• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.969-976
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• 1999

This paper is concerned with the generation of a balancing trajectory for improving the walking performance. The balancing motion has been determined by solving a second -order differential equation. However, this method caused some difficulties in linearizing and approximating the equation and had restrictions on using various balancing trajectories. The proposed difficulties in linearizing and approximating the equation and had restrictions on using various balancing trajectories. The proposed method i this paper is based on the genetic algorithm for minimizing the motins of balancing joints, whose trajectories are generated by the fifth-order polynomial interpolation after planning leg trajectories. The real walking experiments are made on the biped robot IWR-III, developed by our Automatic Control Laboratory. The system has 8 degrees of freedom and the structure of three pitches in each leg, and one roll and one prismatic joint in the balancing joints. The experimental result shows the validity and applicability of the new proposed algorithm.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.45 no.1
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• pp.97-102
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• 2008

A new internal antenna for GSM/DCS/Bluetooth application is proposed by using a folded loop resonator. Both feed leg and shorting leg are symmetrically implemented at the center of the folded loop, thus leading to produce resonances at integer frequencies of quarter wavelength. An open stub added at one end of the folded loop can reduce resonant frequencies. The open stub play a role in generating PIFA structure at a GSM band, thus increasing bandwidth, Two resonances at the GSM band are observed at folded ring and PIFA, respectively.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.32 no.2
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• pp.191-204
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• 1996

The dynamic response characteristics with flexibility variations are examined for presenting the basic data for design of Tension Leg Platforms(TLPs)in waves. A numerical approach is based on the dynamic response analysis theory, in which the superstructure of TLPs is assumed flexible instead of the rigid body assumption used in two-step analysis method. The hydrodynamic interactions among TLP members, such as columns and pontoons are not included in the motion and structural analyse. The equations of motion of a whole structure are formulated using element-fixed coordinate systems which have the origin at the node of the each hull element.

• Coupled systems mechanics
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• v.2 no.1
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• pp.111-126
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• 2013

The structural design requirements of an offshore platform subjected to wave induced forces and moments in the jacket can play a major role in the design of the offshore structures. For an economic and reliable design; good estimation of wave loadings are essential. A nonlinear response analysis of a fixed offshore platform under structural and wave loading is presented, the structure is discretized using the finite element method, wave plus current kinematics (velocity and acceleration fields) are generated using 5th order Stokes wave theory, the wave force acting on the member is calculated using Morison's equation. Hydrodynamic loading on horizontal and vertical tubular members and the dynamic response of fixed offshore structure together with the distribution of displacement, axial force and bending moment along the leg are investigated for regular and extreme conditions, where the structure should keep production capability in conditions of the 1-yr return period wave and must be able to survive the 100-yr return period storm conditions. The result of the study shows that the nonlinear response investigation is quite crucial for safe design and operation of offshore platform.

• Progress in Superconductivity and Cryogenics
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• v.4 no.1
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• pp.78-83
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• 2002

Since the KSTAR superconducting magnet structure should be maintained at a cryogenic temperature of about 4 K, even a small amount of heat might be a major cause of the temperature rise of the structure. The Joule heating by eddy currents induced in the magnet structure during the KSTAR operation was found to be a critical parameter for designing the cooling scheme of the magnet structure as well as defining the requirements of the refrigerator for the cryogenic system. Based on the Joule heating calculation, it was revealed that the bulk temperature rise of the magnet coil structure was less than 1 K. The local maximum temperature especially at the inboard leg of the TF coil structure increased as high as about 21 K for the plasma vertical disruption scenario. For the CS coil structure, the maximum temperature was obtained from the PF fast discharging scenario. This means that the vertical disruption and PF fast discharging scenarios are the major scenarios for the design of TF and CS coil structures, respectively. For the reference scenario, the location of maximum temperature spot changes according to the transient current variation of each PF coil.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.32 no.6A
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• pp.389-398
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• 2012

In this study, structural strain responses of the jacket-type Uldolmok tidal current power plant structure under severe tidal environments were measured and analyzed using long-term measurement system during construction and also operation. It was observed that there were significant changes in strain responses at the steps of jacket lifting, block loading, pile ejection and insertion. Strains due to dead loads and tidal loads were analyzed before and after removal of a jacket leg, and it was also found that the strains due to dead load were much significantly changed after jacket leg removal. From the measurement data during operation, it was found that strain responses were fluctuated with M2 and M4 tidal periods and also relatively short period of about 10 min due to the peculiar tidal characteristics in the Uldolmok strait. Finally, the neural network-based non-parametric estimation models were investigated to build up the signal-based structural damage monitoring system.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.455-462
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• 2016

Recently, followed by rapid growth of robotics field, multi-linkage mechanism which can even pass by rough road is getting lots of attention. In this paper, I focused on Jansen mechanism. It's a kinematics object which is named after Dutch artist Theo jansen. Jansen mechanism embraces structure and mechanism which creates locomotion with the combination of the power and simple structure. Theo jansen suggests a 'Holy number'. It's an ideal ratio of leg components length. However, if there's desired gait locomotion, you have to adjust the ratio and the length. But even slight change of the length could cause a big change at the end-point. To solve this problem, I suggest a reverse engineering method to get a ratio of each links by nonlinear optimization with pre-set desired trajectory. First, we converted a movement of the joint of Jansen mechanism to vectors by kinematics analysis of multi-linkage structure. And we showed the trajectory at the end-point. After that, we set desired trajectory which we found most ideal. Then we got the length of the leg components which draws a trajectory as same as trajectory we set, using Multi-objective genetic algorithm toolbox in MATLAB. Result is verified by Edison designer and mSketch. And we analyzed if it could pass through the obstruction which is set dynamically.

• 한국신재생에너지학회:학술대회논문집
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• 2006.06a
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• pp.407-409
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• 2006

Geochemical analyses carried out on samples collected from cores on and near the southern smit of Hydrate Ridge have advanced understanding by providing a clear contrast of the two major modes of marine gas hydrate occurrence. High concentrations (15%-40% of pore space) of gas hydrate occurring at shallow depths (0-40 mbsf) on and near the southern summit are fed by gas migrating from depths of as much as 2km within the accretionary prism. This gas carries a characteristic minor component of C2-C5 thermogenic hydrocarbons that enable tracing of migration pathways and may stabilize the occurrence of some structure II gas hydrate. A structure II wet gas hydrate that is stable to greater depths and temperatures than structure I methane hydrate may account for the deeper, faint second bottom simulating reflection (BSR2) that occurs on the seaward side of the ridge. The wet gas is migrating In an ash/turbidite layer that intersects the base of gas hydrate stability on the seaward side of and directly beneath the southern summit of Hydrate Ridge. The high gas saturation (>65%) of the pore space within this layer could create a two-phase (gas + solid) system that would enable free gas to move vertically upward through the gas hydrate stability zone. Away from the summit of the ridge there is no apparent influx of the gas seeping from depth and sediments are characterized by the normal sequence of early diagenetic processes involving anaerobic oxidation of sedimentary organic matter, initially linked to the reduction of sulfate and later continued by means of carbonate reduction leading to the formation of microbial methane.

• Proceedings of the Korea Institute of Applied Superconductivity and Cryogenics Conference
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• 2002.02a
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• pp.56-59
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• 2002

Since the KSTAR magnet structure should be maintained at cryogenic temperature of about 4.5 K, even a small amount of heat might be a major cause of the temperature rising of the superconducting magnet structure. The Joule heating by eddy current induced on the magnet structure during the KSTAR operation was found to be a critical parameter for designing the cooling scheme of the magnet structure as well as defining the requirements of the refrigerator for the cryogenic system. Based on the Joule heating calculation, it was revealed that the bulk temperature rising of the magnet coil structure was less than 1 K. The local maximum temperature especially at the inboard leg of the TF coil structure increase as high as about 21 K for the plasma vertical disruption scenario. For the CS coil structure maximum temperature of 8.4 K was obtained from PF fast discharging scenario.

• Journal of Advanced Marine Engineering and Technology
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• v.36 no.4
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• pp.467-475
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• 2012

In this paper, a technical method of reducing torque load of exoskeleton device, with using of a gravity compensator based on a torsion bar, for human leg joints, is proposed. Design and structure analyses and also performance test were performed to estimate and to measure the characteristics of the torsion bar. On the basis of design and structure analysis, a new light and compact exoskeleton device has been developed. For the purpose of lightening and optimizing thickness of the links, FEM analysis has been performed.