• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.05a
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• pp.201-204
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• 2008

The mobile robot is known as a nonlinear system with constraints. The general tracking controller for the mobile platform has been divided into the kinematic and the dynamic controller. The reason of dividing controller is the constraints. We can get some information through some numerical experiments. When the reference linear and angular velocity were given, the stability of mobile robot without the kinematic controller depend on the start point of reference cart. Therefore this paper composed of two controller for solving tracking problem. The main controller is the dynamic controller which used generally such as the PID controller. And this paper adopts the auxiliary controller in order to compensate the difference of initial point between the reference cart and a mobile robot. Finally, the numerical experiment is performed in order to show the validity of our method.

• Journal of IKEEE
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• v.13 no.1
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• pp.49-56
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• 2009

In this paper, a simulation for the stability of the catenary voltage through charging and discharging by introducing an energy storage system in the railway system and the efficient usage of restoration energy has been performed. In order for the simulation, a simple railway model with an appropriate control technique has been introduced. The catenary voltage area is divided into two areas with voltage control and an area with normal operation and current control is performed to satisfy current limit of the supercapacitor. We confirmed the energy absorption and emission through the simulation and observed energy efficiency through charging and discharging according to the operation state of the railway.

• The Journal of Korean Physical Therapy
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• v.26 no.1
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• pp.1-8
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• 2014

Purpose: The aim of the present study was to understand the relationship between gait symmetry and functional balance, walking performance in stroke patients and to makes recommendation regarding the most suitable measure for standardization of expression of spatiotemporal gait symmetry. Methods: 45 subjects with stroke (31 men, 14 women, $57.3{\pm}10.3$ years old) participated in this study. Gait symmetry was calculated by equations of symmetry ratio (SR) and symmetry criterion (SC) for stance time, swing time, single leg support time (SLST), step length, and stride length. Spatiotemporal parameters were measured respectively by walkway system ($GAITRite^{TM}$ system). Limit of stability (LOS) by using forceplate (Balance Performance Monitor) during voluntary weight displacement and Berg Balance Scale (BBS) were measured as functional balance and Timed Up and Go test (TUG) and Functional Ambulation Category (FAC) were assessed as functional walking. Results: SR in stance time and swing time was correlation with BBS, TUG and FAC (p<0.05). SR in SLST only with BBS (p<0.01), SR in step length only with FAC (p<0.05). SC in stance time was correlation with BBS and TUG (p<0.05). SC in swing time and SLST with BBS, TUG and FAC (p<0.01), SC in step length with TUG and FAC (p<0.01), SC in stride length with BBS and FAC (p<0.01). Conclusion: Gait symmetry in spatiotemporal gait parameters provides meaningful information about functional balance and walking performance in stroke subjects. Our analysis may support the recommendations of the symmetry criterion as equation for standardization of gait symmetry.

• Bulletin of the Korean Chemical Society
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• v.33 no.2
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• pp.415-419
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• 2012

Electrochemical characteristics of nitrite ion were investigated at a poly(methylene blue)-modified glassy carbon electrode by cyclic voltammetry and differential pulse voltammetry. The poly(methylene blue)-modified glassy carbon electrode exhibited enhanced anodic signals for nitrite. The effects of key parameters on the detection of nitrite were evaluated at the modified electrode, such as pH, accumulation time, and scan rate. Under optimum condition, the chemically modified electrode can detect nitrite in the concentration range $2.0{\times}10^{-6}$ to $5.0{\times}10^{-4}$ M with the detection limit of $2.0{\times}10^{-6}$ M and a correlation coefficient of 0.999. The detection of nitrite using the chemically modified electrode was not affected by common ions such as $Na^+$, $K^+$, $Ca^{2+}$, $Cl^-$, $HPO_4^{2-}$ and $H_2PO_4^- $. The modified electrode showed good stability and reproducibility. The practical application of the present method was successfully applied to the determination of nitrite ion in cabbage samples.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.3
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• pp.413-418
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• 2018

In this paper, we describe the development of a non-enzymatic glucose sensor based on copper nanocubes(Cu NCs) electroplated laser induced graphene(LIG) electrodes which can detect a certain range of glucose concentrations. $CO_2$ laser equipment was used to form LIG electrodes on the PI film. This fabrication method allows easy control of the LIG electrode size and shape. The Cu NCs were electrochemically deposited on the LIG electrodes to improve electron transfer rates and thus enhancing electrocatalytic reaction with glucose. The average sheet resistances before and after electroplating were $15.6{\Omega}/{\Box}$ and $19.6{\Omega}/{\Box}$, respectively, which confirmed that copper nanocubes were formed on the laser induced graphene electrodes. The prepared electrode was used to measure the current according to glucose concentration using an electrochemical method. The LIG electrodes with Cu NCs demonstrated a high degree of sensitivity ($1643.31{\mu}A/mM{\cdot}cm^2$), good stability with a linear response to glucose ranging from 0.05 mM to 1 mM concentration, and a limit of detection of 0.05 mM. In order to verify that these electrodes can be used as flexible devices, the electrodes were bent to $30^{\circ}$, $90^{\circ}$, and $180^{\circ}$ and cyclic voltammetry measurements were taken while the electrodes were bent. The measured data showed that the peak voltage was almost constant at 0.42 V and the signal was stable even in the flexed condition. Therefore, it is concluded that these electrodes can be used in flexible sensors for detecting glucose in the physiological sample like saliva, tear or sweat.

• Journal of Korean Tunnelling and Underground Space Association
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• v.19 no.1
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• pp.1-9
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• 2017

In this study, a test-bed system simulated a tunnel and concrete track is tested on cite and invested an allowed limit of multi-layered sound absorbing panel for reducing noise reflected on the concrete track in train tunnel considering the criteria and limitation on the theoretical back ground. The studied results are an effective evaluating system of the sound absorbing coefficient influenced fluid effects depending on the vehicle speed in the urban train tunnel and measuring not only structural behaviors of maximum displacement and acceleration of the panel but also dynamic characteristics of damping ratio and natural frequency.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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• v.13 no.3
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• pp.229-233
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• 2015

Developing novel anode materials to replace the Pt anode currently used in electrolytic reduction is an important issue on pyroprocessing. In this study, the electrochemical behavior of TiN was investigated as the conductive ceramic anode which evolves O₂ gas during the reaction. The feasibility and stability of the TiN anode was examined during the electrolytic reduction of UO₂. The TiN anode could electrochemically convert UO₂ to metallic U in a LiCl–Li₂O molten salt electrolyte. No oxidation of TiN was observed during the reaction; however, the formation of voids in the bulk section appeared to limit the lifetime of the TiN anode.

• Journal of The Korean Society of Integrative Medicine
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• v.6 no.3
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• pp.59-71
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• 2018

Purpose : The purpose of this study was to compare the effects of ankle balance training on unstable and stable surfaces to discover on which surface the proprioception, balance and muscle strength of obese middle aged women improves more. Method : Thirty obese middle-aged women were randomly recruited and divided into two groups (training on an unstable surface, training on a stable surface). The subjects in each group participated in the training for six weeks, three times per week for 30 minutes each session. Proprioception was measured using Dualer IQ digital inclinometer; sway length (SL) and sway area (SA) of center of pressure, and limit of stability (LOS) were measured for balance; muscle strength before and after the training was measured using manual muscle testing. Results : There were significant improvements in the subscales of the proprioception, balance and muscle strength in those who participated in ankle balance training on the unstable surface, and in those who participated on the stable surface. However, before and after the intervention, there were no differences between those who had the balance traning on the unstable surface and those who had the balance traning on the stable surface. Conclusion : Unstable and stable surface ankle balance training are both effective in improving the proprioception, balance and muscle strength of obese middle-aged woman.

• Journal of Soil and Groundwater Environment
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• v.24 no.6
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• pp.9-15
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• 2019

Soil dust emitted from large scale construction sites in urban areas has posed a significant health threats to local residents by exacerbating air quality. Water-spraying (moistening) is commonly practiced to lower the dust emission in construction sites, but its long term effectiveness is highly questionable. In this study, the utility of starch and PVA(polyvinyl alcohol) was investigated in suppression of the soil dust emissions in construction sites in Seoul areas. The efficiency of the two suppressants was tested with test soil sample in a lab-scale wind tunnel box under different concentrations of suppressants and soil textures. Starch and PVA showed the superior ability to suppress soil dust emission as compared to moistening, resulting in PM₁₀ and PM_2.5 lower than the daily limit values of 30 and 15 ㎍/㎥ respectively. PVA showed higher suppression capability than starch for all conditions. The test soils mixed with suppressants also showed dramatically enhanced aggregate stability compared to the non-treated soil.

• The Transactions of the Korean Institute of Power Electronics
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• v.11 no.1
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• pp.46-55
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• 2006

This paper presents the control method for the hybrid actuator comprising a DC motor and an MR brake. Generally, a DC motor as an active actuator has a small power to weight ratio and goes unstable with higher force control gain due to its saturation limit. In order to cope with this instability and make the transparency higher, this paper proposes a hybrid actuator which consists of a DC motor and an MR brake as a passive actuator and its force control method based on network theory. A DC motor actively produces the output corresponding to the signs of the input currents. On the other hand, an MR brake passively resists against the external load independent of the sign changes of the input currents. This characteristics is widely known as 'passive' This paper suggests a force control method based on passivity concept in network theory for the hybrid actuator and verified its performance and stability through the experiments.