• KSTLE International Journal
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• 제4권2호
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• pp.37-42
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• 2003

One of the obstacles for a magnetic bearing to be used in the wide range of industrial applications is the failure modes associated with magnetic bearings, which we don't expect for conventional passive bearings. These failure modes include electric power outage, power amplifier faults, position sensor faults, and the malfunction of controllers. Fault-tolerant magnetic bearing systems have been proposed so that the system can operate in spite of some faults in the system. In this paper, we designed a fault-tolerant magnetic bearing system for a turbo-molecular vacuum pump. The system can cope with the actuator/amplifier faults which are the most common faults in a magnetic bearing system. We implemented the existing fault-tolerant algorithms to experimentally prove the adequacy of the algorithms for industrial applications. As it turns out, the system can operate even with three simultaneously failing poles out of eight actuator poles.

• 한국지능시스템학회논문지
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• 제17권5호
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• pp.701-706
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• 2007

최근 고층건물의 방진시스템 및 자동차의 현가장치 분야에 MR 유체를 이용한 반능동 진동제어에 관한 연구가 활발히 진행되면서 MR 유체의 밸브모드 특성을 이용한 선형 MR 댐퍼가 널리 사용되고 있다. 그러나 전단모드를 이용한 회전형 MR 댐퍼에 관한 연구는 초기단계에 머물고 있다. 본 연구에서는, 주행로봇의 무한회전형 액츄에이터용 회전형 댐퍼의 진동제어에 관한 연구를 수행하였으며, 퍼지 로직을 기반으로 한 회전형 MR 댐퍼용 진동제어 알고리즘을 제안하였다. 퍼지제어기의 입출력 이득과 멤버쉽 함수의 모양은 유전자 알고리즘을 이용하여 조정하였다. 시뮬레이션 결과는 MR 댐퍼에 충격력이 가해질 때 퍼지 스카이-훅 제어의 제어성능을 보여준다.

• 식물조직배양학회지
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• 제22권3호
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• pp.137-142
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• 1995

생리적인 pH에서 음전하를 띄우고 있는 산성 아미노산인 aspartate와 glutamate는 다른 중성 아미노산과 경쟁방해 실험을 행한 연구결과에 의하면 이들도 중성 아미노산이 갖는 능동운반계와 동일한 운반자를 소유한다. 중성 아미노산을 아미노산 한 분자 당 한개의 수소이온과 동반수송되고 전하에 보상을 위해서 한 분자 당 한개의 칼륨 이온을 배출한다. 그러나 산성 아미노산은 한 분자 당 2개의 수소이온과 동반수송되고, 한 분자 당 칼륨 한 분자를 배출한다. 중성 아미노산과 같은 운반계를 소유하고, 2개의 수소이온과 동반수송되는 능동운반계는 본 실험에서 처음으로 보고된다. 이 결과로부터 두개의 동반수송된 수소이온 중 한 개는 산성 아미노산에 있는 pK$_3$카르복실기를 먼저 중화시킨 후에 중성화된 형태로 수소이온 한 분자와 동반수송된다고 사료된다. 그러므로 유채는 20개의 아미노산에 대해서 다만 2개의 운반계, 즉 일반- 과 알카리성 아미노산 운반계를 가진 것으로 확인되었다. 다른 식물에서 이미 보고된 결과들을 참고하여 아미노산 운반계의 진화적인 의미를 고찰하였다.

• 한국안전학회지
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• 제13권4호
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• pp.102-112
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• 1998

Shock absorber has a great influence on the performance of the vehicle(ride comfort, manipulation, noise, vibration, turning, stability). Therefore, in this study we consider theoretically about general damper, variable damping oil damper, the control of vehicle Characteristics for the suspension, and undesirable phenomenon. And we measured the vibration/noise characteristics of shock absorber for the real car experimentation, strain change, and noise characteristics of shock absorber using experimental equipment. The study of domestic company and research institute on the vehicle shock absorber is active, but that of basis is not. So we think that they should be accomplished actively. Therefore, this paper will develop theoretical system on the vibration/noise characteristics of shock absorber by theoretical consideration and experimental result analysis of dynamic characteristics of shock absorber that were accomplished in this study. Then we will use it as the optimistic design data for shock absorber development.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.174.5-174
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• 2001

In this paper, mathematical modeling and dynamic characteristics analysis of a continuously variable damper used for semi-active suspension systems are investigated. After analyzing the geometry of a typical continuously variable damper, models for various components including piston, orifices, spring, and valves are proposed and the flow equations during expansion and compression strokes are derived. To verify the mathematical models developed, the dynamic characteristics of the models are simulated using MATLAB/SIMULINK and are compared with experimental results. It was confirmed that the developed models represent well the actual damper and can be used for control system design.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 춘계학술대회 논문집
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• pp.862-867
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• 2008

High-speed railway is important transportation in the world because it is very comfortable, environmental benefits, energy savings, etc. The increase of demand for high-speed railway influence to develop of new hish-speed trains. Many countries introduced new high-speed train in the market. It meets to the market's needs. They adopt new technology and systems like that active suspension, synchronous permanent magnetic motor, distributed drive system, aero acoustics, etc. In Korea, the project for R&D of new high-speed train is launched last year. We need analysis of technical trend of new high-speed trains in the world. This paper presents a overview of technical trend of new high speed trains and what is key issues in development of high-speed train. It is very useful to develop a next generation high-speed train in Korea.

• 기계저널
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• 제33권10호
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• pp.902-911
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• 1993

반능동 현가 시스템의 장점은 능동 및 수동 현가 시스템의 장점을 모두 갖고 있다는 것이다. 즉, 반능동 시스템은 수동 현가장치에 비해 우수한 성능을 제공하면서 대형 액츄에이터나 큰 동력 원을 필요로 하지 않는다. 지금까지는 승차감 및 조향성능을 향상시키기 위한 능동 및 반능동 현가시스템에 관한 연구가 많이 이루어졌으나, 능동 또는 반능동 현가시스템을 이용하여 대형 차량의 주행 안정성을 향상시키고, 대형차량에 의해 주로 발생하는 도로의 파손을 줄이면서 차 량의 수송능력을 향상시키는 연구는 최근에 유럽과 미국의 대형트럭 제조업체와 정부 주도로 활발하게 진행되고 있다. 그러므로 반능동 현가시스템에 의한 대형 트럭의 성능 향상 가능성 및 연구 개발도 승용차용 능동 및 반능동 현가시스템과 함께 앞으로의 주 연구 과제이다. 이글에 서는 우선 가변 댐퍼 및 반능동 현가시스템의 기본 원리를 설명하고, 반능동 현가시스템의 Bilinear Model, 제어방법에 대하여 언급한 후, 컴퓨터 모의 실험결과를 통하여 반능동 현가시 스템에 의한 차량의 동적 성능 향상을 두 가지 측면, 즉, 승용차와 대형트럭의 측면에서 언급될 것이다.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2009년도 춘계학술대회 논문집 특별세미나,특별/일반세션
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• pp.173-179
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• 2009

High-speed railway is important transportation in the world because it has a lot of merits like as very comfortable, environmental benefits, energy savings, etc. The increase of demand for high-speed railway influence to develop of new hish-speed trains. Many countries introduced new high-speed train in the market and it meets to the market's needs. They adopt new technology and systems like that active suspension, synchronous permanent magnetic motor, distributed drive system, aero acoustics, etc. In Korea, the project for R&D of new high-speed train is launched in 2007. We need analysis for main properties of new high-speed train(HEMU-400x). This paper presents the comparisons, analyzed characteristics of main properties like as traction system and braking system. In this analysis, we can know our technical position in the world and what is important to focus on the development. It is very useful to develop a next generation high-speed train in Korea.

• Journal of Plant Biotechnology
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• 제3권1호
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• pp.1-5
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• 2001

Traditional culture technology of medicinal plants mainly depends on the field culture, which has many problems. With progress of modern culture technology, it has become possible to produce valuable secondary metabolites from medicinal plants. In this paper, we discuss about the pigment and saikosaponin production from too medicinal plants, Carthamus tinctorius and Bupleurum falcatum, through bioreactor culture system. A two-stage bioreactor culture system was established for the production of yellow and red pigments and saikosaponins by cell suspension cultures of Carthamus tinctorius and Bupleurum falcatum. In Carthamus tinctorius, balloon type airlift bioreactors and column type airlift bioreactors were employed for the tell culture and for the pigment production, respectively. The greatest pigment production was obtained on White medium supplemented with 4 mg/L kinetin, high levels of sucrose concentration and photosynthetic photon flux. In Bupleurum falcatum, adventitious roots were cultured in balloon type airlift bioreactors and the root growth was greatest on SH medium containing 5 mg/L IBA and 0.2 mg/L kinetin. HPLC analysis showed that the contents of main active saikosaponins a, c, and d in adventitious roots were almost the same as those in field cultured root.

• 로봇학회논문지
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• 제16권2호
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• pp.147-154
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• 2021

One of the most challenging issues when robots interact with the environment is to establish contact quickly and avoid high impact force at the same time. The proposed method implements the passive suspension system using the redundancy of the torque-controlled robot. Instead of utilizing the actual mechanical compliance, the distal joints near the end-effector are controlled to act as a virtual spring-damper system with low feedback gains. The proximal joints are precisely controlled to push the mid-link, which is defined as the boundary link between the proximal and distal joints, towards the environment with high feedback gains. Compared to the active compliance methods, the contact force measurements or estimates are not required for contact establishment and the control time delay problems do not occur correspondingly. The proposed method was applied to the landing foot control of the 12-DoF biped robot DYROS-RED in the simulations. In the results, the impact force during landing was significantly reduced at the same collision speed.