• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.2
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• pp.82-90
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• 2008

In this paper, we introduce a biped walking robot which can do static walking with 22 degree-of-freedoms. The developed biped walking robot is 480mm tall and 2500g, and is constructed by 22 RC servo motors. Before making an active algorithm, we generate the motions of robot with a motion simulator developed using C language. The two dimensional simulator is based on the inverse kinematics and D-H transform. The simulator implements various motions as we input the ankle's trajectory. Also the simulator is developed by applying the principle of inverted pendulum to acquisite the center of gravity. As we use this simulator, we can get the best appropriate angle of ankle or pelvic when the robot lifts up its one side leg during the walking. We implement the walking motions which is based on the data(angle) getting from both of simulators. The robot can be controlled by text shaped command through RF signal of wireless modem which is connected with laptop computer by serial cable.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.1 s.173
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• pp.232-239
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• 2000

The paper describes the parametric instability of free-free beams subjected to a controlled pulsating follower force. The beam has a tip rigid body not a mass point, and the direction of pulsating follower force is controlled by the direction control sensor. Equations of motion are derived by Hamilton's principle and the instability regions are obtained by finite element formulation. The effects of magnitude, rotary inertia, the distance between free end of the beam and the center of gravity of the rigid body on the instability types and regions are investigated by the change of the constant and periodic part of the follower force.

• 한국정보디스플레이학회:학술대회논문집
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• 2004.08a
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• pp.1185-1187
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• 2004

We have studied a liquid crystal (LC) mode, named locked super homeotropic (LSH), where the LCs aligned homeotropically are locked by surrounding walls such as cubic, hexagonal and cylinder. In the device, the vertically aligned LCs tilt down symmetrically around the center of the cell when a voltage is applied and thus it exhibits wide viewing angle. In addition, since the LCs is locked in micro domains the LCs do not flow to the bottom of the panel by gravity.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.16 no.3
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• pp.1-6
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• 2008

The stalling speed flight test of light airplane, ChangGong-91, was performed to acquire the certification. With power-off engine condition, the wings level stall flight tests were conducted at the aircraft configuration of various flap angle - clean, 20degree, and full flap, respectively. They were performed considering with the combination of the maximum and minimum test weight, and forward and afterward center of gravity. The stalling speeds and the minimum speeds of light airplane were determined from the results of flight test. Also, the appropriateness of stall warning speeds are evaluated through the flight test measures. The airplane is recoverable only with pitch control and engine throttle from stall state without exceptional operation.

• Phonetics and Speech Sciences
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• v.10 no.3
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• pp.41-48
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• 2018

This study examined the acoustic characteristics of Korean alveolar fricatives of normal children. Developing children aged 3 and 7, typically produced 2 types of nonsense syllables containing alveolar fricative /sV/ and /VsV/ sequences where V was any one of three corner vowels (/i, a, and u/). Stimuli containing the speech materials used in a production experiment were presented randomly to 12 speech language pathologists (SLPs) for a perception test. The SLPs responded by selecting one of seven alternative sounds. Acoustic measures such as duration of frication noise, normalized intensity, skewness, and center of gravity were examined. There was significant difference in acoustic measures when comparing vowels. Comparison of syllable structures indicated statistically significant differences in duration of frication noise and normalized intensity. Acoustic parameters could account for the perceptual data. Relating the acoustic and perception data by means of logistic regression suggests that duration of frication noise and normalized intensity are the primary cues to perceiving Korean fricatives.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.720-724
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• 2004

This paper introduces a new type of driving mechanism for rescue robot that has a variable geometry single-track which satisfies the pre-conditions of rescue robot. This mechanism is a symmetric configuration that has dual directions and prepares against overturn. By using transformation, it can reduce the energy consumption in steering and rotating. And also it maximizes the ability to overcome obstacles, like steps. It is designed to make the size of robot compact and to have the low center of gravity in driving on steps. Finally, we optimized the design variables of components determining the shape of reverse-trapezoid frame to enhance the adaptability to 4 phases of climbing steps.

• Transactions of the Korean Society of Automotive Engineers
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• v.10 no.1
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• pp.168-178
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• 2002

The purpose of this study is to develop an optimal performance design ova concrete median barrier using the design of experiment and crash simulation which is done by Pam-Crash, one of the commercial crash simulation software. A formula of characteristic value was suggested to obtain an optimal performance design considering all of von Mises stress, volume and acceleration at center of gravity of a heavy truck. An optimal design of a concrete median barrier was obtained by the analysis of variance based on design of experiment and crash simulation. A crash simulation with the optimal design was accomplished in order to verify the suitability of the suggested formula and the proper application of the design of experiment. The obtained optimal design was satisfied for a domestic design regulation of a concrete median barrier.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.14 no.1
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• pp.24-31
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• 2004

Recently, as the marine compressor power is increased, vibration problems on the marine vessel with V/W type reciprocating compressor have been occurred. A research on the balancing of marine V/W type reciprocating compressor has hardly been reported though a number of researches on the balancing of rotating machinery have been conducted. As a V/W type compressor has high capacity with long stroke, compact size and high center of gravity, It is easy to have a vibration problem by a little bit unbalanced force and moment. In this study, calculation methods for balance weight of the V/W type reciprocating compressors, which have different piston weight and asymmetry structure, are formulated. And their reliability were verified by comparing calculated balance weight with the experimental results of the real marine V/W type reciprocating compressors.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1884-1885
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• 2011

In the wireless sensor network (WSN) environment, the approximate point-in-triangulation (APIT) is a kind of range-free localization algorithm. This algorithm provides high precision, however, the coverage rate is somewhat poor. In this paper, we propose an improved APIT algorithm for the localization of swarm robots, which is based on the received signal strength indicator (RSSI) and the center of gravity (COG) methods.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1148-1153
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• 2004

This paper presents the mechanism to increase lateral stability of a mobile robot using an energy stability margin theory. Previous measure of stability used in a wheeled mobile robot has been based on a static stability margin. However, the static stability margin is independent of the height of the robot and does not provide sufficient measure for the amount of stability when the terrain is not a horizontal plane. In this work, the energy stability margin theory, which is dependent on robot's height is used to develop a 2 dof mechanism to increase lateral stability. This proposed mechanism shifts the center of gravity of the robot to the point where the energy stability margin is maximized and overall stability of the robot equipped with this mechanism will be increased.