• 제어로봇시스템학회논문지
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• 제18권3호
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• pp.258-266
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• 2012

This paper describes a biped walking algorithm for a hydraulic humanoid robot on inclined floors. To realize stable and robust biped walking, the walking algorithm was divided into five control strategies. The first is a joint position control strategy. This strategy is for tracking desired joint position trajectories with a gain switching. The second is a multi-model based ZMP (Zero Moment Point) control strategy for dynamic balance. The third is a walking pattern flow control strategy for smooth transition from step to step. The fourth is an ankle compliance control, which increases the dynamic stability at the moment of floor contact. The last is an upright pose control strategy for robust walking on an inclined floor. All strategies are based on simple pendulum models and include practical sensory feedback in order to implement the strategies on a physical robot. Finally, the performance of the control strategies are evaluated and verified through dynamic simulations of a hydraulic humanoid on level and inclined floors.

• 한국컴퓨터정보학회논문지
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• 제28권9호
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• pp.1-8
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• 2023

본 논문에서는 임베디드 시스템을 이용한 차량용 다기능 레이다(Multi-Function Radar, MFR) 수평구동장치(Auto-Leveling Equipment, ALE) 구동 전략을 제안한다. 차량용 레이다는 일정 속도로 회전하며 지대공 유도미사일, 유인/무인 전투기 감시정찰 임무를 수행한다. 수평구동장치는 수평구동모듈 4세트로 구성하고 레이다 차량의 수평을 유지하여 시스템의 안정성을 확보한다. 차량의 수평은 임베디드 시스템을 이용하여 경사도를 측정하고, 구동모터를 이용하여 차량의 수평각을 유지한다. 본 논문에서는 수평구동모듈 1세트를 모델링하여 수평구동장치를 축소 구현하여 수평구동장치 설계 향상에 기여한다. 제안하는 구동 전략의 타당성은 MATLAB/Simulink 시뮬레이션으로 입증한다.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2008년도 한국컴퓨터종합학술대회논문집 Vol.35 No.1 (A)
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• pp.325-326
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• 2008

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 F
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• pp.1905-1907
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• 1998

The multi-level approach seems to be best suited to high power, high voltage ac drives with low torque ripple and fast dynamic response. If high control performance is required, space vector control becomes desirable, and the task becomes time critical. In this paper, a simplified space vector PWM method for the control of a three level inverter is proposed. As the PWM is simple in structure, it is easy to implement and the fluctuation of the neutral point potential of DC link can be supressed effectively. The simulation results demonstrate that the proposed PWM strategy can be applied to high power, high voltage inverter systems. And its application to multi-level inverter is easily done on the same principle.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2003년도 춘계전력전자학술대회 논문집(2)
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• pp.630-634
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• 2003

This paper proposes a Carrier-Rotation PWM technique that is new solution for the voltage unbalancing problem of flying capacitors in the Flying Capacitor Multi-level Inverter (FCMI).The proposed PWM technique equalizes the utilization of phase leg voltage redundancies corresponding to the charging and the discharging state of flying capacitors during one switching period of all the switches. it also has the same switch utilization and the reduced harmonics of output voltage. Hence, it is more suitable for the FCMI compared with the conventional solutions. Experimental results on the laboratory prototype flying capacitor 3-level inverter confirm the validity of the proposed PWM technique.

• JSTS:Journal of Semiconductor Technology and Science
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• 제17권1호
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• pp.35-41
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• 2017

We propose a novel multi-photodiode array (MPDA) based retinal implant IC with on/off stimulation strategy for a visual prosthesis with improved spatial resolution. An active pixel sensor combined with a comparator enables generation of biphasic current pulses when light intensity meets a threshold condition. The threshold is tuned by changing the discharging time of the active pixel sensor for various light intensity environments. A prototype of the 30-channel retinal implant IC was fabricated with a unit pixel area of $0.021mm^2$, and the stimulus level up to $354{\mu}A$ was measured with the threshold ranging from 400 lx to 13120 lx.

• Steel and Composite Structures
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• 제39권5호
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• pp.645-664
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• 2021

There is a growing need of seismic retrofit of existing non-seismically designed structures in Korea after the 2016 Gyeongju and 2017 Pohang earthquakes, especially school buildings which experienced extensive damage during those two earthquakes. To this end, a steel multi-slit damper (MSD) was developed in this research which can be installed inside of partition walls of school buildings. Full-scale two-story RC frames were tested with and without the proposed dampers. The frames had structural details similar to school buildings constructed in the 1980s in Korea. The details of the experiments were described in detail, and the test results were validated using the analysis model. The developed seismic retrofit strategy was applied to a case study school building structure, and its seismic performance was evaluated before and after retrofit using the MSD. The results show that the developed retrofit strategy can improve the seismic performance of the structure to satisfy a given target performance level.

• 농촌계획
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• 제18권3호
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• pp.149-164
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• 2012

The purpose of the present study is to construct a rural development strategy from the nexus between spatial changes in specialized crops and suitable cultivation area of the crops. This paper pays particular attention to identify product life cycle of specialized crops in rural areas and estimate the impact of climate change on alterations in spatial distribution of the crops. In order to do so, first of all, this study applies multi-level model (Random coefficient model) to estimate the regional coefficient of five orchard crops. It utilizes the data 1995 to 2010 Korea Agricultural Census. Futhermore, it also adopts overlay analysis by ArcGIS to identify the development path of the crops and the relationship with climate change. Based on the results, it suggests a mechanism activating regional agriculture. The findings propose re-searching and relocating specialized regions of the crops. Especially, it proves each rural area can drive the new agricultural strategy to strengthen regional agriculture by estimating the relationship between development of specialized crops and suitable cultivation areas. For instance, shifting specialized crops in particular regions and enriching genetic or species varieties can be primary measures and it will contribute to improve the reliable base for income sources in the rural communities. This paper also offers specific policy implications regarding rural development plans in response to crops' life cycle and climate changes.

• Journal of Power Electronics
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• 제14권6호
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• pp.1166-1177
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• 2014

A new type of topology with medium-frequency-transformer (MFT) isolation for medium voltage wind power generation systems is proposed in this paper. This type of converter is a high density power conversion system, with high performance features suitable for next generation wind power systems in either on-shore or off-shore applications. The proposed topology employs single-phase cascaded multi-level AC-AC converters on the grid side and three phase matrix converters on the generator side, which are interfaced by medium frequency transformers. This avoids DC-Link electrolytic capacitors and/or resonant L-C components in the power flow path thereby improving the power density and system reliability. Several configurations are given to fit different applications. The modulation and control strategy has been detailed. As two important part of the whole system, a novel single phase AC-AC converter topology with its reliable six-step switching technique and a novel symmetrical 11-segment modulation strategy for two stage matrix converter (TSMC) is proposed at the special situation of medium frequency chopping. The validity of the proposed concept has been verified by simulation results and experiment waveforms from a scaled down laboratory prototype.

• 대한안전경영과학회지
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• 제15권2호
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• pp.193-204
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• 2013

The growing logistics strategy of a company is to optimize their vehicle route scheduling in their supply chain system. It is very important to analyze for continuous pickups and delivery vehicle scheduling. This paper is a computational study to investigate the effectiveness of continuous pickups and delivery vehicle routing problems. These scheduling problems have 3 subproblems; Inbound Vehicle Routing Problem with Makespan and Pickup, Line-haul Network Problem, and Outbound Vehicle Routing Problem with Delivery. In this paper, we propose 5 heuristic Algorithms; Selecting Routing Node, Routing Scheduling, Determining Vehicle Type with Number and Quantity, and Modification Selecting Routing Node. We apply these Algorithms to S vehicle company. The results of computational experiments demonstrate that proposed methods perform well and have better solutions than other methods considering the basic time and due-date.