• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.12
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• pp.1014-1021
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• 1989

The problem of controlling static gaits for a quadruped walking robot is investigated. A theoretical approach to gait study is proposed in which the static stability margins for periodic gaits are expressed in terms of the kinematic gait formula. The effects fo the stride length on static stability are analyzed and the relations between static stability and initial body configurations are examined. It is shown that the moving velocity can be increased to some extent without affecting stability margins for a given initial body configuration. Computer simulations are performed to verify the analysis.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.149.4-149
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• 2001

In this paper, the multiple micro robot soccer playing system is introduced at first. Learning and evolving in artificial agents is a difficult problem, but on the other hand a challenging task. In our laboratory, this soccer studies mainly centered on single agent learning problem. The construction of such experimental system has involved lots of kinds of challenges such as robot designing, vision processing, motion controlling. At last we will give some results showing that the proposed approach is feasible to guide the design of common agents system.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.113-118
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• 1988

The problem of controlling static gaits of a Quadruped Walking Robot is investigated. A theoretical approach to the gait study is proposed in which the static stability margins for periodic gaits are expressed in terms of the kinematic gait formula. The effects of the stride length to the static stability are analyzed, and the relations between the static stability and the initial body configurations are examined. Extensive computer simulations are performed to verify the analysis results.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.218-223
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• 1997

The technique used is the active structural acoutrol (ASAC)approach which involves controlling the acoustic response of a panel-cavity covpled system by applying oscillating force inputs in the form of prezoelectric actuators directly to the flexible panel. The linear quadratic Gaussian control scheme is used for attenuating nosie inside the rectangular enclosure causing by flexible wall vibration. Results indicated the application of control inputs to the radiating wall resukted in considerable noise reductions inside the cavity. Auso,the possibility of application to the more complicated fluid-structure coupled system is verified.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.334-339
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• 1992

This study is concerned how to construct a model of life as physical/ mathematical representation. This model is called here a bionic model and vibrating potential field is introduced as fundamental world background of the model. Namely, required information creating/ processing/ controlling are done on this field. Especially this paper reports how to realize the simulation of a bionic self organization and its functional expression based on the mutual actions among a set of life units.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.275-278
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• 1995

In this paper, we consider a dynamic shape control problem with an example of controlling a flexible beam shape. Mathematical formulations are obtained by employing the Green's function approach. Necessary conditions for optimality are derived by considering the quadratic performance criteria. Numerical results for both of the dynamic and the static cases are obtained and compared.

• Proceedings of the Korea Water Resources Association Conference
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• 2018.05a
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• pp.355-355
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• 2018

Natural hydrology systems, including high flow and low flow events, are important for aquatic ecosystem health and are essential for controlling the structure and function of ecological processes in river ecosystems. Ecosystem responses to flow changes have been studied in a variety of ways, but little attention has been given to how episodic typhoons and atmospheric circulation patterns can change these hydrologic regime-ecological response relationships. In this diagnostic study, we use an empirical approach to investigate the salient features of interactions between atmospheric circulation, climate, and runoff in the five major Korean river basins.

• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.702-712
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• 2008

This paper presents a novel approach for controlling electrically driven robot manipulators based on voltage control. The voltage-based control is preferred comparing to torque-based control. This approach is robust in the presence of manipulator uncertainties since it is free of the manipulator model. The control law is very simple, fast response, efficient, robust, and can be used for high-speed tracking purposes. The feedback linearization is applied on the electrical equations of the dc motors to cancel the current terms which transfer all manipulator dynamics to the electrical circuit of motor. The control system is simulated for position control of the PUMA 560 robot driven by permanent magnet dc motors.

• The Journal of the Korean dental association
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• v.54 no.11
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• pp.923-931
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• 2016

Managing uncooperative behaviors related to dental treatment is necessary for guiding children and adolescence to more favorable behaviors. The first approach should be controlling their behaviors using non-phamarcologic behavior management techniques. However, if this approach fails, it is helpful to control negative behaviors pharmacologically. Accordingly, sedation is frequently used to relieve anxiety related to dental treatment. Also, general anesthesia has been applied to the situations in which sedation is either ineffective or impossible to gain cooperation during treatment. This article discusses the pharmacology of widely used sedatives for children and adolescence and clinical considerations of managing uncooperative children and adolescence with the use of sedation. Furthermore, we recommend clinical indication of selecting general anesthesia rather sedation for the purpose of behavior management.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.4 no.1
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• pp.7-20
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• 1998

Activity of the trunk muscles is essential for maintaining stability of the lumbar spine because of the unstable structure of that portion of the spine. The central nervous system deals with stabilization of the spine by contraction of the abdominal and multifidus muscles in anticipations of reactive forces produced by limb movement. Recent evidence indicates that the lumbar multifidus muscle and transversus abdominis muscle may be involved in controlling spinal stability. Stabilization training in neutral spine is an integrated approach of education in proper posture and body mechanics along with exercise to improve strength, flexibility, muscular and cardiovascular endurance, and coordination of movement.