• 제어로봇시스템학회논문지
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• 제22권10호
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• pp.853-858
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• 2016

Cooperation and collaboration with robots are key functions of robotic utility that are currently developing. Thus, robots should be safe and resemble human beings to cope with these needs. In particular, dual-arm robots that mimic human kinetics are becoming the focus of recent industrial robotics research. Their size is similar to the size of a human adult; however, they lack natural, human-like motion. One of the critical reasons for this is the shoulder complex. Most recent dual-arm robots have only 2 degrees of freedoms (DOFs), which significantly limits the workspace and mobility of the shoulders and arms. Therefore, a redundant shoulder complex could be very important in new developments that enable new capabilities. However, constructing a kinematically redundant shoulder complex is difficult because of spatial constraints. Therefore, we propose a novel, redundant shoulder complex for a human-like robot that is driven by flexible wire tendons. This kinematically redundant shoulder complex allows human-like robots to move more naturally because of redundant DOFs. To control the proposed shoulder complex, a hybrid control scheme is used. The positioning precision has also been considered, and the ability of the shoulder complex to perform several human-like motions has been verified.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제14권2호
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• pp.807-825
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• 2020

In recent years, business environments have become more complex; therefore, enterprises must be capable of responding flexibly and agilely. For these purposes, effective enterprise systems service monitoring and early decision making based on the same, emerge as core competency of the enterprise. In addition, enterprise system techniques that filter meaningful data are needed to event processing. However, the existing study related with this is nothing but discovering of service faults by monitoring depending upon API of BPEL engine or middleware, or is nothing but processing of simple events based on low-level events. Accordingly, there would be limitations to provide useful business information. In this study, we present an extended event processing model that enables delivery of more valuable and useful business information through situation detection. Primarily, the event processing architecture in an enterprise system is proposed as a definite approach, and then define an event meta-model suitable for the proposed architecture. Based on the defined model, we propose the syntax and semantics of the elements that make up the event processing language include various and progressive event operators, the rules, complex event pattern, etc. In addition, an event context mechanism is proposed to analyze more delicate events. Finally, the effectiveness and applicability of proposed approach is presented through a case study.

• Journal of Biosystems Engineering
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• 제24권5호
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• pp.425-430
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• 1999

Complex environmental control systems were developed, which control properly the pig's environment in windowless pig-housing based on the thermoregulatory behaviors of pigs and concentrations of noxious gases (CO2 and NH3). The this study was conducted to assess the performance of complex environmental control systems by raising weaned piglets and growing pigs under different seasonal conditions. Average daily gain of pigs in the experimental pig-housing was slightly higher than that of pigs in the conventional pig-housing. Average daily gain was not significantly different in winter and spring(P＞0.05), but was significantly different in summer(P＜0.05). Feed conversion rate of pigs in the experimental pig-housing was smaller than that of pigs in the conventional pig-housing. Feed conversion rate was not significantly different in environment for weaned piglets and growing pigs resulted in the improved daily gain, feed conversion rate, and carcass quality of the finishing pigs. These results showed that the performance of the complex environmental control systems in windowless pig-housing was excellent for weaned piglets and growing pigs.

• 국제초고층학회논문집
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• 제5권4호
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• pp.243-250
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• 2016

Today's architectural design trend based on the recognition of pluralism has led to multiple design directions for all building types including tall buildings. This contemporary design trend has produced many complex-shaped tall buildings, such as twisted, tilted, tapered and freeform towers. Among many different structural systems developed for tall buildings, the diagrid system, with its powerful structural rationale and distinguished aesthetic potential, is one of the most widely used systems for today's tall buildings. This paper studies structural performance of diagrid systems employed for complex-shaped tall buildings. Twisted, tilted, tapered and freeform tall buildings are designed with diagrid structures, and their structural performances are investigated. For the twisted diagrid study, the buildings are twisted up to 3 degrees per floor. In the tilted diagrid study, the angles of tilting range from 0 to 13 degrees. The impact of eccentricity is investigated for gravity as well as lateral loads in tilted towers. In the study of tapered diagrid structures, the angles of tapering range from 0 to 3 degrees. In the study of freeform diagrid structures, lateral stiffness of freeform diagrids is evaluated depending on the degree of fluctuation of free form. The freeform floor plans fluctuate from plus/minus 1.5 meter to plus/minus 4.5 meter boundaries of the original square floor plan. Parametric structural models are generated using appropriate computer programs and the models are exported to structural engineering software for design, analyses and comparative studies.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2010년도 춘계학술대회 논문집
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• pp.1791-1797
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• 2010

The Urban Transit Standardization Program has been supported by the Ministry of Land, Transport and Maritime Affairs. The Program consists of dozen or more projects and thus is quite complex, which implies that the program success heavily depends upon the effective management of various artifacts during the development. Particularly, in the complex systems development, developing and managing requirements is very important throughout the whole system life cycle. The requirements can be the basis of the design changes to be made later as well as the test and evaluation to be performed in the subsequent stages of the systems development. As such, the derivation of the system's requirement based on the needs from the customers, or stakeholder in a broad sense must be done properly. In particular, notice that the system is being developed but the system requirements are not fully available for some reasons. To complement this situation is the purpose of the study. To derive proper requirements effectively in the process of development, this paper proposes to draw up scenario using the output of the system under development and to utilize the use case diagrams and operational scenarios.

• 대한기계학회논문집A
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• 제31권2호
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• pp.221-230
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• 2007

An iterated improved reduced system (IIRS) procedure combined with sub-structuring scheme for nonclassically damped structural systems is presented. For dynamic analysis of such systems, complex eigenproperties are required to incorporate properly the nonclassical damping effect. In complex structural systems, the equations of motion are written in the state space from. Thus, the number of degrees of freedom of the new equations of motion and the size of the associated eigenvalue problem required to obtain the complex eigenvalues and eigenvectors are doubled. Iterated IRS method is an efficient reduction technique because the eigenproperties obtained in each iteration step improve the condensation matrix in the next iteration step. However, although this reduction technique reduces the size of problem drastically, it is not efficient to apply this technique to a single domain finite element model with degrees of freedom over several thousands. Therefore, for a practical application of the reduction method, accompanying sub-structuring scheme is necessary. In the present study, iterated IRS method combined with sub-structuring scheme for nonclssically damped structures is developed. Numerical examples demonstrate the convergence and the efficiency of a newly developed scheme.

• Nuclear Engineering and Technology
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• 제48권2호
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• pp.386-403
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• 2016

The safety of nuclear power plants is analyzed by a probabilistic risk assessment, and the fault tree analysis is the most widely used method for a risk assessment with the event tree analysis. One of the well-known disadvantages of the fault tree is that drawing a fault tree for a complex system is a very cumbersome task. Thus, several graphical modeling methods have been proposed for the convenient and intuitive modeling of complex systems. In this paper, the reliability graph with general gates (RGGG) method, one of the intuitive graphical modeling methods based on Bayesian networks, is improved for the reliability analyses of dynamic systems that have various operation modes with time. A reliability matrix is proposed and it is explained how to utilize the reliability matrix in the RGGG for various cases of operation mode changes. The proposed RGGG with a reliability matrix provides a convenient and intuitive modeling of various operation modes of complex systems, and can also be utilized with dynamic nodes that analyze the failure sequences of subcomponents. The combinatorial use of a reliability matrix with dynamic nodes is illustrated through an application to a shutdown cooling system in a nuclear power plant.

• 한국농공학회논문집
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• 제63권4호
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• pp.65-86
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• 2021

This study aims at testing a hypothesis that the resilience of agricultural water systems is characterized by trade-offs and synergies of effects from climate and socioeconomic change. To achieve this, an Agricultural Water System Climate Resilience Assessment (ACRA) framework is established to evaluate comprehensive resilience of an agricultural water system to the combined impacts of the climate and socioeconomic changes with a case study in South Korea. Understanding dynamic behaviors of the agricultural water systems under climate and socioeconomic drivers is not straightforward because the system structure includes complex interactions with multiple feedbacks across components in water and agriculture sectors and climate and socioeconomic factors, which has not been well addressed in the existing decision support models. No consideration of the complex interactions with feedbacks in a decision making process may lead to counterintuitive and untoward evaluation of the coupled impacts of the climate and socioeconomic changes on the system performance. In this regard, the ACRA framework employs a System Dynamics (SD) approach that has been widely used to understand dynamics of the complex systems with the feedback interactions. In the ACRA framework applied to the case study in South Korea, the SD model works along with HOMWRS simulation. The ACRA framework will help to explore resilience-based strategies with infrastructure investment and management options for agricultural water systems.

• Journal of Microbiology and Biotechnology
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• 제33권12호
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• pp.1543-1551
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• 2023

The recently published high-resolution R388 T4SS structure provides exciting new details about the complete complex of T4SS, including the components making up the stalk and arches, numerous symmetry mismatches between regions of the complex, and an intriguing interpretation of the closed stalk and radial symmetry of the inner membrane complex, which is related to pilus biogenesis assembly. However, there are a few unidentified densities in the electron microscopy map and portions of the identified component sequences for which the structure is not yet known. It is also unclear how well this minimized DNA-transporting T4SS predicts the structure of other T4SSs, such as expanded systems and those that transport proteins rather than DNA. In this review, we evaluate what can be inferred from the recent high-resolution structure of the R388 T4SS with respect to the Cag and Dot/Icm systems. These systems were selected because, given what is currently known about these systems, we expect them to present most structural differences compared to the R388 T4SS structure. Furthermore, we discuss bacterial physiology and diversity, the T4SS structures and their variations between different bacterial species. These insights may prove beneficial for researchers who elucidate the structure and functions of T4SS in different bacterial species.

• 한국지능시스템학회:학술대회논문집
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• 한국지능시스템학회 2007년도 추계학술대회 학술발표 논문집
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• pp.435-438
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• 2007

움직이는 객체를 검출하기 위해서 정확한 배경을 사용하기 위해 널리 사용되는 방법으로는 가우시안 혼합 모델이다. 가우시안 혼합 모텔은 확률적 학습 방법을 사용하는데, 이 방법은 움직이는 배경일 경우와 이동하던 물체가 정지하는 경우 배경을 정확히 모델링하지 못한다. 본 논문에서는 확률적 모델링을 통해 혼잡한 배경을 모델링하고 객체의 계층적 처리를 통해 보다 정확한 배경으로 갱신할 수 있는 학습 방법을 제안한다.