• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.258-266
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• 2012

This paper describes a biped walking algorithm for a hydraulic humanoid robot on inclined floors. To realize stable and robust biped walking, the walking algorithm was divided into five control strategies. The first is a joint position control strategy. This strategy is for tracking desired joint position trajectories with a gain switching. The second is a multi-model based ZMP (Zero Moment Point) control strategy for dynamic balance. The third is a walking pattern flow control strategy for smooth transition from step to step. The fourth is an ankle compliance control, which increases the dynamic stability at the moment of floor contact. The last is an upright pose control strategy for robust walking on an inclined floor. All strategies are based on simple pendulum models and include practical sensory feedback in order to implement the strategies on a physical robot. Finally, the performance of the control strategies are evaluated and verified through dynamic simulations of a hydraulic humanoid on level and inclined floors.

• Journal of Electrical Engineering and Technology
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• v.9 no.4
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• pp.1145-1153
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• 2014

It is well known that line switching operations like reclosing are able to cause transient power oscillations which can stress or damage turbine generators. This paper presents a reclosing scheme to reduce the shaft torsional torques of turbine generators by inserting an additional reactor. A novel method to determine optimal reactor capacity to minimize the torsional torque generated in a turbine generator is also proposed. In this paper, the turbine generator shaft is represented by a multi-mass model to measure torsional torques generated in the shaft between the turbine and the generator. Transmission systems based on actual data from Korea are modeled to verify the proposed scheme using ElectroMagnetic Transient Program (EMTP) software. The simulation results clearly show the effectiveness of the proposed scheme and torsional torque can be minimized by applying the proposed scheme.

• Journal of Power Electronics
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• v.12 no.6
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• pp.912-924
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• 2012

In hybrid renewable power systems, the use of a multiple-input dc/dc converter (MIC) leads to simpler circuit and lower cost, when compared to the conventional use of several single-input converters. This paper proposed a novel three-input buck/boost/buck-boost converter, which can be used in applications with various values of input voltage. The energy sources in this converter can deliver power to the load either simultaneously or individually in one switching period. The steady relationship, the power management strategy and the small-signal circuit model of this converter have been derived. With decoupling technology, modeling and regulator design can be obtained under multi-loop control modes. Finally, three generating methods of a multiple-input buck/boost/buck-boost converter is given, and this method can be extended to the other multiple-input dc/dc converters.

• Proceedings of the KIEE Conference
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• 1993.07b
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• pp.990-992
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• 1993

Studies have been made to establish what coil design parameters have an important influence on the amplitude of interturn voltages developed in a machine winding subject to steep-fronted surges. The studies are based on a lattice-diagram model of multi conductor transmission line in a machine winding energised by a simple ramp function. Variations in interturn voltages produced by changes in insulation thickness, insulation permittivity, surge wave-front are examined and certain guidelines for avoiding high interturn voltages are evaluated.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.772-776
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• 2004

This paper proposes an interference avoidance approach for Constraint-Based Routing (CBR) algorithm in the Multi-Protocol Label Switching (MPLS) network. The MPLS network itself has a capability of integrating among any layer-3 protocols and any layer-2 protocols of the OSI model. It is based on the label switching technology, which is fast and flexible switching technique using pre-defined Label Switching Paths (LSPs). The MPLS network is a solution for the Traffic Engineering(TE), Quality of Service (QoS), Virtual Private Network (VPN), and Constraint-Based Routing (CBR) issues. According to the MPLS CBR, routing performance requirements are capability for on-line routing, high network throughput, high network utilization, high network scalability, fast rerouting performance, low percentage of call-setup request blocking, and low calculation complexity. There are many previously proposed algorithms such as minimum hop (MH) algorithm, widest shortest path (WSP) algorithm, and minimum interference routing algorithm (MIRA). The MIRA algorithm is currently seemed to be the best solution for the MPLS routing problem in case of selecting a path with minimum interference level. It achieves lower call-setup request blocking, lower interference level, higher network utilization and higher network throughput. However, it suffers from routing calculation complexity which makes it difficult to real task implementation. In this paper, there are three objectives for routing algorithm design, which are minimizing interference levels with other source-destination node pairs, minimizing resource usage by selecting a minimum hop path first, and reducing calculation complexity. The proposed CBR algorithm is based on power factor calculation of total amount of possible path per link and the residual bandwidth in the network. A path with high power factor should be considered as minimum interference path and should be selected for path setup. With the proposed algorithm, all of the three objectives are attained and the approach of selection of a high power factor path could minimize interference level among all source-destination node pairs. The approach of selection of a shortest path from many equal power factor paths approach could minimize the usage of network resource. Then the network has higher resource reservation for future call-setup request. Moreover, the calculation of possible path per link (or interference level indicator) is run only whenever the network topology has been changed. Hence, this approach could reduce routing calculation complexity. The simulation results show that the proposed algorithm has good performance over high network utilization, low call-setup blocking percentage and low routing computation complexity.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.6
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• pp.885-890
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• 2015

LLC resonant converter has been widely used because of its high efficiency and high energy density. In this paper, we designed a LLC resonant converter as the main power supply of the Nd:YAG pulse laser. First harmonic approximation (FHA) is used to model the LLC resonant converter. FHA equivalent circuit model and the transfer function of the LLC resonant converter is proposed. Soft start technology is also used to suppress the surge current. The laser output simulation test result is identical with the practical test, the laser energy of every pulse can reach up to 2.5J, and the pulse per second (PPS) can be adjusted from 6 to 18. The power system is verified stable and reliable by both of the simulation and experiment results.

• Proceedings of the KIPE Conference
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• 2003.11a
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• pp.214-217
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• 2003

The connectorless power supply system on that multi-contact causes confidence when the wiring reconstructed in the rear. As you see above, contact points between sets and indoor space cause inferior function of audio frequency so it needs to be eliminated. This paper explains the structure of connectorless power supply to supply the system with power crossing the air gap in the part of inductively in the connectorless power supply of both magnetic and electrical model. To get maximum output of electrical load, compensating capacitor compensates to show inter-inductance, lequeage-inductance reducing the track-inductance and access the conditions for resonance. At that time it accesses the maximum electric power. The small change of the value of compensating capacitor causes the changes of maximum electric power. Here the power electronics technology is used not only in the industrial machinery but also in the home appliances so the switching power supply is used to actualize the miniaturization, lightweight, and high efficiency. Generally the condenser input methods are widely used in the rectification circuit of switching power supply, but condenser input method generate great quantity of high frequency components because with this method the current flows in the power input filtering condenser only around value of peak of ac input voltage. To solve these problems, installation of power factor improve circuit on the front of filtering capacitence was considered. Several methods were suggested regarding, but the active filter method which makes smalliging and highly power factor possible are the produce main stream. IC for power factor improvement can be utilized by CMOS process proposing low power consumption. When the high power factor is considered seriously in the power factor improvement circuit, active filter method is selected. In the active filter method, the boost converter is used. Regarding this ·the boost converter is needed.

• Journal of Korea Society of Industrial Information Systems
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• v.24 no.2
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• pp.1-14
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• 2019

Since most documents used in web, XML, office applications are tree-structured, diff, merge, and version control for tree-structured documents in multi-user environments are crucial tasks. However research on edit scripts which is a basis for them is in primitive stage. In this paper, we present a document model for understanding the change of tree-structured documents as edit scripts are executed, and propose a method of switching adjacent edit operations on tree-structured documents based on the analysis of the effects of edit operations. Mostly, edit scripts which are produced as the results of diff on tree-structured documents only consist of basic operations such as update, insert, delete. However, when move and copy are included in edit scripts, because of the characteristics of their complex operation, it is often that edit scripts are generated to execute in two passes. In this paper, using the proposed method of switching edit operations, we present an algorithm of transforming the edit scripts of X-treeESgen, which are designed to execute in two passes, into the ones that can be executed in one pass.

• Journal of Power Electronics
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• v.13 no.4
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• pp.679-691
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• 2013

High-power electromagnetic transmitter power supplies are an important part of deep geophysical exploration equipment. This is especially true in complex environments, where the ability to produce a highly accurate and stable output and safety through redundancy have become the key issues in the design of high-power electromagnetic transmitter power supplies. To solve these issues, a high-frequency switching power cascade based emission power supply is designed. By combining the circuit averaged model and the equivalent controlled source method, a modular mathematical model is established with the on-state loss and transformer induction loss being taken into account. A triple-loop control including an inner current loop, an outer voltage loop and a load current forward feedback, and a digitalized voltage/current sharing control method are proposed for the realization of the rapid, stable and highly accurate output of the system. By using a new algorithm referred to as GAPSO, which integrates a genetic algorithm and a particle swarm algorithm, the parameters of the controller are tuned. A multi-module cascade helps to achieve system redundancy. A simulation analysis of the open-loop system proves the accuracy of the established system and provides a better reflection of the characteristics of the power supply. A parameter tuning simulation proves the effectiveness of the GAPSO algorithm. A closed-loop simulation of the system and field geological exploration experiments demonstrate the effectiveness of the control method. This ensures both the system's excellent stability and the output's accuracy. It also ensures the accuracy of the established mathematical model as well as its ability to meet the requirements of practical field deep exploration.

• Journal of Communications and Networks
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• v.10 no.2
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• pp.137-147
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• 2008

This paper proposes a novel approach to interference avoidance via inter-cell relaying in cellular OFDMA-TDD (orthogonal frequency division multiple access - time division duplex) systems. The proposed scheme, termed asymmetry balancing, is targeted towards next-generation cellular wireless systems which are envisaged to have ad hoc and multi-hop capabilities. Asymmetry balancing resolves the detrimental base station (BS)-to-BS interference problem inherent to TDD networks by synchronizing the TDD switching points (SPs) across cells. In order to maintain the flexibility of TDD in serving the asymmetry demands of individual cells, inter-cell relaying is employed. Mobile stations (MSs) in a cell which has a shortage of uplink (UL) resources and spare downlink (DL) resources use free DL resources to off-load UL traffic to cooperating MSs in a neighboring cell using ad hoc communication. In an analogous fashion DL traffic can be balanced. The purpose of this paper is to introduce the asymmetry balancing concept by considering a seven-cell cluster and a single overloaded cell in the center. A mathematical model is developed to quantify the envisaged gains in using asymmetry balancing and is verified via Monte Carlo simulations. It is demonstrated that asymmetry balancing offers great flexibility in UL-DL resource allocation. In addition, results show that a spectral efficiency improvement of more than 100% can be obtained with respect to a case where the TDD SPs are adapted to the cell-specific demands.