• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.43-43
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• 2000

In this paper, we introduce a case study of developing a miniature humanoid robot that has 16 degrees of freedom and is able to perform statically stable walking. The developed humanoid robot is 37cm tall and weighs 1,200g. RC servo motors are used as actuators. The robot can walk forward and turn to any direction on even surface. It equipped with a small digital camera, so it can transmit vision data to a remote host computer via wireless modem. The robot can be operated in two modes; One is a remote-controlled mode, in which the robot behaves according to the command given by a human operator through the user-interface program running on a remote host computer, the other is a stand-alone mode, in which the robot behaves autonomously according to the pre-programmed strategy. The user-interface program also contains a robot graphic simulator that is used to produce and verify the robot's gait motion. In our walking algorithm, the ankle joint is mainly used lot balancing the robot. The experimental results shows that the developed robot can perform statically stable walking on even surface.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.397-401
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• 1994

This paper proposes an identification method for a thin plate where multiple actuators and sensors are bonded. Since a thin plate has small damping ratios of all modes, each mode can be identified seperately with a bandpass filter for each modal signal. With the bandpass filter and the characteristics of the plate, the Multi-Input Multi-Output (MIMO) model of the plate can be converted to several Multi-Input Single-Output(MISO) models of second order linear difference equations of the modes. Parameters for each mode are obtained by using the Least Square method. Form there MISO models, the MIMO model is obtained in the form of the state space. Experiments were performed for an all-clamped plate with two pairs of piezoelectric actuators and sensors. The outputs of the identified model and the experimental data match well.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.22 no.7
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• pp.1403-1410
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• 1997

Because streaming mode connection server suitable to wide area ATM networks performs transmission, reception and lookup with time restriction for the transmission time of a cell, it has demerits of large cell loss incase that burst traffic occurs. Therefore, in this paper to decrease cell loss we propose a high speed CAM (Content Addressable Memory) which is capable of processing data of streaming mode connections server at a high speed. the proposed CAM is applied to forwarding table VPC map which performs function to output connection numbers about input VPI(Virtual Path Identifier)/VCI(Virtual Channel Identifier). The designed high speed CAM consist of DBL(Dual Bit Line) CAM structure performed independently write operation and match operation and two-port SRAM structure. Also, its simulation verification and full-custom layout is performed by Hspice and Composs tools in 0.8 .$\mu$m design rule.

• Journal of the Korean Society of Safety
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• v.7 no.1
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• pp.5-12
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• 1992

Disc specimen with the center crack and edge crack simulated by two-dimensional static method is used to analyze the stress field around the crack tip in terms of the stress intensity factor, K. A simple and convenient method of testing to realize the mifed mode stress intensity factor of the cracked body is used, The conclusions obtatined in this photoelastlc analysis are as follows ; 1. According to this experiment, cracked disc specimen can be used to demonstrate the mixed mode stress intensity factor analysis by simply changing the crack angle from the loading line. 2. Despite the simplicity and continuous data reading, the photoelastic method shows the slightly lower strain reading comparing to the FEM analysis method. 3. In this photoelastic analysis, $K_{I}$ of center cracked disc specimen under a pair of compressive load shows negative value as the crack angle increases over 30$^{\circ}$.

• Smart Structures and Systems
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• v.25 no.6
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• pp.679-691
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• 2020

To identify the bridge information from the response of test vehicles passing on it (also known as the indirect approach) has aroused the interest of many researchers thanks to its economy, easy implementation and less disruption to traffic. The surface roughness of bridge remains an obstacle for such method as it contaminates the vehicle response severely and thereby renders many vehicle-response-based bridge identification methods ineffective. This study aims to eliminate such effect with the responses of two different test vehicles. The proposed method can estimate the surface profile of a bridge based on the acceleration data of the vehicles running on the bridge successively, and obtain the normalized contact point response, which proves to be relatively immune to surface roughness. The frequencies and mode shapes of bridge can be further extracted from the normalized contact point acceleration with spectral analysis and Hilbert transform. The effectiveness of the proposed method is verified numerically with a three-span continuous bridge. The influence of measurement noise is also examined.

• Structural Engineering and Mechanics
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• v.8 no.3
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• pp.243-256
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• 1999

Using appropriate transformations, the differential equation for flexural free vibration of a cantilever bar with variably distributed mass and stiffness is reduced to a Bessel's equation or an ordinary differential equation with constant coefficients by selecting suitable expressions, such as power functions and exponential functions, for the distributions of stiffness and mass. The general solutions for flexural free vibration of one-step bar with variable cross-section are derived and used to obtain the frequency equation of multi-step cantilever bars. The new exact approach is presented which combines the transfer matrix method and closed form solutions of one step bars. Two numerical examples demonstrate that the calculated natural frequencies and mode shapes of a 27-storey building and a television transmission tower are in good agreement with the corresponding experimental data. It is also shown through the numerical examples that the selected expressions are suitable for describing the distributions of stiffness and mass of typical tall buildings and high-rise structures.

• The Korean Journal of Zoology
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• v.15 no.1
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• pp.15-21
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• 1972

The chromosome constitutions in two cases of uterine carcinoma were studied in vitro with particular interest to the non-random distribution. The results obtained are as follows: 1. The chromosome numbers of one case were found within a normal diploid range with mode at 46, while those of the other were whithin hypotriploid range with mode at 60. 2. The data from the latter case indicated possible existence of non-random distribution of chromosome.

• Journal of information and communication convergence engineering
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• v.17 no.4
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• pp.255-260
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• 2019

A pendubot is a representative example of an underactuated system that has fewer actuators than the degree of freedom of the system. In this study, the characteristics of the pendubot are first reviewed; each part is then designed using Solidworks by dividing the pendubot into three parts: the base frame, first link frame, and second link frame. These three parts are then imported into the Simulink environment via a STEP file format, which is the standard protocol used in data exchange between CAD applications. A 3D model of the pendubot is then constructed using Simscape, and the usefulness of the 3D model is validated by a comparison with a dynamic equation derived using the Lagrangian formulation. A linearized model around an upright equilibrium position is finally obtained, and a sliding mode controller is designed based on the linear quadratic regulator. Simulation results showed that the designed controller effectively maintained upright balance of the pendubot in the presence of disturbance.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.4
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• pp.561-568
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• 2010

Instrumentation radar in a test range has an important role to measure target's TSPI(time, space, position, information). It is well known that it tracks a target stably using a beacon mode. But it may fail to track a target in a certain region using a beacon mode. In this paper, we modeled a simple missile shape similar to ATCMS with two beacon antenna and analyzed an antenna radiation pattern using MLFMM(Multi Level Fast Multipole Method) method. Using the analyzed result of the radiation pattern of the antenna and the attitude data of target, we simulated beacon tracking performance of an instrumentation radar. As a result of simulation, we showed that an instrumentation radar may lose the target because it tracks a area of the beacon antenna pattern.

• Structural Engineering and Mechanics
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• v.76 no.5
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• pp.643-651
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• 2020

Generally, it is necessary to perform transient structural analysis in order to verify and improve the seismic performance of high-rise buildings and bridges against earthquake loads. In this paper, we propose the model order reduction (MOR) method using the Krylov vectors to perform seismic analysis for linear and elastic systems in an efficient way. We then compared the proposed method with the mode superposition method (MSM) by using the limited numbers of modal vectors (or eigenvectors) calculated from the modal analysis. In the calculation, the data of the El Centro earthquake in 1940 were adopted for the seismic loading in the transient analysis. The numerical accuracy and efficiency of the two methods were compared in detail in the case of a simplified high-rise building.