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권성원(Seongwon Gwon),이정훈(Jeong Hoon Lee),박종현(Jong Hyeon Park) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.춘계 No.-
In this paper, the variable foot trajectory for fast trot locomotion of quadruped robot and the roll and pitch balance control for posture stability of the robot are proposed. Since the body balance of quadruped robot is controlled by the angle between ground and body during touchdown, the angle of body in the roll and pitch directions are controlled for stable straight. The desired body trajectory for the tort is generated on the basis of the ground that is than compared with the actual body trajectory. The difference between the two trajectories is used to modify the body angle. The desired body trajectory is realized by considering a combination of the rate change of the angular and linear momenta at fast trot. Then, the tilted angle to be applied at balance of body in order to achieve the desired linear and angular momenta is determined by Impedance control. Dynamic simulations of fast trotting motion were performed using RecurDyn that show that the proposed control method can be used to achieve stable fast trotting for a quadruped robot on straight gait.
권성원 梨花女子大學校 醫科大學 醫科學硏究所 1984 EMJ (Ewha medical journal) Vol.7 No.4
Urolithiasis is the most important disease and one of the most common diseases in the fields of Urology, and recently the incidence of urolithiasis has increasing tendency with the improvement of living condition in Korea. Though the cause of urolitiasis has not clearly yet, it has been beleived that diet with food containing rich calcium, phosphate, oxalate and uric acid compon-ents plays a great role in the stone formation. Prevously the author had clarified the relationship between urolithiasis and diversified and westernized food life with milk and diary products in Koresn people. Accurate analysis of urinary calculi is fundamental for study of the etiology of stone formation and essential for treatment and prevention of urolithiasis. In this article, by the biochemical method the author had analyzed 100 urinary calculi randomly selected among calculi which were obtained from the patients with urolithiasis during the past 8 years and 7 months from April, 1976 to Octo-ber, 1984, and made a study of 593 patients with urolithiasis who were admitted to our department of Urology in the same period with retrospective statistical an-alysis by computer. The following results were obtained. 1) The result of biochemical analysis of 100 urinary calculi revealed multiple composition in all cases and the most part of calculi(73%) were composed with calcium, magnesium, phosphate, oxalate, xantine, and uric acid. Calcium compon-ent containing calculi were 97% and only organic component containing calculi were 1%
權聖遠(Sung-Won Kwon),鄭在甲(Jae-Kap Jung),李相和(Sang-Hwa Lee),金明壽(Myungsoo Kim) 대한전기학회 2006 전기학회논문지C Vol.55 No.6
A accurate potential transformer(PT) with the nominal ratio errors in the wide range of - 9 % to + 11 % has been developed. The developed wide ratio error PT can be used to evaluate the linearity of the PT comparator by comparing both the theoretical values as standard values and experimental values of the PT. The new method has been successfully applied for calibration and correction in the PT comparator including very low ratio error values from ± 0.005 % to ± 0.3 % belonging to industry.
權聖遠(Sung-Won Kwon),鄭在甲(Jae-Kap Jung),李相和(Sang-Hwa Lee),金紋奭(Mun-Seog Kim),金明壽(Myungsoo Kim) 대한전기학회 2006 전기학회논문지C Vol.55 No.6
Standard current transformer(CT) with the nominal ratio errors in the range of - 10 % to + 10 % has been developed. Linearity of the CT ratio error measuring system (CT comparator) has been tested by using wide ratio error standard current transformer(WRE CT). The developed WRE CT can be used to evaluate the linearity of the CT comparator by comparing both the theoretical values and experimental values of the WRE CT. The developed method has been successfully applied for calibration and correction in the CT comparator belonging to industry.
132 ㎸ 초정밀 전압변성기(PT) 개발 및 안정도 평가
권성원(Sung-Won Kwon),이상화(Sang Hwa Lee),정재갑(Jae Kap Jung),김문석(Mun-Seog Kim),김재영(Jae Young Kim),이성하(Sung-Ha Lee) 대한전기학회 2009 대한전기학회 학술대회 논문집 Vol.2009 No.7
High accurate and stable 132 ㎸ potential transformers (PTs) including 66 ㎸ & 22 ㎸ PT with stability of less than 0.0033 % for 13 month and with ratio error within ± 0.024 % at full rated voltage have been developed. The PTs are useful as the reference PT of the PT comparator system in the voltage range of 11 ㎸ to 132 ㎸ PT.