• The Journal of Korea Robotics Society
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• v.10 no.4
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• pp.186-192
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• 2015

This paper proposes a robust balance and driving control for omni-directional ball robot(generally called ball-bot) with two axis mecanum wheel. Slip between ball and mecanum wheel actuator inevitably occurs along diagonal axis due to its instantaneous strong torque. In order to reduce and saturate slip, exact distance calculation scheme especially for rotational movement is essential. So this research solved Euler-Lagrange dynamics for proposed two axis ball robot based on practical mechanical modeling. Robust balance control was carried out by PID controller according to the pitch and roll angles of ball robot by using sensor fusion between AHRS and wheel encoder. Proposed PID controller enhances stability by reducing steady state error and settling time. Proposed slip control algorithm for omni-directional ball robot has been demonstrated by experiments for balance control and arbitrary driving control.

• Transactions of the Korean Society of Automotive Engineers
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• v.8 no.5
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• pp.129-137
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• 2000

The powertrain is an important factor for the interior and exterior noise behavior of the vehicle Thus, the noise vibration and harshness(NVH) behavior of an engine is becoming a major target of the powertrain development. This paper describes the analyses with the aim to reduce the vibration and noise of an advanced inline 4-cylinder diesel engine block by use of CAE methods. The characteristics of an engine block as a main excitation source of car interior noise is studied. Particularly, The effect of balance shaft to reduce the 2nd order engine excitation force is calculated by forced vibration and radiated noise analysis. The engine exitation forces are obtained under real operating conditions. It is shown that the reduction of vibration and noise level by adapting blancing shaft is well predicted and rediated noise is directly related to the surface velocity of engine block.

• Journal of Communications and Networks
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• v.13 no.4
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• pp.327-338
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• 2011

With the incitation to reduce power consumption and the aggressive reuse of spectral resources, there is an inevitable trend towards the deployment of small-cell networks by decomposing a traditional single-tier network into a multi-tier network with very high throughput per network area. However, this cell size reduction increases the complexity of network operation and the severity of cross-tier interference. In this paper, we consider a downlink two-tier network comprising of a multiple-antenna macrocell base station and a single femtocell access point, each serving multiples users with a single antenna. In this scenario, we treat the following beamforming optimization problems: i) Total transmit power minimization problem; ii) mean-square error balancing problem; and iii) interference power minimization problem. In the presence of perfect channel state information (CSI), we formulate the optimization algorithms in a centralized manner and determine the optimal beamformers using standard convex optimization techniques. In addition, we propose semi-decentralized algorithms to overcome the drawback of centralized design by introducing the signal-to-leakage plus noise ratio criteria. Taking into account imperfect CSI for both centralized and semi-decentralized approaches, we also propose robust algorithms tailored by the worst-case design to mitigate the effect of channel uncertainty. Finally, numerical results are presented to validate our proposed algorithms.

• ETRI Journal
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• v.34 no.3
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• pp.330-340
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• 2012

In many applications of wireless sensor actor networks (WSANs) that often run in harsh environments, the reduction of completion times of tasks is highly desired. We present a new time-aware, energy-aware, and starvation-free algorithm called Scate for assigning tasks to actors while satisfying the scalability and distribution requirements of WSANs with semi-automated architecture. The proposed algorithm allows concurrent executions of any mix of small and large tasks and yet prevents probable starvation of tasks. To achieve this, it estimates the completion times of tasks on each available actor and then takes the remaining energies and the current workloads of these actors into account during task assignment to actors. The results of our experiments with a prototyped implementation of Scate show longer network lifetime, shorter makespan of resulting schedules, and more balanced loads on actors compared to when one of the three well-known task-scheduling algorithms, namely, the max-min, min-min, and opportunistic load balancing algorithms, is used.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.9 no.6
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• pp.1529-1534
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• 2008

Recently, mixers are being widely used in the display and semiconductor company in order to mix the chemical materials. The mixer normally consists of shaft, hub, reduction gear, and driving motor. It is one of the key design factors to evaluate the dynamic characteristics caused by the rotation. In this study, the dynamic characteristics of the high speed mixer, such as vibration, noise and thermal radiation, are verified by the experiment. Through the experiment, it is shown that the structural unbalance mass of high speed mixer is the important source of the severe vibrations and maximum temperature is mixer bowl.

• Proceedings of the Korean Society of Crop Science Conference
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• 2022.10a
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• pp.220-220
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• 2022

Disproportionating Enzyme 1 (DPE1) is an a-1,4-D-glucanotransferase that cleavages the a-1,4-glucosidic bonds and transfers glucosyl groups. In rice endosperm, it participates in starch synthesis by transferring maltooligosyl groups from amylose and amylopectin to amylopectin. Here, we investigated the haplotype variations and evolutionary indices (e.g., genetic diversity and population structure) for the DPE1 gene in 374 rice accessions representing seven subgroups (wild, indica, temperate japonica, tropical japonica, aus, aromatic, and admixture). Variant calling analysis of DPE1 coding regions leads to the identification of six functional haplotypes representing/occupying 8 nonsynonymous SNPs. Nucleotide diversity analysis revealed the highest pi-value in wild group (0.0556) compared to other cultivated groups, of which temperate japonica showed the most reduction of genetic diversity value (0.003). A significant positive Tajima's D value (1.6330) of admixture highlights sudden population contraction under balancing selection, while temperate japonica with the lowest Tajima's D value (-1.3523) showed a selection signature of DPE1 domestication which might be the cause of excess of rare alleles. Moreover, these two subpopulations exhibits a greater differentiation (F_ST=0.0148), indicating a higher genetic diversity. Our findings on functional DPE1 haplotypes will be useful in future breeding programs, and the evolutionary indices can also be applicable in functional studies of the DPE1 gene.

• Proceedings of the Korean Society of Crop Science Conference
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• 2022.10a
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• pp.217-217
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• 2022

Pullulanase (PUL), a debranching enzyme, has been utilized in hydrolyzing the a-1,6 glucosidic linkages in starch, amylopectin, pullulan, as well as related oligosaccharides. It has also been indicated that PUL is a novel indicator of inherent RS (Resistant Starch) formation in rice. In this study, we performed haplotype analysis on 320 bred rice accessions, and additional 54 wild accessions were added to study genetic diversity along with other population-based analyses of the PUL gene. Through these investigations, we summarized a total of 10 functional (non-synonymous) SNPs from 7 different exons on chromosome 4. There were 10 haplotypes, of which only six haplotypes were functional, implicating different subpopulations. Diversity reduction was noticed in temperate japonica (0.0005) compared to the highest one (aus, 0.0154), illustrating their higher genetic differentiation by F_ST-value (0.926). The highest Tajima^ D value was observed in indica (3.6613), indicating PUL gene domestication signature under balancing selection, while the lowest Tajima's D value was found in temperate japonica (-2.2191) which might have undergone under positive selection and purified due to the excess of rare alleles. PCA, population structure, and phylogenetic analyses provide information on the genetic relatedness between and or among the cultivated subpopulations and the wild based on PUL genomic region.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.6_2
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• pp.1117-1125
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• 2023

The DC part of the DC microgrid power conversion system uses capacitors for buffers of charge and discharge energy for smoothing voltage and plays important roles such as high frequency component absorption, power balancing, and voltage ripple reduction. The capacitor uses an aluminum electrolytic capacitor, which has advantages of capacity, low price, and relatively fast charging/discharging characteristics. Aluminum electrolytic capacitors(AEC) have previous advantages, but over time, the capacity of the capacitors decreases due to deterioration and an increase in internal temperature, resulting in a decrease in use efficiency or an accident such as steam extraction due to electrolyte evaporation. It is necessary to take measures to prevent accidents because the failure diagnosis and detection of such capacitors are a very important part of the long-term operation, safety of use, and reliability of the power conversion system because the failure of the capacitor leads to not only a single problem but also a short circuit accident of the power conversion system.

• The KIPS Transactions:PartA
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• v.19A no.3
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• pp.129-138
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• 2012

In distributed memory architectures like clusters, each node stores a portion of data. How data is distributed across nodes influences the performance of such systems. The data distribution scheme is the strategy to distribute data across nodes and realize parallel data processing. Due to various reasons such as maintenance, scale up, upgrade, etc., the performance of nodes in a cluster can often become non-identical. In such clusters, data distribution without considering performance cannot efficiently distribute data on nodes. In this paper, we propose a new data distribution scheme based on the number of cores in nodes. We use the number of cores as the performance factor. In our data distribution scheme, each node is allocated an amount of data proportional to the number of cores in it. We implement our data distribution scheme using the Chapel language. To show our data distribution is effective in reducing the execution time of parallel applications, we implement Mandelbrot Set and ${\pi}$-Calculation programs with our data distribution scheme, and compare the execution times on a cluster. Based on experimental results on clusters of 8-core and 16-core nodes, we demonstrate that data distribution based on the number of cores can contribute to a reduction in the execution times of parallel programs on clusters.

• Transactions of the Korean hydrogen and new energy society
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• v.25 no.5
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• pp.509-515
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• 2014

At the fuel processing system (FPS) of fuel cell vehicle, hydrogen recirculation blower (HRB) is used for the recirculation of remained hydrogen after reaction. In this paper, noise and vibration improvement of HRB is studied by changing design and control. It is checked the campbell diagram and critical speed for stability of rotor, and housing stiffness is improved using simulation of frequency response function (FRF). A method is suggested that can decrease the unbalance amount of the rotor and impeller which main source of noise and vibration. In order to reduce the noise during deceleration of blower, electrical braking is applied and tested the risk impact of durability. Founded the optimum switching frequency of the motor control, and reduced the idle rpm by increasing of aerodynamic performance. The superiority of paper is proved by measurement of the improved product's noise and vibration.