• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.24 no.5
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• pp.548-552
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• 2015

In this paper, we describe the quadruped walking-control algorithm of the complete full-size humanoid DARPA Robotics Challenge-HUBO (DRC-HUBO) robot. Although DRC-HUBO is a biped robot, we require a quadruped walking function using two legs and two arms to overcome uneven terrains in the DRC. We design a wave-type quadruped walking pattern as a feedforward control using several walking parameters, and we design zero moment point (ZMP) controllers to maintain stable walking using an inverted pendulum model and an observed-state feedback control scheme. In particular, we propose a switching algorithm for ZMP controllers using supporting value and weighting factors in order to maintain the ZMP control performance during foot switching. Finally, we verify the proposed algorithm by performing quadruped walking experiments using DRC-HUBO.

• Proceedings of the Korean Nuclear Society Conference
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• 1996.11a
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• pp.224-229
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• 1996

An experimental study on critical heat flux (CHF) and two-phase flow visualization has been performed for water flow in internally-heated, vertical, concentric annuli under near atmospheric pressure. Tests have been done under stable forced- circulation, upward and downward flow conditions with three test sections of relatively large gap widths (heated length = 0.6 m. inner diameter = 19 mm, outer diameter = 29, 35 and 51 mm). The outer wall of the test section was made up of the transparent Pyrex tube to allow the observation of flow patterns near the CHF occurrence. The CHF mechanism was changed in the order of flooding, chum-to-annular flow transition, and local dryout under a large bubble in churn flow as the flow rate was increased from zero to higher values. Observed parametric trends are consistent with the previous understanding except that the CHF for downward flow is considerably lower than that for upward flow.

• Journal of Plant Biology
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• v.26 no.2
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• pp.101-117
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• 1983

The phenological phenomena in terms of year day index (YDI) in South Korea were studied. The YDI was proposed here, because the remainer index such as Nuttonson's index is unadequate for the interpretation on the phenological phenomena of early spring season in sourthern coastal area. The YDI was calculated by summing daily mean temperature of the year days (YD) above physical zero degree in centigrade, based on the data of the Monthly Weather Reports from 1967 to 1980 by the Central Meteorological Office. The pattern of YDI increase with the increase of YD was similar to that of the remainder index such as the Nuttonson's index. The some YDI distribution maps were made by Yim and Kira (1975), dividing into 30'$\times$40' meshes, in latitude and longtude, on the topographical map(1 : 500,000) of the Korea Peninsula. According to the year day of different localities flowering dates of Prunus yedoensis and other phenological phenomena in various species delayed about 3.5 day as the increase of 1 degree of latitude, which coincides with the Hopkins bioclimatic law. It was found that the YDI is useful to interprete the phenology of plant and animal species and to select the optimum range of cultivars in South Korea.

• Proceedings of the KSRS Conference
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• 2008.10a
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• pp.228-231
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• 2008

For a satellite data communication, the technology of frame synchronization is widely used between a sender and a receiver. Last year, we suggested zero-loss frame synchronization [1] using pattern search and using bits threshold search algorithm that is based on SIMD technology [2,3]. This algorithm could solve both of hardware and software drawbacks, which are frame loss and low processing performance. However, this algorithm didn't optimize the processing of output data, synchronized data, which caused overhead to the memory allocation and the memory copy. Consequently, the performance of the frame synchronizer application was degraded. In this paper, we enhance previous work using a circular buffer in order to optimize the output data processing. The performance comparison with the previous algorithm shows that the enhanced proposed approach dramatically outperforms in the output data processing speed.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.10
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• pp.890-897
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• 2002

This paper deals with the reduction of trajectory tracking error by changing the initial postures of a biped robot. Gait of a biped robot depends on the constraints of mechanical kinematics and the initial states including the posture. Also the dynamic walking stability in a biped robot system is analyzed by zero moment point(ZMP) among the stabilization indices. Path trajectory, in which knee joint is bent forward like human's cases, is applied to most cases considered with above conditions. A new initial posture, which is similar to bird's gait, is proposed to decrease trajectory tracking error and it is verified through real experimental results.

• Journal of Korean Institute of Industrial Engineers
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• v.23 no.1
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• pp.55-76
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• 1997

This paper presents a heuristic solution for the three dimensional container loading problem with boxes which are different in size. The container loading problem is formulated as a zero-one mixed integer programming model whose objective is to maximize the container utilization. Due to its problem complexity, we propose a heuristic based on layered loading technique. Also, presented is a way to achieve the weighting balance of the stacked boxes. A micro-computer based program is developed which generates container loading pattern provided by the proposed heuristic. The results are displayed by computer-graphic. To evaluate the performance of the proposed heuristic, computational experiments are performed. The results indicate that in most of the cases the proposed heuristic performs better than an existing heuristic in terms of the container utilization.

• Journal of Biomedical Engineering Research
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• v.11 no.2
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• pp.195-202
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• 1990

The hypothesis of asymmetric resistance to explain the phenomenon of lung hyperinflation (LHI) during hlgh frequency ventilation (HFV) was quantitatively studied. LHI was predicted by modeling the ism-volume pressure-flow (IVPF) data from 5 human subjects using the empirical Rohrer's equation. Non-steadiness during HFV was compensated by em- ploying recently proposed volume-frequency diagram. Tidal volume and ventilation frequency were 100 ml and 20 Hz, respectively. Airflow pattern was a symmetric sinusoid. The predic- tion results of mean pressure drop across the airways were averaged for those 5 subjects, and compared with zero by one-sided student's t-test. A marginally significant (P<0.1) increase in mean pressure drop was observed during HFV at low lung volumes (below FRC) , which could increase mean lung volume up to one liter When the lung volume was above FRC, no significant LHI (P >0.25) was resulted. LHI seemed to be inversely related to the lung volume. These results recommend to clinically apply HFV only at lung volumes above FRC.

• Atmosphere
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• v.18 no.2
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• pp.83-95
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• 2008

In this study we have investigated the preceding eighteen large-scale climate indices with a lead time from zero to twelve months that have an influence on the variability of temperature and precipitation in Korea in order to understand which climate indices are overall available as predictors for long-range forecasting. We also have studied the dynamic link between preceding large-scale climate indices and regional climate using singular value decomposition analysis (SVDA) and correlation analysis (CA). Based on the coupled mode between large-scale circulation and regional climate, and correlation pattern between the preceding large-scale climate indices and large-scale circulation, the level of significance on climate indices as a predictor for monthly mean temperature and precipitation was evaluated for 5 and 1% level.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.245-246
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• 2006

In this paper, we proposed using MFCC coefficients(Mel-Scaled Cepstral Coefficients) and a simple but efficient classifying method. Many other features: IAV, zero crossing, LPCC, $\ldot$ and their derivatives are also tested and compared with MFCC coefficients in order to find the best combination. GMM and HMM (Discrete and Continuous Hidden Markov Model), are studied as well in the hope that the use of continuous distribution and the temporal evolution of this set of features will improve the quality of emotion recognition.

• 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.