• Proceedings of the KIEE Conference
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• 2000.11d
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• pp.765-768
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• 2000

Linearization of the biped dynamic equations and design of linear controller for the linearized equations are studied in this paper. The biped robot with inverted pendulum type trunk, used to stabilize the dynamic balancing of the biped robot during dynamic walking period, is modelled with 14 DOF and simulated. Despite of well defined linear control theories so far, the linear control methods was limited to the applications for a walking robot, because they have been inherently strong nonlinear properties, such as a modeling parameter uncertainties, external forces as noise, inertial and Coriolis terms by three dimensional modeling and so on. To linearize the nonlinear equations of motion of biped robot on MIMO and time varying linear equations of motion, 1st order Taylor series is used to formulate the linear equation. And a 2nd order numerical perturbation method Is used to approximate partial differential equations. Using the linearized equations of motion, a linear controller is designed by pole placement method with feed forward compensation. Using the obtained linearized equations and linear controller, the continuous walking simulation is performed.

• Journal of the Korean GEO-environmental Society
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• v.19 no.7
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• pp.13-18
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• 2018

Recently, road subsidence has been increasing in urban areas, threatening the safety of citizens. In the lower part of the road, various road facilities such as water supply and drainage pipelines and telecommunication facilities are buried, and the deterioration of the facilities causes the road subsidence. In particular, in the case of old sewer pipes which are attracting attention as a main cause of road subsidence, the management of sewer pipe replacement, repair and reinforcement is being performed depending on the burial year. Therefore, in this study, we tried to suggest a reliable road subsidence risk assessment method considering various sewer specifications and surrounding environment information and CCTV exploration result and GPR exploration result.

• Journal of the Society of Naval Architects of Korea
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• v.34 no.2
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• pp.85-89
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• 1997

The development of the algorithm and the computer aided marking data generation system based on it should precede the automation system for plate forming by line heating method. This paper places emphasis on the yard simulation for a real surface model to justify the algorithm and the computer aided marking data generation system which have been already developed. The yard simulation has been carried out according to the generated marking data and the heating condition produced by the developed computer aided system. The practical applicability of the developed computer aided system has been conformed by comparing the results of the computer simulation to the results of the yard simulation. This paper ends with the extension of the developed marking data generation system.

• International Journal of Aeronautical and Space Sciences
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• v.2 no.2
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• pp.65-72
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• 2001

This paper demonstrates an explicit-implicit, finite element analysis for linear as well as nonlinear hygrothermal stress problems. Additional features, such as moisture diffusion equation, crack element and virtual crack extension(VCE) method for evaluating J-integral are implemented in this program. The Linear Elastic Fracture Mechanics(LEFM) Theory is employed to estimate the crack driving force under the transient condition for an existing crack. Pores in materials are assumed to be saturated with moisture in the liquid form at the room temperature, which may vaporize as the temperature increases. The vaporization effects on the crack driving force are also studied. The ideal gas equation is employed to estimate the thermodynamic pressure due to vaporization at each time step after solving basic nodal values. A set of field equations governing the time dependent response of porous media are derived from balance laws based on the mixture theory. Darcy's law is assumed for the fluid flow through the porous media. Perzyna's viscoplastic model incorporating the Von-Mises yield criterion are implemented. The Green-Naghdi stress rate is used for the invariant of stress tensor under superposed rigid body motion. Isotropic elements are used for the spatial discretization and an iterative scheme based on the full Newton-Raphson method is used for solving the nonlinear governing equations.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.12
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• pp.6043-6062
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• 2019

Low-rank matrix decomposition has shown its capability in many applications such as image in-painting, de-noising, background reconstruction and defect detection etc. In this paper, we consider the texture background of rail track images and the sparse foreground of the defects to construct a low-rank matrix decomposition model with block sparsity for defect inspection of rail tracks, which jointly minimizes the nuclear norm and the 2-1 norm. Similar to ADM, an alternative method is proposed in this study to solve the optimization problem. After image decomposition, the defect areas in the resulting low-rank image will form dark stripes that horizontally cross the entire image, indicating the preciselocations of the defects. Finally, a two-stage defect extraction method is proposed to locate the defect areas. The experimental results of the two datasets show that our algorithm achieved better performance compared with other methods.

• Journal of the Society of Naval Architects of Korea
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• v.33 no.3
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• pp.81-93
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• 1996

In this paper reviewed are the past studies on the plate forming and introduced is the computer aided marking data generation system which should precede the automation system for plate forming by line heating method. The developed computer aided marking data generation system has been applied to a real surface which is frequently found in the bow and the stern area of a ship. From its application results, the estimated surface by the present marking data generation system is very close to the given surface and the generated marking data also shows reasonably good agreement with those in the real practice in ship yard at present. shows very good agreement. When the marking data generation system has been complemented through more applications to real surface models, then it can be practically used in the real practice in ship yard.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.23 no.2
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• pp.108-114
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• 2009

This paper proposes the new hybrid adaptive controller for fast response time and precision control of automation system which exist deadzone or non-linearity of system. The proposed system, which provides the improvement in terms of the control region in high speed and precision control, first used the fuzzy control method for fast response time and when the error reaches the preset value, used the PLL method designing PFD improved jitter for precision control. The new designed PFD improves the jitter noise and response characteristic without generating deadzone. The theoretical and experimental studies have been carried out. The presented results from the above investigation show considerably improved performance in the position control of automation system.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.2 no.1
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• pp.141-146
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• 1998

Recently, the computer vision such as part measurement, and product inspection is very popular to achieve the factory automation since the labor cost is dramatically increasing. In this paper, the diameter and the length of rope are measured by CCD camera which is orthogonally mounted on the ceiling. Two parameters which are the diameter and the length of rope are used to measure the weight of rope. If the weight of rope is reached to predetermined weight, the information is transmitted to PLC(programmable logic control) to cut the rope on the wheel. The cutting machine cuts the rope according to the information obtained from the CCD camera. To measure the diameter and length of rope on real time, the searching space for image segmentation is restricted the predetermined area according to the camera calibration position. Finally, to estimate the weight of rope, the knowledge base system which depends on the diameter, the length of rope, and weight relation between these information are constructed according to diameters of rope. This method contributes to achieve the factory automation, and reduce the production cost since the operators are unnecessary to measure the weight of rope by try-and-error method.

• Journal of Power Electronics
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• v.15 no.4
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• pp.910-919
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• 2015

The use of a PV grid-connected inverter with non-isolated topology and without a transformer is good for improving conversion efficiency; however, this inverter has become increasingly complicated for eliminating leakage current. To simplify the complicated architecture of traditional three-level dual buck inverters, a new dual Buck three-level PV grid-connected inverter topology is proposed. In the proposed topology, the voltage on the grounding stray capacitor is clamped by large input capacitors and is equal to half of the bus voltage; thus, leakage current can be eliminated. Unlike in the traditional topology, the current in the proposed topology passes through few elements and does not flow through the body diodes of MOSFET switches, resulting in increased efficiency. Additionally, a multi-loop control method that includes voltage-balancing control is proposed and analyzed. Both simulation and experimental results are demonstrated to verify the proposed structure and control method.

• Journal of Ship and Ocean Technology
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• v.12 no.3
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• pp.1-13
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• 2008

In shipbuilding, diverse manufacturing techniques for automation have been developed and used in practice. Among them, however, the hull forming automation is the one that has not been of major concern compared with others such as welding and cutting. The basis of the development of this process is to find out how to extract thermal forming information. There exist various methods to obtain such information and the 3D design shape that needs to be formed should be extracted first for getting the necessary thermal forming information. Except well-established shipyards which operate 3D design systems, most of the shipyards only rely on 2.5D design systems and do not have an easy way to obtain 3D surface design data. So in this study, various shipbuilding design systems used by shipyards are investigated and a 3D design surface data extraction method is proposed from those design systems. Then an example is presented to show the extraction of real 3D surface data using the proposed method and computation of thermal forming information using the data.