible acceleration of fetal maturity in premature newborns, while underestimation, of the deceleration of fetal maturity in postterm newborns.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2011년도 정기총회 및 추계학술대회 논문집
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• pp.761-767
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• 2011

Since the "Low Carbon, Green Growth" as a social requirements is attracted public attention, the policies and investments of the railway which have been less estimated than road is re-considered. Since the starting the commercial service (2004. April), the KTX have been operated successfully while transport passengers over 100million for years. And also the project for development of KHST (Korea High Speed Train ; G7) had been accomplished with a good result, the first trainset of KTX-II which base on G7 project was manufactured and testing now. On the other hand, the world's technology of the high speed train is more faster, and changing to a distributed traction system. To catch up the world's leading technology, the HEMU(High-speed Electric Multiple Unit) project will secure new technology and aims to promote the technology of domestic high-speed train. The authors indicates the result of detail review such as a curve, slope of the track and electrical dead section of the catenary to test at 400kph and also the performance simulation of the developed rolling stock in this paper. As the result, the authors devise the test scenario to perform a maximum speed test (stability at max. speed, acceleration & deceleration etc) with the restricted conditions such as track length, track available time etc by considering above result.

• 한국정보전자통신기술학회논문지
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• 제9권2호
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• pp.243-247
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• 2016

본 논문은 급가속, 급 감속, 급제동, 급출발, 그리고 과속 등과 같은 여러 운행 이벤트 데이터는 운전자의 운행습관과 운전자의 사고위험성을 예측 또는 분석하는데 중요한 정보를 제공한다. 일반적인 자료의 분포는 정규분포, 로그정규분포, 감마분포 등을 이용하지만 운전자 운행습관을 나타내는 자료에서 사고위험성을 추정 할 수 있는 극단적인 부분에서는 언급한 분포로 적합하지 않은 경우가 발생한다. 특히 왜도가 발생하여 정규분포에 적합하지 않은 영역이 생겨난다. 본 논문에서는 이 영역에서 적합한 분포 함수와 사고를 유발하는 위험군을 분리 할 수 있고 운전자 운행 시 사전경고로 사고율을 줄 일수 있는 임계점을 분포함수의 quantile값과 군집분석 결과와 비교하여 제시하였다.

• 한국정밀공학회지
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• 제26권8호
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• pp.112-118
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• 2009

A pressure rise is generated while air bearing stages are moving in high vacuum environment. This study analyzed this pressure rise phenomenon theoretically and verified it experimentally using two different kinds of stages - linear and rotary air bearing stages. Results indicate that the pressure rise was caused by additional leakage resulting from stage velocity, along with adsorption and outgassing of gas molecules from the guide rail surface. Though tilting of the stage due to acceleration and deceleration reached several micrometers, it had a negligible effect on pressure rise because the tilting time was very short. Therefore, a rotary air bearing stage showed much less pressure rise than a linear stage because the rotary stage theoretically has nothing to do with the above causes. Additional leakage caused by stage velocity was inevitable if the stage had movements, but pressure rise caused by adsorption and outgassing could be suppressed by improving the surface quality to reduce real surface area, and by coating the guide rail surface with titanium nitride (TiN) which has less adhesion probability of gas molecules. The results also indicate that the pressure rise increased when the air bearing stage operated under high vacuum conditions.

• 한국정밀공학회지
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• 제18권7호
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• pp.53-64
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• 2001

The gain-scheduling control technique is vary useful in the control problem incorporating time varying parameters which can be measured in real time. Based on these facts, in this paper the sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. But, in this paper, we introduce and synthesize a new type of swing motion control system. In this control system, a small auxiliary mass is installed on the spreader. And the actuator reacts against the auxiliary mass, applying inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we assume that an plant parameter is varying and apply the gain-scheduling control technique design the anti-swing motion control system for the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 춘계학술대회 논문집
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• pp.1039-1044
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• 2008

By the result of efforts for the technology development of G7 trainset, the technology of domestic high-speed train KTX-II has lately been put to practical use while a forward countries of railway, which have their own developing ability of high-speed train, are competing against each other for the development of faster high-speed train system. Japan has been commissioning of FASTECH 360 which was developed in June 2005. Also France and Germany have been commissioning of next generation high-speed train such as AGV and ICE-3, developed basing on technology of their existing high-speed train system(TGV and ICE), its maximum commercial running speed is 360kph, and adopted multiple unit system. For the development of technology of domestic high-speed train and enhancement of national technology competitive power, HEMU (High-speed Electrical Multiple Unit) development project has been carried out as a national R&D project from last August. For the executing of HEMU's maximum speed test, we have investigated the high speed line characteristics (i.e. radius of curvature, gradient, cant etc.) of Seoul-Pusan line and Honam line which is under construction. We'd like to examine a study of condition for the best HEMU T&C line considering HEMU's characteristics (i.e. acceleration, deceleration etc.) and its interface with infrastructure in this paper.

• 대한의용생체공학회:학술대회논문집
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• 대한의용생체공학회 1995년도 춘계학술대회
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• pp.113-116
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• 1995

Steady and physiological flows of a Newtonian fluid and blood in the bifurcated arterial vessel are numerically simulated. Distributions of velocity, pressure and wall shear stress in the bifurcated arterial vessel are calculated to investigate the differences between steady and physiological flows. For the given Reynolds number physiological flow characteristics of a Newtonian fluid and blood in the bifurcated arterial vessel are quite different from those of steady flows. No flow separation or flow reversal in the bifurcated region in the downstream after stenosis appears during the acceleration phase. Also, no recirculation region is seen for steady flows. However, during the deceleration phase the flow began to exhibit flow reversal, which is eventually extended to the entire wall region.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 추계학술대회 논문집 학회본부
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• pp.336-338
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• 1996

Inverter is classified into voltage source and current source by the circuit's configuration. VSI (voltage source inverter) has the excellent generality, economical effects and high power-factors. CSI (current source inverter) is proper to frequent acceleration and deceleration of induction motor, the energy recovering accomplished to ac power line without any other device. But CSI inverter have some troubles such that the numbers of components are increased and the circuits are complicated. To solve these problems, a new inverter is proposed in this paper. This method gives protection of inverters when appears both an instantaneous load-open circuits and an instantaneous load-short circuits, and it has the both merits of both VSI and CSI.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2009년도 춘계학술대회 논문집 특별세미나,특별/일반세션
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• pp.429-433
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• 2009

Since the "Low Carbon, Green Growth" as a social requirements is attracted public attention, the policies and investments of the railway which have been less estimated than road is re-considered. Since the starting the commercial service (2004. April), the KTX have been operated successfully while transport passengers over 100million for years. And also the project for development of KHST (Korea High Speed Train ; G7) had been accomplished with a good result, the first trainset of KTX-II which base on G7 project was manufactured and testing now. On the other hand, the world's technology of the high speed train is more faster, and changing to a distributed traction system. To catch up the world's leading technology, the HEMU(High-speed Electric Multiple Unit) project will secure new technology and aims to promote the technology of domestic high-speed train. The authors indicates the result of detail review such as a curve, slope of the track and electrical dead section of the catenary to test at 400kph and also the performance simulation of the developed rolling stock in this paper. As the result, the authors devise the test scenario to perform a maximum speed test (stability at max. speed, acceleration & deceleration etc) with the restricted conditions such as track length, track available time etc by considering above result.