• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.1029-1036
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• 2011

An energy-efficient reference walking trajectory generation algorithm is suggested utilizing allowable ZMP (Zero-Moment-Point) region, which maxmizes the energy efficiency for cyclic gaits, based on three-dimensional LIPM (Linear Inverted Pendulum Model) for biped robots. As observed in natural human walking, variable ZMP manipulation is suggested, in which ZMP moves within the allowable region to reduce the joint stress (i.e., rapid acceleration and deceleration of body), and hence to reduce the consumed energy. In addition, opimization of footstep planning is conducted to decide the optimal step-length and body height for a given forward mean velocity to minimize a suitable energy performance - amount of energy required to carry a unit weight a unit distance. In this planning, in order to ensure physically realizable walking trajectory, we also considered geometrical constraints, ZMP stability condition, friction constraint, and yawing moment constraint. Simulations are performed with a 12-DOF 3D biped robot model to verify the effectiveness of the proposed method.

• Biomolecules & Therapeutics
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• v.9 no.2
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• pp.79-87
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• 2001

Heat shock proteins serve as chaperone by preventing the aggregation of denatured proteins and promote survival of pathogens in harsh environments. In this study, heat shock gene encoding a 84-kDa (p84) protein, which is one of the three major heat shock proteins in S. pneumoniae, was cloned and characterized. PCR with a forward primer derived from N-terminal amino acid sequence of the p84 and a reverse primer derived from the conserved second ATP-binding region of Clp family was used for amplification of the gene encoding the p84 and subsequently the PCR product was used for sequence determination. Sequence analysis of the p84 gene demonstrated that it is a member of ClpL. The deduced amino acid sequence of pneumococcal ClpL shows homology with other members of the Clp family, and particularly, even in variable leader region, with bovine Clp-like protein and L. lactis ClpL. S. pneumoniae clpL is the smallest clop member (701 amono acids) containing the two conserved ATP-binding regions, and hydrophilic N-terminal variable region of pneu-mococcal Clp ATPase is much shorter than any known Clp ATPases. Histidine tagged ClpL was overexpressed and purified from E. coli. Immunoblot analysis employing antisera raised against pneumococcus p84 demonstrated no cross-reactivity with Clp analog in Eschericha coli, Staphylococcus aureus and human HeLa cells. Preimmunization of mice with ClpL extended mice life partially but did not protect them from death.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.1
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• pp.72-80
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• 1994

In this paper, a new variable block-size transform coding algorithm using information of segmentation is proposed. In general variable block-size transform coding algorithms, the information which is used to form variable blocks is thrown away, but in the proposed algorithm, the information of segmentation which is composed of texture and contour information is maintained for efficient coding. That is, the number of blocks can be reduced by contour information, a DC component of block can be predicted by texture information, and the region compensation, which reduces mean difference between regions, using texture and contour information can diminish the magnitude of AC components. The result is that the proposed algorithm has improved highly the coding efficiency of DC and AC components.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.21 no.11
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• pp.2768-2775
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• 1996

VariableBlock Matching algorithm is effective for the estimation of motion vector at complexor edge region by means of using variable block size with respect to the image block. But since VBM algorithm requires considerable number of operations, to solve this problem, we present an algorithm which uses difference images and quad tree structure, and estimates motion using various fast block matching algorithms.

• 유체기계공업학회:학술대회논문집
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• 2001.11a
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• pp.191-196
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• 2001

In the systems with largely pipe head loss, variable speed pumps are generally used because substantial energy saving can be expected from such systems by controlling pump speed and also they offer simpler maintenance and operational ease even in conditions where abrupt changes In flow rate and head can occur. The invertor or the fluid coupling system are mainly adopted to control the rotating speed. In this paper, operating conditions at Migum pressing pump station(5 stage), where the fluid coupling system was the first installed for KOWACO, are investigated and analysed so that information thus gained can be usefully employed in the efficient operation of variable speed pump in new installations of in-line booster pumping station.

• Publications of The Korean Astronomical Society
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• v.20 no.1 s.24
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• pp.29-35
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• 2005

Time-series observations were carried out using a 155mm refractor and a $2k{\times}3k$ CCD camera at Bohyunsan Optical Astronomy Observatory. We found 38 new variable stars in the $2.3^{\circ}{\times}2.4^{\circ}$ region around the Cepheid variable TU Cas: 22 eclipsing binary stars, 11 ${\delta}$ Scuti type stars and an RR Lyrae star, and 4 unclassified variables.

• Journal of Korean Society for Quality Management
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• v.26 no.2
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• pp.39-50
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• 1998

A screening procedure, where one or more correlated variables are used for screeing, is reviewed from the point of statistical hypothesis testing. Without assuming a specific probability model for the joint distribution of the performance and screening variables, some principles are provided to establish the best screeing region. A, pp.ication examples are provided for two cases; ⅰ) the case where the performance variable is dichotomous and ⅱ) the case where the performance variable is continuous. In case ⅰ), a normal model is assumed for the conditional distribution of the screening variable given the performance variable. In case ⅱ), the performance and screening variables are assumed to be jointly normally distributed.

• Korean Journal of Chemical Engineering
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• v.36 no.3
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• pp.356-367
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• 2019

This work presents an advanced and systematic approach to analytically design the optimal parameters of a two parameter second-order internal model control (IMC) filter that satisfies operational constraints on the output process, the manipulated variable as well as rate of change of the manipulated variable, for a first-order plus dead time (FOPDT) process. The IMC parameters are designed to minimize a control objective function composed of the weighted sum of the error between the process variable and the set point, and the rate of change of the manipulated variable, and to satisfy the desired constraints. The feasible region of the constrained IMC control parameters was graphically analyzed, as the process parameters and the constraints varied. The resulting constrained IMC control parameters were also used to find the corresponding industrial proportional-integral controller parameters of a Smith predictor structure.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.22 no.3
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• pp.469-480
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• 1997

For moving image coding, the variable size of region coding based on local motion is more efficient than fixed size of region coding. It can be applied well to complex motions and is more stable for wide motions because images are segmented according to local motions. In this paper, new image coding method using the segmentation of motion vectors is proposed. First, motion vector field is smoothed by filtering and segmented by smoothed motion vectors. The region growing method is used for decomposition of regions, and merging of regions is decided by motion vector and prediction errors of the region. Edge of regions is excluded because of the correlation of image, and neighbor motion vectors are used evaluation of current block and construction of region. The results of computer simulation show the proposed method is superior than the existing methods in aspect of coding efficiency.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.2
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• pp.565-581
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• 2019

This paper investigates the wireless powered two way relay network (WPTWRN), where two single-antenna users and one single-antenna relay firstly harvest energy from signals emitted by a multi-antenna power beacon (PB) and then two users exchange information with the help of the relay by using their harvested energies. In order to improve the energy transfer efficiency, energy beamforming at the PB is deployed. For such a network, to explore the performance limit of the presented WPTWRN, an optimization problem is formulated to obtain the achievable rate region bounds by jointly optimizing the time allocation and energy beamforming design. As the optimization problem is non-convex, it is first transformed to be a convex problem by using variable substitutions and semidefinite relaxation (SDR) and then solve it efficiently. It is proved that the proposed method achieves the global optimum. Simulation results show that the achievable rate region of the presented WPTWRN architecture outperforms that of wireless powered one way relay network architecture. Results also show that the relay location has significant impact on achievable rate region of the WPTWRN.