• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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• pp.566-569
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• 2000

This hybrid position/force control for the dynamic walking of the biped robot is performed in this paper. After the biped robot was modeled with 14 degrees of freedom of the multibody dynamics, the equations of motion are constructed using velocity transformation technique. Then the inverse dynamic analysis is performed for determining the driving torques and the ground reaction forces. From this analysis, obtains the maximum ground contact force at the moment of contacting which act on the rear of the sole of swing leg and the distribution curve of the ground reaction. Because these maximum force and distribution type acts an important role to the stability of the whole dynamic walking, they are reduced and distributed smoothly by means of the trajectory of the modified ground reaction force. This new trajectory is used to the reference input for more stable dynamic walking of the whole walking region.

• Proceedings of the KIEE Conference
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• 1997.11a
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• pp.83-85
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• 1997

In this paper, a self-tunning fuzzy inference technique for stabilization of the inverted pendulum system is proposed. The facility of this self-tunning fuzzy controller which has swing-up control mode and a stabilization one, moves a pendulum in an initial natural stable equilibrium point and a cart in arbitrary position, to an unstable equilibrium point and a center of rail. Specially, the virtual equilibrium point(${\phi}_{VEq}$) which describes functionally considers the interactive dynamics between a position of cart and a angle of inverted pendulum is introduced. And comparing with the convention optimal controller, the proposed self-tunning fuzzy inference structure made substantially the inverted pendulum system robust and stable.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.309-309
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• 2000

The main objective of this study is to understand the regeneration step of the PTSA(Pressure and thermal swing adsorption) process below the atmospheric pressure by rigorous dynamic simulation. This target process is to recover toluene using activated carbon as an adsorbent. To do this, the dynamic simulations for the regeneration step are performed at 360, 490, 590mmHg and at high temperature after the simulation of the adsorption step at latm and 298K. A mathematical model was developed to simulate the column dynamics of the adsorption systems. This model is based on non-equilibrium, non-isothermal and non-adiabatic conditions, and axial dispersion and heat conduction are also considered. Heat transfer resistances are considered in gas-solid, gas-column wall and column wall-outside air. The LDF(Linear Driving Force) approximation model describes the mass transfer rate between the gas and solid phase. This study shows that the recovery of toluene by PTSA is more preferable than that by general TSA.

• Journal of The Korean Astronomical Society
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• v.37 no.4
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• pp.243-248
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• 2004

Disk galaxies abound with intermediate-scale structures such as OB star complexes, giant clouds, and dust spurs in a close geometrical association with spiral arms. Various mechanisms have been proposed as candidates for their origin, but a comprehensive theory should encompass fundamental physical agents such as self-gravity, magnetic fields, galactic differential rotation, and spiral arms, all of which are known to exist in disk galaxies. Recent numerical simulations incorporating all these physical processes show that magneto-Jeans instability (MJI), in which magnetic tension resists the stabilizing Coriolis force of galaxy rotation, is much more powerful than swing-amplification or the Parker instability in forming self-gravitating intermediate-scale structures. The MJI occurring in shearing and expanding flows off spiral arms rapidly forms structures elongated along the direction perpendicular to the arms, remarkably similar to dust spurs seen in HST images of spiral galaxies. In highly nonlinear stages, these spurs fragment to form bound clumps, possibly evolving into bright arm and interarm H II regions, suggesting that all these intermediate-scale structures in spiral galaxies probably share a common dynamical origin.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.6 no.1
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• pp.52-57
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• 2006

In this paper, we have proposed a new adaptive fuzzy control algorithm based on Takagi-Sugeno fuzzy model. The regulation problem for the uncertain SISO nonlinear system is solved by the proposed algorithm. Using the advanced stability theory, the stability of the state, the control gain and the parameter approximation error is proved. Unlike the existing feedback linearization based methods, the proposed algorithm can guarantee the global stability in the presence of the singularity in the inverse dynamics of the plant. The performance of the proposed algorithm is demonstrated through the problem of balancing and swing-up of an inverted pendulum on a cart.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.10a
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• pp.304-309
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• 1998

In this paper, a fuzzy controller for stabilization of the inverted pendulum system is propose. The facility of this fuzzy controller which has a swing-up control mode and a stabilization one, moves a pendulum in an initial natural stable equilibrium point and a cart in arbitary position, to an unstable equilibrium point and a center of rail. Specially, the virtual equilibrium point ($\Phi$veq) which describes functionally considers the interactive dynamics between a position of cart and a angle of inverted pendulum is introduced. And comparing with the convention optimal controller, the proposed hierarchical fuzzy inference structur made substantially the inverted pendulum system robust and stable.

• Journal of the Society of Disaster Information
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• v.13 no.2
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• pp.249-257
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• 2017

Recently, a cable disconnection accident occurred due to a lightning strike at the Seohae Bridge located in Dangjin-Pyeongtaek City. This is a natural occurrence, but it is a recall that it is very important to review the safety issues due to the disconnection of cable bridges. In other words, the role of cables in cable bridges has a profound effect on the safety of the structure, and it has become necessary to grasp the effect on the entire structural system. The cable bridge is an economic bridge that builds the main tower and supports the bottom plate by cable. The influence of the cable is the main member, which is a big influence on the safety of the whole bridge system. In the cable-stayed bridge, the cables exhibit nonlinear behavior because of the change in sag, due to the dead weight of the cable, which occurs with changing tension in the cable resulting from the movement of the end points of the cable as the bridge is loaded. Modal analysis is conducted using the deformed dead-load tangent stiffness matrix. A new concept was presented by using divided a cable into several elements in order to study the effect of the cable vibration (both in-plane and swinging) on the overall bridge dynamics. The result of this study demonstrates the importance of cable vibration on the overall bridge dynamics.

• Korean Chemical Engineering Research
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• v.50 no.3
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• pp.527-534
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• 2012

The adsorption dynamics of activated carbon (AC) and carbon molecular sieve (CMS) beds were studied to recover ethylene from FCC fuel gas. In this study, the FCC fuel gas used consisted of six-component mixture ($CH_4/C_2H_4/C_2H_6/C_3H_6/N_2/H_2$,32:15:14:2:12:25 vol.%). And the breakthrough experiments of adsorption and desorption were carried out. The breakthrough sequence in the AC bed was $H_2$ < $N_2$ < $CH_4$ < $C_2H_4$ < $C_2H_6$ while the sequence in the CMS bed was $H_2$ < $CH_4$ < $N_2$ < $C_2H_6$ < $C_2H_4$. The separation performance of the CMS bed during the adsorption step was lower than that of the AC bed. However, due to the characteristics of kinetic separation, the CMS bed could remove $CH_4/N_2$ as well asthe molecules that are larger than $C_2H_6$, which was not easy to be done by the AC bed. Since it was hard to regenerate the adsorption bed by simple depressurization, vacuum regeneration should be adopted. As a result, the pressure vacuum swing adsorption (PVSA) process, consisting of CMS pretreatment process and AC main process, was suggested to recover ethylene efficiently.

• Journal of the Korea Computer Graphics Society
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• v.1 no.2
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• pp.201-212
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• 1995

This paper presents a new method of dynamics-based synthesis of bipedal, especially human, walking. The motion of the body at a time point is determined by ground reaction force and torque under the support foot and joint torques of the body at that time point. Motion synthesis involves specifying conditions that constrain ground reaction force and torque, and joint torques so that a given desired motion may be achieved. There are conditions on a desired motion which end-users can think of easily, e.g. the goal position and orientation of the swing foot for a single step and the time period of a single step. In this paper, we specify constraints on the motion of the support foot, which end-users would find difficult to specify. They are constraints which enforce non-sliding, non-falling, and non-spinning the support foot. They are specified in terms of joint torques and ground reaction force and torque. To satisfy them, both joint torques and ground reaction force and torque should be determined appropriately. The constraints on the support foot themselves do not give any good clues as to how to determine ground reaction force and torque. For that purpose, we specify desired trajectories of the application point of vertical ground reaction force (ground pressure) and the application point of horizontal ground reaction (friction) force. The application points of vertical pressure and friction force are good control variables, because they are indicators to kinds of walking motions to synthesize. The synthesis of a bipedal walking motion, then, consists of finding a trajectory of joint torques to achieve a given desired motion, so that the constraints are satisfied under the condition of the prescribed center of pressure and center of friction. Our approach is distinguished from many other approaches, e.g. the inverted-pendulum approach, in that it captures and formulates dynamics of the support foot and reasonable constraints on it.

• Journal of Biomedical Engineering Research
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• v.28 no.2
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• pp.218-228
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• 2007

Modem concepts of gait rehabilitation after stroke favor a task-specific repetitive approach. In practice, the required physical effort of the therapists limits the realization of this approach. Therefore, a mechanized gait trainer enabling nonambulatory patients to have the repetitive practice of a gait-like movement without overstraining therapists was constructed. In this study, we developed an active gait training system for patients with gait disorder. This system provides joint movements to patients who cannot carry out an independent gait. It provides a normal stance-swing ratio of 60:40 using an eccentric configuration of two gears. Joint motions of the knee and the ankle were evaluated with using the 3D motion analysis system and compared with the results from the multi-body dynamics simulation. In addition, clinical investigations were also performed for low stroke patients during the 6-week gait training. Results from the dynamics simulation showed that joint movements of the knee and the ankle were affected by the gear size, the step length and the length of the foot plate, except the radius of curvature of the foot guide plate. Also, the 6-week gait training revealed relevant improvements of the gait ability in all low subjects. Functional ambulation category levels of subjects after training were 2 in three patients and 1 in a patient. The developed active gait trainer seems feasible as an adjunctive tool in gait rehabilitation after stroke.