• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2345-2347
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• 1998

This paper deals with the trajectory planning of IWR biped robot using genetic algorithm. The trajectory of a swing leg is generated by 5th order polynomial equation. Velocities and Acceleration properties on a viapoints are needed. These constants are given by heuristic method. The optimal values are determined by G.A to minimize the jerk of a trajectory. As a result, trajectory planning is implemented not on between two viapoints but on a whole interval. Efficient numerical calculation routines and walking algorithms for simulation are accomplished by MATLAB package.

• Proceedings of the KIEE Conference
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• 1995.07b
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• pp.506-508
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• 1995

The relay protection engineers are sometimes faced with the difficulties in full protection of high-inertia drive motors during acceleration period. The problem results from lower permitted locked rotor time of the motor compared with motor starting time. Even though the various types of protection relay and other device (Speed switch, Distance relay) are used, the full protections against abnormal starting conditions may not be available. So, the development of a new speed-biased overcurrent relay is suggested in this paper. This paper also presents that speed-biased overcurrent relay can fully protect the high-inertia motor during abnormal starting condition by computer simulation.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.11
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• pp.1685-1691
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• 2004

This paper describes the fault detection and failsafe logic to be used in an Electronic Stability Program(ESP). The aim of this paper is to prevent of erroneous controls in the ESP. Developed this paper introduces the fault detection logic and evaluation of residual signals. The failsafe logic consists of four redundant sub-models, which can be used for detecting the faults in various sensors (yaw rate, lateral acceleration, steering wheel angle). We present two mathematical residual generation methods : one is a method using the average value and the other is a method using the minimum value of the each residual. We verified a failsafe logic developed using vehicle test results also we compare vehicle model based simulation results with test vehicle results.

• Journal of Advanced Marine Engineering and Technology
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• v.31 no.4
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• pp.455-461
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• 2007

In this paper a state steering strategy for high order chained system is presented. High order chained system can be derived from the acceleration constraints that cannot be integrable. The system classified as a nonholonomic system cannot be controlled to its equilibrium points by continuous and time-invariant controller. Using variable transformation two sub system can be obtained from the high order chained system. Deadbeat control and iterative state steering methods are proposed to control the system. Simulation results are given to show the effectiveness of the proposed control scheme.

• Proceedings of the KSME Conference
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• 2004.04a
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• pp.774-779
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• 2004

This paper describes the fault detection and failsafe logic to be used in the Electronic Stability Program (ESP). The Aim of this paper is prevention of erroneous control in the ESP. This paper introduces the fault detection logic and evaluation of residual signals. Failsafe logic consist of four redundant sub-models and they can be used for the detection of faults in each sensor (yaw rate, lateral acceleration, steering wheel angle). We presents two mathematical residual generation method ; one is the method by the average value, and the other is the method by the minimum value of the each residual. We verify a failsafe logic using vehicle test results, also we compare vehicle model based simulation results with test vehicle results.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2005.05a
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• pp.30-34
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• 2005

This paper describes the design and manufacturing of a focused-ion-beam machining system which can make small features of nano size. We use a SIMION simulator in order to obtain the design data of an ion column. The simulation result shows that the focal length of ion beam decreases as the applied voltage of object lens increases. Finally, we obtained the good images of a mesh of 50 micrometers by using the adjustment of applied voltage, acceleration power, and dimension of each elements.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.11 no.6
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• pp.31-37
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• 2002

This paper presents a new motion control strategy for singularity avoidance in 6 DOF articulated robot manipulators, based on a speed limiting algorithm for joint positions and velocities. For a given task, the robot is controlled so that the joints move with acceptable velocities and positions within the reachable range of each joint by considering the velocity limit. This paper aims at the development of a new efficient method to control robot motion near and at singularities. The proposed method has focused on generating the optimal joint trajectory for a Cartesian end-effector path within the speed limit of each joint by using the speed limit avoidance as well as the acceleration/deceleration scheme. The proposed method was verified using MATLAB-based simulations.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.395-400
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• 1998

A design of PIDA (Proportional-Integral-Derivative-Acceleration) controller for the third-order plant using the CDM (Coefficient Diagram Method) is presented. Using CDM, the closed-loop system with the designed PIDA controller can be made stable and satisfied both transient and steady state response specifications without any adjustment. The effect of output step disturbance can also be lastly rejected. The fast step response of the controlled system can be achieved by reducing the equivalent time constant. The MATLAB's simulation results show that the performances of the designed controlled system using CDM is better than the performances of the controlled system using PIDA controller designed by its own technique.

• Bulletin of the Korean Chemical Society
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• v.25 no.1
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• pp.69-72
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• 2004

The N-alkylation of 4-aminopyrimidine with a tetrahydro-3-aza-cyclopropa[c]inden-5-one, which is a model reaction of the pharmacophore of duocarmycins, was studied with a quantum chemical method. We consider two factors for the acceleration of the N-alkylation; distortion and protonation of the model pharmacophores. The distortion of the spirocyclopropyl moiety in the model spirocyclopropylcyclohexadienone could induce an intrinsic energy of 3-4 kcal/mol, but the protonation on the carbonyl oxygen of the model cyclohexadienone lowers the transition energy of the N-alkylation of 4-aminopyrimidine dramatically (~46 kcal/mol) and is considered to play a major role in the enzyme reaction. The distorted and protonated spirocyclohexadienone is exothermally relieved to a phenol with the heat of reaction of -37 kcal/mol. The protonation process is proposed to be the mode of action of duocarmycins in the DNA alkylation.

• Proceedings of the KSR Conference
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• 2006.11b
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• pp.104-111
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• 2006

The non-linear properties of rubber material which are described as strain energy function are important parameter to design and evaluate of rubber spring. These are determined by material tests which are uni-axial tension and bi-axial tension. The computer simulation using the nonlinear element analysis program executed to predict and evaluate the load capacity and stiffness for chevron spring. In order to investigate the heat-aging effects on the rubber material properties, the acceleration test were carried out. Compression set results changes as the threshold are used for assessment of the useful life and time to threshold value were plotted against reciprocal of absolute temperature to give the Arrhenius plot. By using the compression set test, several useful life prediction for rubber material were proposed.