• Journal of Institute of Control, Robotics and Systems
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• v.19 no.3
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• pp.233-239
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• 2013

This paper presents the analysis and control of the position of the COG (Center of Gravity) for a two-wheel balancing robot. The two-wheel balancing robot is required to maintain balance by driving two wheels only. Since the robot is not exactly symmetrical and its dynamics is changing with respect to moving parts, robust balancing control is difficult. Balancing performance becomes difficult when two arms hold a heavy object since the center of gravity is shifted out of the wheel axis. Novel design of a sliding waist mechanism allows the robot to react against the shift of the COG by moving the whole upper body to compensate for the imbalance of the mass as a counter balancer. To relocate the COG position accurately, the COG is analyzed by force data measured from two force sensors. Then the sliding COG mechanism is utilized to control the sliding waist position. Experimental studies are conducted to confirm the proposed design and method.

• Proceedings of the SCSK Conference
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• 2003.09a
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• pp.672-685
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• 2003

Yew (Taxus cuspidata Sieb.) chose that grow as medicine, food, decorative plant in Korea's Kyong-Gi province surroundings. Extracts of yew extracted leaf of 250 g and stems of 300 g with 1,3-butylene glycol (1,3-BG), propylene glycol (PG) and water. As results, external appearance of leaf extract of yew was slightly brown clear extract. The pH was 5.3$\pm$0.5, and specific gravity was 1.012$\pm$0.05, and refractive index was 1.375$\pm$0.05. Also, appearance of stem's extract was slightly brown clear extract, and the pH was 5.4$\pm$0.5, and specific gravity was 1.016$\pm$0.05, and refractive index was 1.358$\pm$0.05. Oil of yew separated from seeds, and extracted polysaccharide high purity from fruits. As a result, specific gravity of oil was 0.987, and obtained 40％ of yield. Total polyphenols amount of yew extract is detected 0.563％ in leaves, 0.325％ in stems, whereas total tannins amount contained 0.054％ and 0.037％ each in leaves and stems. As effect in cosmetics, the anti-oxidative effect by DPPH method is 75.0％ in leaves, and stems was 64.0％. Collagen synthesis rate was shown high activity by 54.16％ in stem's extract, 33.18％ in leaves' extract. Also, PPE-inhibitory activities were 13.7％ and 23.5％ each in leaves and stems. Anti-inflammatory effect of yew seed oil displayed superior effect of 41 ％ than control. Polysaccharide's molecular weight that is gotten from fruits was 5$\times$10$^4$~ 3$\times$10$^{5}$ dalton, and got 20.0$\pm$5％ of yield.

• Proceedings of the SCSK Conference
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• 2003.09b
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• pp.343-356
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• 2003

Yew (Taxus cuspidata Sieb.) chose that grow as medicine, food, decorative plant in Korea's Kyong-Gi province surroundings. Extracts of yew extracted leaf of 250 g and stems of 300 g with 1,3-butylene glycol (1,3-BG), propylene glycol (PG) and water. As results, external appearance of leaf extract of yew was slightly brown clear extract. The pH was 5.3$\pm$0.5, and specific gravity was 1.012$\pm$0.05, and refractive index was 1.375$\pm$0.05. Also, appearance of stem's extract was slightly brown clear extract, and the pH was 5.4$\pm$0.5, and specific gravity was 1.016$\pm$0.05, and refractive index was 1.358$\pm$0.05. Oil of yew separated from seeds, and extracted polysaccharide high purity from fruits. As a result, specific gravity of oil was 0.987, and obtained 40% of yield. Total polyphenols amount of yew extract is detected 0.563% in leaves, 0.325% in stems, whereas total tannins amount contained 0.054% and 0.037% each in leaves and stems. As effect in cosmetics, the anti-oxidative effect by DPPH method is 75.0% in leaves, and stems was 64.0%. Collagen synthesis rate was shown high activity by 54.16% in stem's extract, 33.18% in leaves' extract. Also, PPE-inhibitory activities were 13.7% and 23.5% each in leaves and stems. Anti-inflammatory effect of yew seed oil displayed superior effect of 41 % than control. Polysaccharide's molecular weight that is gotten from fruits was 5$\times$10$^4$~3$\times$10$^{5}$ dalton, and got 20.0$\pm$5% of yield.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.33 no.3
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• pp.181-192
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• 2015

Bathymetry change due to the 2011 Tohoku (M9.0) earthquake was investigated through satellite altimetry-derived free-air gravity anomalies (SAFAGA) and shipborne measurements. The earthquake occurred at the plate boundaries near the northeastern coast of Japan, where the oceanic plate subducts beneath the continental plate along deep-sea trench. Data analyzed in this study include SAFAGA from Scripps Institution of Oceanography (SIO), shipborne bathymetry (SB) from the U.S. National Geophysical Data Center (NGDC) and the Japan Agency for Marine-Earth-Science And Technology (JAMSTEC). To estimate the bathymetry change, a reference bathymetry before the earthquake was predicted by gravity-geologic method (GGM) and Smith & Sandwell’s (SAS) method. In comparison with the bathymetry models before the earthquake, GGM bathymetry model generated by a tuning density contrast of 17.04 g/cm³ by downward continuation method was selected because it shows better bathymetry in the short wavelength below about 6 km. From the results, remarkable bathymetry change of about ±50 m was found on the west side of the Japan Trench caused by the earthquake.

• Structural Engineering and Mechanics
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• v.88 no.3
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• pp.251-262
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• 2023

This paper presents a method for assessing the dynamic responses of gravity-based structures (GBS) under various seismic loads, with a focus on fluid-structure-ground interactions. Models of GBSs and their surrounding environments were developed, incorporating interaction effects among the structure, seawater, and seabed. Dynamic responses of the GBS subjected to three seismic loads-Chi-Chi, Northridge01, and Northridge02-were calculated, with consideration of both horizontal and vertical accelerations, as well as displacements. Parametric studies indicated that the primary factors affecting the dynamic responses of GBS were seismic loads characterized by significant input forces and accelerations. The frictional force on the ground had minimal impact on the horizontal and vertical displacements of the GBS. Weight emerged as a critical factor in anchoring the GBS to the ground and minimizing vertical accelerations and displacements.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.10
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• pp.789-796
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• 2016

The weight of an antenna system pointing satellite on the mobile platform is restricted by the weight limit of the mobile platform. The maximum power of the actuator driving the antenna system is thus limited because a high power actuator needs a heavier weight. Thus, a drive system is designed to have a low torque requirement by reducing the gravitational torque depending on gravity or acceleration of the mobile platform, including vibration, shock, and accelerated motion. To reduce the gravitational torque, the mathematical model of the gravitational torque is preferentially obtained. However, the method to directly estimate the mathematical model in an antenna system has not previously been reported. In this paper, a method is proposed to estimate the gravitational torque as a mathematical model in the antenna system. Additionally, a method is also proposed to calculate the optimal weight of the balancing weight to compensate for the gravitational torque.

• International Journal of Advanced Culture Technology
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• v.9 no.3
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• pp.23-33
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• 2021

"China's Western Development Policy" has brought multiple opportunities to the development of tourism in Southwest China including Sichuan, Guizhou, Yunnan, Chongqing and Tibet. The 4 provinces and 1 municipality overall show a certain degree of accumulation effect and coordinated development in tourism due to their location, traffic and traditional economic cooperation. This study takes the Southwest China as the research object and utilized the spatial dislocation model and the tourism spatial misalignment index to estimate the mismatch degree between tourism resources and tourism income among provinces and try to find out the internal reason background. The results show that each of the five provinces has its own advantages in index of economy, tourism resources, human resource, and transportation, leading to differences in the center of gravity of the entire region in all aspects. In view of the results of spatial dislocation analysis, suggestions for improvement and optimization are put forward to promote the high-quality development of tourism in Southwest region. development.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.20 no.6
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• pp.537-545
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• 2010

This study presents a method to evaluate overturning safety and derailment safety of korean tilting train using kinematic analysis of four-bar linkage tilting mechanism. The safety is evaluated considering tilting vehicle body CG displacement. The design sensitivity for stable and safe maximum speed is evaluated around current korean tilting train design data. The current design shows minimum center of gravity displacement. Higher speed can be achieved with larger center of gravity displacement.

• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2001.06a
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• pp.133-136
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• 2001

In this paper, we propose a calculation method for fuzzy control based on quantized $\alpha$ -cut decomposition of fuzzy sets. This method is easy to be implemented in analog hardware. The effect of quantization levels on defuzzified fuzzy inference result is investigated. A few quantization levels are sufficient for fuzzy control. The hardware implementation of this calculation method and the defuzzificaion by gravity center method by PWM are also presented.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.8
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• pp.688-693
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• 2013

This paper proposes a new method on attitude control of an underwater robot by using five ABTs (Attitude Ballast Tank). A pipe is connected to the bottom of the ABTs and transfers water by a pump, while another pipe is connected to the top of the ABT to transfer air. The buoyancy center of the underwater robot can be changed by means of the water transfer. This way, the attitude of the underwater robot can be maintained and/or controlled as desired. The changes of the center of gravity and the buoyancy central are estimated by a Lagrangian function which is similar to that for an inverted pendulum. The controller in this paper is designed by modeling of the underwater robot and selecting suitable gains of a PD controller which has fast response characteristics. This paper shows the possibility of the attitude control of an underwater robot by changing the center of gravity and the buoyancy center of the robot. Moreover, experimental results verify that the controller is effective in maintaining Roll/Pitch of the underwater robot with very low power consumption.