• Journal of Electrical Engineering and Technology
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• 제11권2호
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• pp.300-308
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• 2016

Application of demand-side resources to automatic generation control (AGC) has a great significance for improving the dynamic control performance of power system frequency regulation. This paper investigates the possibility of providing regulation services by demand-side energy storage in electric vehicle battery swapping stations (BSS). An interaction framework, namely station-to-grid (S2G), is presented to integrate BSS energy storage into power grid for giving benefits to frequency regulation. The BSS can be regarded as a lumped battery energy storage station through S2G framework. A supplementary AGC method using demand-side BSS energy storage is developed considering the vehicle user demand of battery swapping. The effects to the AGC performance are evaluated through simulations by using a two-area interconnected power grid model with step and random load disturbance. The results show that the demand-side BSS can significantly suppress the frequency deviation and tie-line power fluctuations.

• Journal of Electrical Engineering and Technology
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• 제13권6호
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• pp.2493-2503
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• 2018

Passive dynamic walking exhibits humanoid and energy efficient gaits. However, optimal design of passive walker at multi-variable level is not well studied yet. This paper presents a Chaotic Particle Swarm Optimization (CPSO) algorithm and applies it to the optimal design of flexible passive walker. Hip torsional stiffness and damping were incorporated into flexible biped walker, to imitate passive elastic mechanisms utilized in human locomotion. Hybrid dynamics were developed to model passive walking, and period-one gait was gained. The parameters global searching scopes were gained after investigating the influences of structural parameters on passive gait. CPSO were utilized to optimize the flexible passive walker. To improve the performance of PSO, multi-scroll Jerk chaotic system was used to generate pseudorandom sequences, and chaotic disturbance would be triggered if the swarm is trapped into local optimum. The effectiveness of CPSO is verified by comparisons with standard PSO and two typical chaotic PSO methods. Numerical simulations show that better fitness value of optimal design could be gained by CPSO presented. The proposed CPSO would be useful to design biped robot prototype.

• 대한기계학회논문집
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• 제19권1호
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• pp.251-262
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• 1995

The goal of this study is to provide fundamental information on the design of a new diesel injector system. The cylindrical disk spray was made by an impinging disk insited below the exit of air-assist atomizor. The disintegration processes on a twin-fluid atomization by air-assist atomizor were investigated. Liquid jet was disintegrated at the condition that wavelength was equal and longer than the circumference of the liquid jet, .lambda. .geq. .pi.do. However, the wavelength and the diameter of the liquid jet were decreased according to the increasing of air velocity. The relative density distribution of droplets and pattern of spray by impinging disk were investigated with a C-CCD. Optimum design conditions for cylindrical disk spray were also achieved. The pattern of cylindrical spray can classified according to the size of the disk and the distance from the nozzle tip to the disk. When the space of the disk and the nozzle tip was narrow and the diameter of the disk was larger than that of the air orifice of the nozzle exit, the good distribution of spray could be achieved. When the air flowrate was constant, the spray width was decreased according to the increasing of the liquid flowrate. When the liquid flowrate was constant, the spray width was decreased according to the increasing of the air flowrate.

• 한국정밀공학회지
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• 제22권1호
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• pp.61-72
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• 2005

In this paper, we develop anti-sway control in proposed techniques for an ATC system. The developed algorithm is to build the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the finial coordinate. Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning parameters of controller using NN with 2 DOF PID controller. The experimental results for an ATC simulator show that the proposed control scheme guarantees performances, trolley position, sway angle, and settling time in NNP PID controller than other controller. As a result, the application of NNP PID controller is analyzed to have robustness about disturbance which is wind of fixed pattern in the yard. Accordingly, the proposed algorithm in this study can be readily used for industrial applications

• Annals of Clinical Neurophysiology
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• 제3권1호
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• pp.37-39
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• 2001

Although the etiology and pathogenesis of amyotrophic lateral sclerosis(ALS) is unknown, increasing evidence supports a role for autoimmune mechanisms in motor neuron degeneration. The coexistence of immune disease in ALS supports that an altered immune system may contribute to disease pathogenesis. A 55-year-old woman was admitted to our department due to dysarthria and gait disturbance. On physical and neurologic examination, she showed thyroid enlargement, tongue atrophy, muscle weakness, fasciculation, and increased deep tendon reflex. The electrophysiological studies are compatible with motor neuron disease. Cytological findings of thyroid were compatible with Hashimoto's thyroiditis. Thus, we report a case of ALS combined with Hashimoto's thyroiditis. And the simultaneous presentation with ALS and Hashimoto's thyroiditis led us to consider whether this was simply a chance association or not.

• 로봇학회논문지
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• 제7권1호
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• pp.20-28
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• 2012

In spite of the difficulties and uncertain characteristic of cable driven method, surgical robot instrument has adopted it as driving mechanism for various reasons. To overcome the problem of cable system, previous research applied SMCSPO (sliding mode control with sliding perturbation observer) algorithm as robust controller to control the instrument and found that the value of SPO (sliding perturbation observer) followed force disturbance, reaction force loaded on the tip very similarly. Thus, this paper confirms that the perturbation observer is sufficient estimator which finds out the mount of loaded force on the surgical robot instrument. To prove the proposition, simulation using the similar model with an actual instrument and experimental evaluation are performed. The results show that it is possible to substitute SPO for sensors to measure the reaction force. This estimated reaction force will be used to realize haptic function by sending the reaction force to a master device for a surgeon. The results will contribute to create surgical benefit such as shortening the practice time of a surgeon and giving haptic information to surgeon by using it as haptic signal to protect an organ by making force boundary.

• International Journal of Automotive Technology
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• 제8권6호
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• pp.753-760
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• 2007

In this paper, a roll and pitch estimation algorithm using a set of accelerometers and wireless sensor networks(S/N) is presented for use in a passenger vehicle. While an inertial measurement unit(IMU) is generally used for roll/pitch estimation, performance may be degraded in the presence of longitudinal acceleration and yaw motion. To compensate for this performance degradation, a new roll and pitch estimation algorithm is proposed that uses an accelerometer array, global positioning system(GPS) and in-vehicle networks to get information from yaw rate and roll rate sensors. Angular acceleration and roll and pitch approximation are first calculated based on vehicle kinematics. A discrete Kalman filter is then applied to estimate both roll and pitch more precisely by reducing noise from the running engine and from road disturbance. Finally, the feasibility of the proposed algorithm is shown by comparing its performance experimentally with that of an IMU in the framework of an indoor test platform as well as a test vehicle.

• 조명전기설비학회논문지
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• 제26권12호
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• pp.28-36
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• 2012

Augmentation of existing EHV substations located in hilly terrain and at high altitude require many different considerations as compared to substations located in plain areas and at lower altitude. Owing to high altitude and steep terrain, meticulous engineering and preparations are required, considering the actual available space at the existing substation. Historical fault events too must be considered to enhance reliability and performance of the substation equipment. This paper proposes ways to augment the existing 2 banks of 20MVA, 220/66kV power transformers ($3{\times}6.67MVA$, single-phase) to $2{\times}50$/63MVA, 220/66kV power transformers to meet continuously increasing demand of the capital city over the next 20 years. Upgrading and augmentation of existing substations, especially the main transformers and associated equipment, require replacement with minimum or no disturbance to the existing power supply system. Considerations should also be made during engineering and design, the operational flexibilities, maintenance aspects, future expandability and value addition, in terms of reliability and space usage of the existing substation.

• 한국항공우주학회지
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• 제32권4호
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• pp.34-42
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• 2004

본 논문에서 위성의 롤/요 자세제어를 위해 더블 김벌을 이용하며 2 종류의 피드백 제어기를 설계하였다. 하나는 롤과 요 제어압력에 위상 차이가 없는 PD 제어기이고 다른 하나는 요 제어입력에 위상지연이 있는 PD 제어기이다. 위상지연 보상기는 요각 제어를 위한 1차 시스템으로 설계하였다. 일정한 외란과 초기 뉴테이션 오차가 있는 경우에 대해 시뮬레이션하여 요각의 정상상태 오차와 rising time 의 결과로부터 위상지연 보상기가 효과적임을 검증하였다. 본 시뮬레이션에 사용된 변수 값은 무궁화위성 1호를 대상으로 하였다.

• 대한물리치료과학회지
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• 제4권2호
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• pp.391-397
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• 1997

The purposes of this study were to determine wether knee muscular fatigue affects on one-leg static standing balance. Sixty four healthy subjects were used for this study : 44 men and 20 women, with an average age of 19.52. One leg static standing balance was measured at pre-fatigue and post-fatigue by an instrumented balance assessment system(kinesthetic ability training balance platform) which is commercially available for testing or training balance. Isokinetic exercises were used to evoke muscle fatigue at 180 degree/see by Cybex 1200. One leg static standing balance ability was significantly decreased after knee muscular fatigue. Although these phenomenons were not clearly understood, these results have important implications for rehabilitation in fatigable patients. These results suggest that the excessive fatiguing during rehabilitation in patients with fatigable disease may increase risk of reinjury and falling injury due to balance disturbance. Further studies are required to determine the physiological mechanisms of muscle fatigue that can play in decreasing one-leg static standing balance ability.