• Journal of Institute of Control, Robotics and Systems
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• v.11 no.1
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• pp.77-83
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• 2005

This paper deals with determination of motions of a humanoid robot using genetic algorithm. A humanoid robot has some problems of the structural instability basically. So, we have to consider the stable walking gait in gait planning. Besides, it is important to make the smoothly optimal gait for saving the electric power. A mobile robot has a battery to move autonomously. But a humanoid robot needs more electric power in order to drive many joints. So, if movements of walking joints don't maintain optimally, it is difficult for a robot to have working time for a long time. Also, if a gait trajectory doesn't have optimal state, the expected life span of joints tends to be decreased. To solve these problems, the genetic algorithm is employed to guarantee the optimal gait trajectory. The fitness functions in a genetic algorithm are introduced to find out optimal trajectory, which enables the robot to have the less reduced jerk of joints and get smooth movement. With these all process accomplished by a PC-based program, the optimal solution could be obtained from the simulation. In addition, we discuss the design consideration for the joint motion and distributed computation of the humanoid, ISHURO, and suggest its result such as the structure of the network and a disturbance observer.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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• pp.1092-1097
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• 2014

Unmanned flying robots have been used recently in many difficult situations. One of the major issues in this area is the problem of how long these unmanned flying robots can perform a given task successfully. For this, the development of a light body and high-efficiency power supply has been executed widely, but we do not as yet have the complete solution. In this paper, we propose a form of Multi-Copter X8, which can transform into other types to further improve these problems. The proposed robot has a 3-type modification capability, which can produce a more enhanced energy saving effect by reducing power consumption.

• IEMEK Journal of Embedded Systems and Applications
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• v.15 no.3
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• pp.119-127
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• 2020

The detection and recognition of abnormal driving becomes crucial for achieving safety in Intelligent Transportation Systems (ITS). This paper presents a feature extraction method based on spectral data to train a neural network model for driving behavior recognition. The proposed method uses a two stage signal processing approach to derive time-saving and efficient feature vectors. For the first stage, the feature vector set is obtained by calculating variances from each frequency bin containing the power spectrum data. The feature set is further reduced in the second stage where an intersection method is used to select more significant features that are finally applied for training a neural network model. A stream of live signals are fed to the trained model which recognizes the abnormal driving behaviors. The driving behaviors considered in this study are weaving, sudden braking and normal driving. The effectiveness of the proposed method is demonstrated by comparing with existing methods, which are Particle Swarm Optimization (PSO) and Convolution Neural Network (CNN). The experiments show that the proposed approach achieves satisfactory results with less computational complexity.

• The Transactions of the Korean Institute of Power Electronics
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• v.14 no.6
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• pp.481-487
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• 2009

This paper proposes a regulation method of DC line voltage for urban transit system fluctuated during the acceleration or deceleration by using supercapacitor. Supercapacitor is modelled electrically under the assumption of three different time constants of RC circuits with variable capacitances depending on the voltage. And its parameters are determined by the experimental measurements. The energy storage system using supercapacitors is installed based on this model, and the proposed model is tested through the simulations and experiments, and the controller for charging and discharging is designed. Finally, it is tested at Kyoungsan test site for the urban light rail road system and the energy saving effect is evaluated economically.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.33 no.7A
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• pp.710-719
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• 2008

In this paper, a transmission technique of paging indicator (PI) on the existing preamble is proposed to reduce power consumption of the user equipment in idle mode for OFDM-based cellular systems. Compared with the PI transmission technique using the L1/L2 control channel, the PI transmission technique using preamble has advantages of not requiring additional overhead for PI transmission as well as reducing computational complexity for PI detection. Synchronization and PI detection techniques are descried for OFDM-based cellular systems, especially for mobile WiMAX systems. It is shown by computer simulation that the PI can be transmitted using the preamble (or common synch symbol) without affecting performances of synchronization and cell searching in mobile WiMAX systems.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.49 no.2
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• pp.102-109
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• 2000

The magnetically levitated system technology is highly expected to contribute the new transportation system of the 21st century with its high velocity operation, better riding comforts, friendliness to environment and saving of maintenance labour. Its development has been completed in low speed and in high speed application. In 2005, the Transrapid with 430 km/h speed will go into operation between Berlin and Hamburg[1]. In the year 2000, the realization of JR-Maglev will be basically evaluated for commercial operation[2]. In korea, maglev test vehicle with magnet for levitation and single sided linear induction motor for propulsion is under test at 1 [km] test track in KIMM.[3,4] Here, a transverse flux linear motor in combination with the levitation and the guidance leads to a considerable high power density and high efficiency simultaneously. The designed and measured performance of transverse flux linear motor for maglev system revealed a great potential of system mass reduction.

• Proceedings of the Korea Concrete Institute Conference
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• 1995.10a
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• pp.69-74
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• 1995

The primary purpose of this study is to investigate reusal techniques of fly ash of combined heat power plant in the construction field, which may contribute to the saving of construction materials and conservating environment. Firstly chemical and physical characteristics of fly ash is analysed. And then, the usability of the concrete is tested by investigating the flowablility and stength development through parameters of various replacement ratios with respect to different mixing conditions. Finally, the durability and mechanical properties(elastic modulus) of the concrete is tested. As the result of the study, the following conclusions are derived : (1) the quantity of the CaO in the fly ash is relatively high based on the chemical analysis, (2)the compressive strength ratio of the mortar is satisfied with the specification, but the unit water ratio increased, (3)high strength concrete of more than 400kg/$\textrm{cm}^2$ can be developed in the ranges of FA 30%, W/B 40%, (5)the slump loss with the elapsed time due to the delivery is decreased as the replacement ratio of the fly ash is increased, (6)the modulus of the elasticity is matched withn the specification of the Architectural Institute of Korea.

• JSTS:Journal of Semiconductor Technology and Science
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• v.14 no.3
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• pp.356-363
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• 2014

In this paper, we propose a new memristor-based crossbar array architecture, where a single memristor array and constant-term circuit are used to represent both plus-polarity and minus-polarity matrices. This is different from the previous crossbar array architecture which has two memristor arrays to represent plus-polarity and minus-polarity connection matrices, respectively. The proposed crossbar architecture is tested and verified to have the same performance with the previous crossbar architecture for applications of character recognition. For areal density, however, the proposed crossbar architecture is twice better than the previous architecture, because only single memristor array is used instead of two crossbar arrays. Moreover, the power consumption of the proposed architecture can be smaller by 48% than the previous one because the number of memristors in the proposed crossbar architecture is reduced to half compared to the previous crossbar architecture. From the high areal density and high energy efficiency, we can know that this newly proposed crossbar array architecture is very suitable to various applications of analog neuromorphic computing that demand high areal density and low energy consumption.

• Proceedings of the SAREK Conference
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• 2009.06a
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• pp.177-182
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• 2009

The purpose of this study is to investigate planning of urban energy supply systems configuration and operating conditions for the district heating and cooling system using combined heat and power system. Generally the district heating and cooling system has been known to one of the effective way for energy saving, cost reduction and demand side management of energy. Economical analyses were carried out and operating characteristics for some systems were examined in terms of GER factor which represents to the ratio of gas and electricity costs. Rates of the energy consumption and the $CO_2$ emission were compared from the system configuration of the energy supply system with new district cooling system with the conventional one.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.5 no.6
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• pp.1113-1132
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• 2011

In wireless sensor networks (WSNs), most energy saving asynchronous MAC protocols are custom tailored for unicast communications only. However, broadcast protocols are very commonly used in WSNs for a variety of functionalities, such as gathering network topology information, event monitoring and query processing. In this paper, we propose a novel low-power asynchronous broadcast MAC protocol called Alarm Broadcast (A-CAST). A-CAST employs the strobe preamble that specifies the residual waiting time for the following data transmission. Each receiver goes back to sleep upon hearing the strobe preamble for the residual time duration, to conserve energy and to wake up just before data transmission starts. We compute the energy consumption of A-CAST via rigorous mathematical analysis. The analytic results show that A-CAST outperforms B-CAST, a simple broadcast extension of the well-known B-MAC. We also implement A-CAST on sensor motes and evaluated its performance through real experiments. Our experimental results show that A-CAST reduces the energy consumption by up to 222% compared to the previously proposed protocols.