• Journal of the Korean Society for Precision Engineering
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• v.18 no.5
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• pp.137-146
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• 2001

A robust controller with the sliding mode is proposed for stable dynamic walking of the biped robot in this paper. For the robot system to be controlled, which is modeled as 14 DOF rigid bodies by the method of multi-body dynamics, the joint angle trajectories are determined by the velocity transformation matrix. Also Hertz force model and Hysteresis damping element are utilized for the ground reaction and impact forces during the contact with the ground. The biped robot system becomes unstable since those forces contain highly confused noise components and some discontinuity, and modeling uncertainties such as parameter inaccuracies. The sliding mode control is applied to solve above problems. Under the assumption of the bounded estimation errors on the unknown parameters, the proposed controller provides a successful way to achieve the stability and good performance in spite of the presence of modeling imprecisions of uncertainties.

• Journal of Korean Society on Water Environment
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• v.29 no.1
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• pp.7-18
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• 2013

We compared the structure of fish community and condition of major fish species in Lake Chungpyung and Lake Paldang, which are relatively shallow, meso-eutrophic, cascading dam reservoirs on the North Han River. Two lakes have wide littoral zone in the lakeside providing similarly good habitat for fishes, whereas fishery and water recreational activities such as motorboating, water skiing are allowed in Lake Chungpyung but are prohibited in Lake Paldang. The average lengths of large size fishes in Lake Chungpyung are shorter than those of same species in Lake Paldang, resulting in the slight distortion of generation distribution of those species in Lake Chungpyung, possibly owing to the active fishery such as fixed shore net fishing, gill net fishing and angling. Meanwhile the condition of fishes represented by the length-weight relationship of fish species did not show the significant differences between two lakes and showed normal condition. To evaluate the impact of physical disturbance such as loud noise and turbulent wave from water recreational activities to fishes precisely, further studies including physiological responses to stress an spawing activity should be needed.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.6
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• pp.502-511
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• 2016

Recently, many kind of smart projectiles are being developed. In case of smart projectile, studying in advance, it uses a navigation data acquired from the GNSS receiver to check its location on the geocentric(WGS84) coordinates and to estimate P.O.I(point of impact). However, because of various error inducing factors, the result of positioning involve some errors. We introduce the advanced algorithm for the reconstruction of a navigation trajectory using weighted PDOP, based on a simulated trajectory acquired from PRODAS. It is very fast and robust to noise and shows reliable output. It can be widely used to estimate an actual trajectory of a projectile.

• Explosives and Blasting
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• v.33 no.2
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• pp.25-39
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• 2015

The common underwater rock removal methods involve underwater blasting and crane's chisel dropping impact method. From an environmental point of view, these methods cause ground vibrations and underwater noise. At the site for this study, a method of dropping heavyweight chisel is selected to remove the underwater bedrock near the ferry rack in the course of improving the cargo handling ability of the loading dock. A prediction formula for the vibration was obtained based on the measurement and evaluation of the vibrations caused by the chisel dropping impacts during the test droppings. The prediction formula was successfully applied to the main construction for securing the stability of the structure.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.8
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• pp.4790-4795
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• 2014

The machine tool is used widely to manufacture and trial manufactured goods in many machinery industries. Blast-induced ground vibration may have an environmental impact, such as damage to the adjacent structures and facilities. This study examined the influence of blast vibration on the accuracy of machine tools. The blast vibration and vibration of machine tools was measured to evaluate the influence of blast vibration on machine tools. Based on the evaluation of the vibration limit of machine tools, the vibration criteria for machine tools in this study were SLIGHTLY ROUGH~ROUGH. By repeated blast vibration, machine tools are more likely show reduced accuracy.

• Earthquakes and Structures
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• v.9 no.6
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• pp.1221-1232
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• 2015

In recent decades, wavelet transforms as a strong signal processing tool have attracted attention of researchers for damage identification. Apart from the wide application of wavelet transforms for damage identification, influence of higher order modes on the quality of damage detection has been a challenging matter for researchers. In this study, influence of higher order modes and different mass configurations on the quality of damage detection through Discrete Wavelet Transform (DWT) was studied. Nine different damage scenarios were imposed to four cantilever structures having different mass configurations. The first four mode shapes of the cantilever structures were measured experimentally and analyzed by DWT. A damage index was defined in order to study the influence of higher order modes. Results of this study showed that change in the mass configuration had a great impact on the quality of damage detection even when the changes altered natural frequencies slightly. It was observed that for successful damage detection all available mode shapes should be taken into account and measured mode shapes had no significant priority for damage detection over each other.

• Journal of Communications and Networks
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• v.15 no.3
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• pp.266-275
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• 2013

The exact closed-form expressions for outage probability and bit error rate of spectrum sharing-based multi-hop decode-and-forward (DF) relay networks in non-identical Rayleigh fading channels are derived. We also provide the approximate closed-form expression for the system ergodic capacity. Utilizing these tractable analytical formulas, we can study the impact of key network parameters on the performance of cognitive multi-hop relay networks under interference constraints. Using a linear network model, we derive an optimum relay position scheme by numerically solving an optimization problem of balancing average signal-to-noise ratio (SNR) of each hop. The numerical results show that the optimal scheme leads to SNR performance gains of more than 1 dB. All the analytical expressions are verified by Monte-Carlo simulations confirming the advantage of multihop DF relaying networks in cognitive environments.

• JSTS:Journal of Semiconductor Technology and Science
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• v.16 no.4
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• pp.528-533
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• 2016

A low voltage high PSRR CMOS Bandgap circuit capable of generating a stable voltage of less than 1 V (0.8 V and 0.5 V) robust to Process, Voltage and Temperature (PVT) variations is proposed. The high PSRR of the circuit is guaranteed by a low-voltage current mode regulator at the central aspect of the bandgap circuitry, which isolates the bandgap voltage from power supply variations and noise. The isolating current mirrors create an internal regulated voltage $V_{reg}$ for the BG core and Op-Amp rather than the VDD. These current mirrors reduce the impact of supply voltage variations. The proposed circuit is implemented in a $0.35{\mu}m$ CMOS technology. The BGR circuit occupies $0.024mm^2$ of the die area and consumes $200{\mu}W$ from a 5 V supply voltage at room temperature. Experimental results demonstrate that the PSRR of the voltage reference achieved -118 dB at frequencies up to 1 kHz and -55 dB at 1 MHz without additional circuits for the curvature compensation. A temperature coefficient of $60 ppm/^{\circ}C$ is obtained in the range of -40 to $120^{\circ}C$.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2007.11a
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• pp.5-9
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• 2007

The construction method for Foamed-Concrete has not been important due to following process of construction work. However, according to the code about enhance of energy saving design policy and impact noise, noised isolation has been used in construction site so that the resistance for cracking and capability for insulating of Foamed-Concrete has been required. Therefore, new alternatives are demanded. Optimum mixing design, which can get the improvement of insulation and resistance of crack for Foamed-Concrete adding EVA chip, was derived and also the device, applying to construction site, was invented to equalize quality. This device can measure quantity of all input and placement, and show up the sum of placement and mixing design on a touch screen. This valuable construction method is friendly environment and recycling method because of using EVA chip, by-product of an EVA insole scrap burned or embedded, as a light-weight aggregate.

• ETRI Journal
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• v.39 no.5
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• pp.683-694
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• 2017

Several studies have focused on multimedia transmission over wireless sensor networks (WSNs). In this paper, we propose a comprehensive and robust model to transmit images over cognitive radio WSNs (CRWSNs). We estimate the spectrum sensing frequency and evaluate its impact on the peak signal-to-noise ratio (PSNR). To enhance the PSNR, we attempt to maximize the number of pixels delivered to the receiver. To increase the probability of successful image transmission within the maximum allowed time, we minimize the average number of packets remaining in the send buffer. We use both single- and multi-channel transmissions by focusing on critical transmission events, namely hand-off (HO), No-HO, and timeout events. We deploy our advanced updating method, the dynamic parameter updating procedure, to guarantee the dynamic adaptation of model parameters to the events. In addition, we introduce our ranking method, named minimum remaining packet best channel selection, to enable us to rank and select the best channel to improve the system performance. Finally, we show the capability of our proposed image scrambling and filtering approach to achieve noticeable PSNR improvement.