• Journal of Institute of Control, Robotics and Systems
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• v.6 no.3
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• pp.263-272
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• 2000

In this paper we give some geometric condition for a stochastic nonlinear system and we propose a control method for a stochastic nonlinear system using neural networks. Since a competitive learning neural networks has been developed based on the stochastcic approximation method it is regarded as a stochastic recursive filter algorithm. In addition we provide a filtering and control condition for a stochastic nonlinear system called the perfect filtering condition in a viewpoint of stochastic geometry. The stochastic nonlinear system satisfying the perfect filtering condition is decoupled with a deterministic part and purely semi martingale part. Hence the above system can be controlled by conventional control laws and various intelligent control laws. Computer simulation shows that the stochastic nonlinear system satisfying the perfect filtering condition is controllable and the proposed neural controller is more efficient than the conventional LQG controller and the canonical LQ-Neural controller.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.884-889
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• 1990

In this paper, a new hybrid position control algorithm for the direct drive arm is proposed. The proposed control is composed of discrete feedforward component and continuous feedback component. The discrete component is the nominal torque which approximately compensates the strong nonlinear coupling torques between the links, while the continuous control is a modified version of sliding mode control which is known to have a robust property to the disturbances of system. For the proposed control law, we give sufficient condition which guarantees the bounded tracking error in spite of the modeling errors, and the efficiency of the proposed algorithm is demonstrated by the numerical simulation of a three link manipulator position control with payloads and parameter errors.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1066-1070
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• 1990

This paper presents a method for the optimal control of the distributed parameter systems (DPSs) by a hierarehical computational procedure. Approximate lumped parameter systems (LPSs) are derived by using the Galerkin method employing the Legendre polynomials as the basis functions. The DPSs however, are transformed into the large scale LPSs. And thus, the hierarchical control scheme is introduced to determine the optimal control inputs for the obtained LPSs. In addition, an approach to block pulse functions is applied to solve the optimal control problems of the obtained LPSs. The proposed method is simple and efficient in computation for the optimal control of DPSs.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.407-412
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• 2015

This paper presents the design of a lab-built powered knee prosthesis based on a BLDC motor, a sensored impedance control using a force sensor, and a sensorless impedance control through torque estimation. Firstly, we describe the structure of the lab-built powered knee prosthesis and its limitations. Secondly, we decompose the gait cycle into five stages and apply the position-based impedance control for the powered knee prosthesis. Thirdly, we perform an experiment for the torque estimation and the sensorless impedance control of the prosthesis. The experimental results show that we can use the torque estimation to control the low impedance during the swing phase, although the estimated torque data has a delay compared with the measured torque by a load cell.

• Archives of Pharmacal Research
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• v.15 no.1
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• pp.62-68
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• 1992

From the roots of Caragana sinica (Buc'hoz) Rehder (Leguminosae), a new saponin named caraganoside A was isolated and elucidated as 3-0-$\beta$-D-xylopyranosyl (1$\rightarrow$2)-[$\beta$-D-glucopyranosyl (1$\rightarrow$3)]-$\alpha$-L-arabinopyranosyl oleanolic acid 28-O-[$\beta$-D-glucopyranosyl ester by means of chemical and spectral studies. Kalopanax-saponin F, hemsloside Ma3 and araloside A were also isolated and characterized. The former two compounds were separated as their methylesters.

• Archives of Pharmacal Research
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• v.21 no.2
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• pp.153-156
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• 1998

The crude extract of Saussurea lappa displayed significant lethality to brine shrimp larvae. Investigation of the causative components by bioactivity-directed fractionation resulted in the isolation of three $C_17$-polyene alcohols. Based on various nmr spectral data, these compounds were identified as shikokiols which had been previously isolated from Cirsium nipponicum and/or Centaurea aegyptica. These $C_17$-polyene alcohols exhibited moderate cytotoxicities against the human tumor cell lines, A549, SK-OV-3, SK-MEL-2, XF498, and HCT15.

• Proceedings of the KSR Conference
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• 2006.11a
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• pp.209-218
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• 2006

This paper presents the comparison and analysis of the power supply system of a Maglev train and conventional electric railway. Even though all Maglev trains have batteries on their vehicles, electric power supply from the ground side is necessary for levitation, propulsion, on-board electrical equipment, battery recharging, and so on. At low speeds up to $100{\sim}150(km/h)$, the Maglev train, generally, uses a mechanical contact, a current collector as same as conventional electric railway. However, at high speeds, the Maglev train can no longer obtain power from the ground side by using a mechanical contact. Therefore, high speed Maglev trains use their own way to deliver the power to the vehicle from the ground. In this paper, the power supply systems of the german, japanese, and korean low- and high-speed Maglev trains have been reviewed.

• Proceedings of the KSR Conference
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• 2007.05a
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• pp.109-114
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• 2007

For the safety of railway, it should be evaluated for the running safety by measuring the derailment coefficient. Although railway has run the fixed and maintained rail, some of railway is derailed. This report shows the results that performed the static load test, wheelset manufacturing for test, main line running test on the basis of the derailment theory and experience. It is executed main line test to 120 km/h for estimating the running safety of express train in Incheon International Airport. As the test results, could confirm the curving performance and running safety of Incheon International Airport EMU from the results of the wheel unloading, lateral force, derailment coefficient etc. Derailment coefficient was less than 0.8, and lateral force allowance limit and wheel load reduction ratio were enough safe.

• Proceedings of the KSR Conference
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• 2007.05a
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• pp.824-828
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• 2007

With increasing interest in the reduction of cost for operation and maintenance of overhead catenary system, various methods of condition monitoring have been developed and used in with high-speed analysis and advanced image processing techniques. This study utilizes a high-speed camera as inspecting system to measure the wear, stagger, hight and arc extinguishing test of overhead catenary system. All measuring image were captured by a high speed CMOS camera with PCI express output, which can acquire up to 1000 frames per second with the resolution 1024 × 1280 pixels. Line type laser source with a power equal to 300 mW and the National Instrument LabVIEW (8.0) based on vision acquisition software have been used in application programming interface for image acquisition, display, and storage. The proposed high-speed camera system is finally applied to measure the overhead catenary system showing promising on-field applications

• Proceedings of the KSR Conference
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• 2007.05a
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• pp.916-921
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• 2007

In this paper, the inductive power collector using electromagnetic induction for vehicle such as the electric railway vehicle system is suggested and some ideas for power collector design to improve the power transfer performance are presented. The inductive power of secondary part is related to amount of linked flux to secondary part by the length of air-gap, which is expected by such a system parameter as mutual inductance. This paper will study for the transfer characteristic of power from input to output and equation including mutual inductance. And also, effect of leakage inductance variation of inductive power collector according to structure of winding was considered.