• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.419-424
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• 2017

Twisted string actuators (TSAs) are tendon-driven actuators that provide high transmission ratios. Twisting a string reduces the length of the string and generates a linear motion of the actuators. In particular, TSAs have characteristic properties (compliance) that are advantageous for operations that need to interact with the external environment. This compliance has the advantage of being robust to disturbance in force control, but it is disadvantageous for precise control because the modeling is inaccurate. In fact, many previous studies have covered the TSA model, but the model is still inadequate to be applied to actual robot control. In this paper, we introduce a modified variable radius model of TASs and experimentally demonstrate that the modified variable radius model is correct compared to the conventional variable radius string model. In addition, the elastic characteristics of the TSAs are discussed along with the experimental results.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.5
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• pp.445-453
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• 2001

The multiple targets tracking problem has been one of the main issues in the radar applications area in the last decade. Besides the standard Kalman filtering, various methods including the variable dimen-sion filter, input estimation filter, interacting multiple model(IMM) filter, dederated variable dimension filter with input estimation, etc., have proposed to address the tracking and sensor fusion issues. In this pa- per, two existing tracking algorithm, i.e, the IMM filter and the variable dimension filter with input estima-tion(VDIE), are combined for the purpose of improving the tracking performance for maneuvering targets. To evaluate the tracking performance of the proposed algorithm, three typical maneuvering patterns, i.e., waver, pop-up, and high-diver motions, are defined and are applied to the modified IMM filter as well as the standard IMM filter. The smaller RMS tracking errors, in position and velocity, of the modified IMM filter than the standard IMM filter are demonstrated though computer simulations.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.8
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• pp.801-806
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• 2015

The experimental analysis of a crevice-type vapor chamber heat pipe (CVCHP) is investigated. The heat source of the CVCHP is a high-power light-emitting diode (LED). The CVCHP, which exhibits a bubble pumping effect, is used for heat dissipation in a high-heat-flux system. The working fluid is R-141b, and its charging ratio was set at 60 vol.% of the vapor chamber in a heat pipe. The total thermal conductivity of the falling-liquid-film-type model, which was a modified model, was 24% larger than that of the conventional model in the LED package. Flow visualization results indicated that bubbles grew larger as they combined. These combined bubbles pushed the working fluid to the top, partially wetting the heat-transfer area. The thermal resistance between the vapor chamber and tube in the modified design decreased by approximately 32%. The overall results demonstrated the better heat dissipation upon cooling of the high-power LED package.

• Proceedings of the KIEE Conference
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• 1997.11a
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• pp.142-145
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• 1997

This paper presents an modified orthogonal neural network(MONN) based on orthogonal functions and applies the network to nonlinear system control. The accuracy of orthogonal neural network is essentially dependent on the choice of basic orthogonal functions. Modified orthogonal neural network is modified model of orthogonal neural network with input transformation to adapt its basic orthogonal functions. The results show that the modified orthogonal neural network has the excellent performance of approximating and controlling nonlinear systems and the input transformation make the ability of modified orthogoneural neural network better than one of orthogonal neural network.

• Environmental Engineering Research
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• v.16 no.2
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• pp.55-60
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• 2011

The removal of hexavalent chromium from aqueous solutions onto modified holly sawdust was studied at varying initial hexavalent chromium concentrations, adsorbent doses, pHs and contact times. The removal of hexavalent chromium from aqueous solutions increased with increasing adsorbent dosage and contact time. The percentage of hexavalent chromium removed from the aqueous solutions decreased with increasing hexavalent chromium concentration and pH of the solution. The kinetics of the adsorption of hexavalent chromium onto modified holly sawdust was analyzed using pseudo first-order and pseudo second-order models. The pseudo second-order model described the kinetics of adsorption of hexavalent chromium. The Langmuir and Freundlich isotherm models were used for modeling of the adsorption equilibrium data. The Langmuir isotherm model well described the equilibrium data for the removal of hexavalent chromium by modified holly sawdust. The obtained maximum adsorption capacity was 18.86 mg/g at pH 7. The results showed that modified holly sawdust can be used as a low cost adsorbent for the treatment of aqueous solutions containing chromium.

• Journal of the Korean Solar Energy Society
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• v.34 no.6
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• pp.39-47
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• 2014

Daylighting has a great effect on people inside the room. It is also closely related to the lighting energy consumption. Daylight factor(DF) is a very important index for evaluation of the daylighting in overcast sky. The objective of this study is to verify the suitability of the Tregenza's Modified Split Flux formula for the calculation of the daylight factor. We compared the daylight factors calculated by two methods; one by a measurement with 1/5 scale model and the other by the Daysim program. We used variables for verification as window wall ratios(WWR) and angles of the sky visible. As a result, daylight factor calculated by Modified Split Flux is similar to the measurement when more daylight enters the inside. And error is significantly increased when the angle of the sky visible is $50^{\circ}$.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.27 no.4
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• pp.231-238
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• 2014

In the buildings, the systems of structures are influenced by the gravity load changes due to room alteration or construction stage. This paper proposes a system identification method establishing mass as well as stiffness to parameters in model updating process considering mass change in the buildings. In this proposed method, modified genetic algorithm, which is optimization technique, is applied to search those parameters while minimizing the difference of dynamic characteristics between measurement and FE model. To search more global solution, the proposed modified genetic algorithm searches in the wider search space. It is verified that the proposed method identifies the system of structure appropriately through the analytical study on a steel beam structure in the building. The comparison for performance of modified genetic algorithm and existing simple genetic algorithm is carried out. Furthermore, the existing model updating method neglecting mass change is performed to compare with the proposed method.

• Transactions of Materials Processing
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• v.24 no.1
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• pp.52-61
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• 2015

Evaluation of the elevated temperature flow stress for thermoplastic fiber metal laminates(TFMLs) sheet, comprised of two aluminum sheets in the exterior layers and a self-reinforced polypropylene(SRPP) in the interior layer, was conducted. The flow stress as a function of temperature should be evaluated prior to the actual forming of these materials. The flow stress can be obtained experimentally by uniaxial tensile tests or analytically by deriving a flow stress model. However, the flow stress curve of TFMLs cannot be predicted properly by existing flow stress models because the deformation with temperature of these types of materials is different from that of a generic pure metallic material. Therefore, the flow stress model, which includes the effect of the temperature, should be carefully identified. In the current study, the flow stress of TFMLs were first predicted by using existing flow stress models such as Hollomon, Ludwik, and Johnson-Cook models. It is noted that these existing models could not effectively predict the flow stress. Flow stress models such as the modified Hollomon and modified Ludwik model were proposed with respect to temperatures of $23^{\circ}C$, $60^{\circ}C$, $90^{\circ}C$, $120^{\circ}C$. Then the stress-strain curves, which were predicted using the proposed flow stress models, were compared to the stress-strain curves obtained from experiments. It is confirmed that the proposed flow stress models can predict properly the temperature dependent flow stress of TFMLs.

• International Journal of Precision Engineering and Manufacturing
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• v.7 no.1
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• pp.47-50
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• 2006

An active contour model has been used to detect the edges in a still image. In order to apply the active contour model to edge detection, the energy function which consists of internal, external and image energies should be defined. After defining the energy function, the edge of an object is detected through minimization of the value of the energy function. In this paper, the modified internal energy function is proposed to improve the convergence of the energy function when the active contour model is applied to the tracking of deformable objects using the greedy algorithm. In order to show the performance of the proposed energy function, experiments were carried out for the still and animated images.

• Journal of Electrical Engineering and Technology
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• v.7 no.4
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• pp.570-575
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• 2012

In a wireless communication RF transmitter, the output of a quadrature modulator (QM) is distorted by not only the linear imperfection features such as in/quadrature-phase (I/Q) input gain imbalance, local phase imbalance, and local gain imbalance but also the nonlinear imperfection features such as direct current (DC) offset and mixer nonlinearity related to in-band spurious signal. In this paper, we propose the unified QM model to analyze the combined effects of the linear and nonlinear imperfection features on the performance of the QM. The unified QM model consists of two identical nonlinear systems and modified I/Q inputs based on the two-port nonlinear mixer model. The unified QM model shows that the output signals can be expressed by mixer circuit parameters such as intercept point and gain as well as the imperfection features. The proposed approach is validated by not only simulation but also measurement.