• Asian Journal of Atmospheric Environment
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• v.4 no.2
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• pp.89-96
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• 2010

To identify the domains that have the greatest impacts on air quality at the surface, both the upwind and downwind areas of Seoul were determined by season using refined wind fields. Four consecutive days were selected as the study period typical of each season. The mesoscale meteorology of the study period was reproduced by using the MM5 prognostic meteorological model (PSU/NCAR Mesoscale Model) with horizontally nested grids. The gridded meteorological field, which was used on the study area of $242\;km{\times}226\;km$ with grid spacing of 2 km, was generated by using the CALMET diagnostic meteorological model. Upwind and downwind areas of Seoul were determined by calculating 24-hour backward and forward air parcel trajectories, respectively, with u, v, and w velocity vectors. The results showed that the upwind and downwind areas were extended far to the northwest and the southeast as a result of high wind speeds in the spring and winter, while they were restricted on the fringe of Seoul in the summer and fall.

• Smart Structures and Systems
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• v.24 no.2
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• pp.183-191
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• 2019

A piezoelectric paper feeder actuator using Micro Virtual Roller (MVR) is proposed, designed, fabricated and tested. This actuator can drive a sheet of paper forward or backward without any mechanical parts, such as the costly and heavy rollers used in traditional paper feeders. In this paper feeder actuator, two vibrating stators which produce traveling waves are used to drive the paper. The vibrations of the stators are similar to those of piezoelectric motors and follow a similar procedure to move the paper. A feasibility study simulated the actuator in COMSOL Multiphysics Software. Traveling wave and elliptical trajectories were obtained and the dimensions of the stator were optimized using FEM so that the paper could move at top speed. Next, the eigenfrequencies of the actuator was determined. Experimental testing was done in order to validate the FEM results that revealed the relationships between speed and parameters such as frequency and voltage. Advantages of this new mechanism are the sharp decrease in power consumption and low maintenance.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.223-231
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• 2014

Humanoid robot is the most suitable robot platform for effective human interaction and various intelligent services. The present work addresses development of real time wireless control application of humanoid robot's forward and backward walks, and turning in walking. For convenience of human users, the application is developed on Android OS (Operating System) working on his or her smartphone. To this end, theoretic background on various-directional biped walking is proposed based on joint trajectories for forward walking, which have been shaped with a global optimization method. In this paper, backward walking is scheduled by interchange of angles and angular velocities and additional change of signs in angular velocities at all the via-points connecting cubic polynomial trajectories. Turning direction in walking is also implemented by activating the transversal hip joint initially located in the support leg in two stages. After validation of the proposed walking schemes with Matlab simulator, a smartphone application for the omnidirectional walking has been developed to control a humanoid robot platform named DARwIn-OP interconnected via Wi-Fi. Experiment result of the present wireless control of a humanoid robot with smartphone is successful, and the application will be released in application market near future.

• Phonetics and Speech Sciences
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• v.7 no.1
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• pp.151-163
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• 2015

In this study, we aim to describe kinematic characteristics of Korean /l/-flapping in two speech rates (fast vs. comfortable). Production data was collected from seven native speakers of Seoul Korean (four females and three males) using electromagnetic midsagittal articulometry (EMMA), which provided two dimensional data on the x-y plane. We examined kinematic properties of the vertical/horizontal tongue tip gesture, the vertical/horizontal (rear) tongue body gesture, and the jaw gesture in an /i/-/i/ context. Gestural landmarks of the vertical tongue tip gesture are directly measured. This serves as the actual anchoring time points to which relevant measures of other trajectories referred. The study focuses on velocity profiles, closing/opening spatiotemporal properties, constriction duration, and constriction minima were analyzed. The results are summarized as follows. First, gradiently distributed spatiotemporal values of the vertical tongue tip gesture were on a continuum. This shows more of a reduction in fast speech rate, but no single instance of categorical reduction (deletion). Second, Korean /l/-flapping predominantly exhibited a backward sliding tongue tip movement, in 83% of production, which is apparently distinguished from forward sliding movement in English. Lastly, there was an indication of vocalic reduction in fast rate, truncating spatial displacement of the jaw and the tongue body, although we did not observe positional variations with speech rate. The present study shows that Korean /l/-flapping is characterized by mixed articulatory properties with respect to flapping sounds of other languages such as English and Xiangxiang Chinese. Korean /l/ flapping demonstrates a language-universal property, such as the gradient nature of its flapping sounds that is compatible with other languages. On the other hand, Korean /l/-flapping also shows a language-particular property, particularly distinguished from English, in that a backward gliding movement occurs during the tongue tip closing movement. Although, there was no vocalic reduction in V2 observed in terms of jaw and tongue body height, spatial displacement of these articulators still suggests truncation in fast speech rate.

• Journal of Korean Society for Atmospheric Environment
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• v.9 no.4
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• pp.329-339
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• 1993

Due to the global-convection currents, transboundary transport of air pollutants is widely observed in many regions of the world. This study was carried out to investigate the pattern of long-range transport of air pollutants in North East Asia, especially the impact of air pollutants originated in China and Japan on the air quality in Korea. From the meteorological data at the 850 mb surface from May 1986 through April 1987 at 54 obsevation stations in the North East Asia region, the backward and forward trajectories were calculated using interpolation method. And the contributions of pollution sources in neighbor countries to the air quality in Korea were analyzed. It was concluded that air pollution in China had a great influence on the air quality in Korea throughout the year : it could be transported to Korea just within 2 or 3 days most of the time. The trajectory analysis showed that pollution sources in Beijing. Liaoning Province, and Shandong Province, the most heavily industrialized areas in China., were the most influential for the air quality in Korea except for summer season. Durnig summer season, the air pollution in Shanhai and Japan could have moer influence on Korea. Such transboundary transport of air pollutants necessitate international cowork and cooperation in the region of North East Asia.

• Journal of Environmental Science International
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• v.21 no.3
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• pp.327-337
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• 2012

Air pollution inventories are aggregated around south-eastern part of the Korean Peninsular including Busan, Ulsan, and Changwon cities. Because densely populated cities are concentrated in this region, air pollutants emitted from one of these cities tend to be impacted on the air quality of other cities. In order to clarify the seasonal movement pattern of emitted particles, several numerical simulations using WRF/FLEXPART were carried out. Four cases were selected for each season. The Weather Research and Forecasting model (WRF) reproduced atmospheric flow fields with nested grids. The seasonal pattern of air mass of study area was determined by backward and forward trajectories. As a result, the air parcel moves from northwest to southeast due to northwesterly winds in spring and winter. Also air parcel transports from south to north in summer, and moves from west to east. Because the air mass moves differently in each season, these characteristics should be considered when performing air quality analysis.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.487-495
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• 2012

In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 4 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.