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39th International Symposium on robotics, ISR 2008

作者： So, Byungrok Kim, Tae-Ju Won, Daehee Kwon, Ohung Park, Sangdoek Son, Woong-Hee Division of Applied Robot Technology Korea Institute of Industrial Technology 1271-18 Sa-1-dong Sangrok-gu Ansan Kyunggi 426-791 Korea Republic of

This paper is introduced a quadruped walking robot for transportation, developed by KITECH (korea institute of Industrial technology). This robot is composed of four legs, engine, power package and hydraulic rotary actuators. It is installed an engine and small-size/high-power hydraulic rotary actuators for a quadruped robot to carry heavy loads and to move fast on uneven terrain. The size of this robot is 1.2m x 1m x 0.4m (height, length and width, respectively) and the degree of freedom is fifteen. Also it can carry over 100 kg totally including 60 kg payload. For this, it is developed a hydraulic rotary actuator that is light weight and compact size. The total control system comprises a main controller system, a hydraulic servo system and an engine/hydraulic power control system. And, in order to control balance, the kinematic model of quadruped robot is analyzed and the pattern generation method using the virtual model is applied.

关键词： Control systems

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A study on traversability of quadruped robot in rough terrain

A study on traversability of quadruped robot in rough terrai...

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作者： Loc, Vo-Gia Koo, Ig Mo Trong, Tran Duc Kim, Ho Moon Moon, Hyungpil Park, Sangdoek Choi, Hyouk Ryeol School of Mechanical Engineering Sungkyunkwan University Suwon Korea Republic of Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)9781424474530

In this work, a study on improving traversability of a quadruped robot in a 3D rough terrain is presented. The interaction between the robot and the terrain is analyzed. The analysis shows that the traversability of the robot can be significantly improved by carefully considering the position and orientation of the robot's body in each step. The effectiveness of the proposed algorithm is verified in both simulation and experiment. ©ICROS.

关键词： Landforms

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Experimental investigation on the design of leg for a hydraulic actuated quadruped robot

Experimental investigation on the design of leg for a hydrau...

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2013 44th IEEE International Symposium on robotics, ISR 2013

作者： Kim, Jin Tak Cho, Jung San Park, Byung-Yun Park, Sangdeok Lee, Youngsoo Division of Applied Robot Technology Korea Institute of Industrial Technology 1271-18 Sa-3-dong Sangrok-gu Ansan Kyunggi 426-791 Korea Republic of

ISBN: (纸本)9781479911738

Hydraulic actuation has the advantage of substantial power and wide range of speed with a small size and low weight. Because of this advantage, hydraulic actuation is used often for a robot dealing with heavy-weight material or walking fast. However, in a walking robot, the power of hydraulic actuator can act as the ground reaction forces between the feet and the ground surface, breaking the balance of the body. Therefore, compact design of a body including the feet and module design for absorption of the ground reaction forces is critical. This paper explains leg design for compact design of hydraulic actuated quadruped robot. Also, this paper describes about a shock absorber design included in the feet module by walking-in-place experiments. © 2013 IEEE.

关键词： Multipurpose robots

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Dynamics of one-dimensional spin models via complex-time evolution of tensor networks

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arXiv 2025年

作者： Cha, Jeong Hyeok Lee, Hyun-Yong Kim, Heung-Sik Department of Semiconductor Physics Kangwon National University Chuncheon24341 Korea Republic of Interdisciplinary Program in Earth Environmental System Science and Engineering Kangwon National University Chuncheon24341 Korea Republic of Division of Semiconductor Physics Korea University Sejong30019 Korea Republic of Department of Applied Physics Graduate School Korea University Sejong30019 Korea Republic of Institute of Quantum Convergence Technology Kangwon National University Chuncheon24341 Korea Republic of

Studying the real-time dynamics of strongly correlated systems poses significant challenges, which have recently become more manageable thanks to advances in density matrix renormalization group (DMRG) and tensor network methods. A notable development in this area is the introduction of a complex-time evolution scheme for tensor network states, originally suggested for solving Anderson impurity model and designed to suppress the growth of entanglement under time evolution. In this study, we employ the complex-time evolution scheme to investigate the dynamics of one-dimensional spin systems, specifically the transverse-field Ising model (TFIM) and the XXZ model. Our analysis revisits the dynamic critical exponent z of the TFIM and explores the dynamical structure factor in both gapped and gapless states of the XXZ model. Importantly, the complex-time evolution reproduces the results of real-time evolution while mitigating the rapid growth of quantum entanglement typically associated with the latter. These results demonstrate that the combination of complex-time evolution and extrapolation provides a robust and efficient framework for studying the dynamics of complex quantum systems, enabling more comprehensive insights into their behavior. © 2025, CC BY.

关键词： Quantum entanglement

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A micro-fragmented collagen gel as a cell-assembling platform for critical limb ischemia repair

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Bioactive Materials 2024年第4期34卷 80-97页

作者： Haeun Chung Jung-Kyun Choi Changgi Hong Youngseop Lee Ki Hyun Hong Seung Ja Oh Jeongmin Kim Soo-Chang Song Jong-Wan Kim Sang-Heon Kim Center for Biomaterials Biomedical Research InstituteKorea Institute of Science and Technology(KIST)Seoul02792Republic of Korea Division of Bio-Medical Science and Technology KIST SchoolUniversity of Science and TechnologySeoul02792Republic of Korea Department of Applied Bioengineering Graduate School of Convergence Science and TechnologySeoul National UniversitySeoul08826Republic of Korea Research Institute for Convergence Science Seoul National UniversitySeoul08826Republic of Korea Department of Genetics and Biotechnology College of Life SciencesKyung Hee UniversityYongin-siGyeonggi-do17104Republic of Korea S.Biomedics Co. Ltd.Seoul04797Republic of Korea

Critical limb ischemia(CLI)is a devastating disease characterized by the progressive blockage of blood *** the paracrine effect of growth factors in stem cell therapy made it a promising angiogenic therapy for CLI,poor cell survival in the harsh ischemic microenvironment limited its ***,an imperative need exists for a stem-cell delivery method that enhances cell ***,a collagen microgel(CMG)cell-delivery scaffold(40×20μm)was fabricated via micro-fragmentation from collagen-hyaluronic acid polyionic complex to improve transplantation *** human adipose-derived stem cells(hASCs)with CMG enabled integrin receptors to interact with CMG to form injectable 3-dimensional constructs(CMG-hASCs)with a microporous microarchitecture and enhanced mass ***-hASCs exhibited higher cell survival(p<0.0001)and angiogenic potential in tube formation and aortic ring angiogenesis assays than cell *** of CMG-hASCs intramuscularly into CLI mice increased blood perfusion and limb salvage ratios by 40%and 60%,respectively,compared to cell aggregate-treated *** immunofluorescent analysis revealed that transplanted CMG-hASCs have greater muscle regenerative and angiogenic potential,with enhanced cell survival than cell aggregates(p<0.05).Collectively,we propose CMG as a cell-assembling platform and CMG-hASCs as promising therapeutics to treat CLI.

关键词： Regenerative medicine Stem cell therapy Collagen microgel 3D cell culture Critical limb ischemia

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Natural changing of emotional expression by considering correlation of behavior history

Natural changing of emotional expression by considering corr...

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IEEE International Symposium on Consumer Electronics

作者： Ahn, Ho Seok Choi, Jin Young Lee, Dong-Wook Shon, Woong Hee Department of Applied Robot Technology Convergent Technology R and D Division Korea Institute of Industrial Technology 1271-18 Sa-3-dong Sangrok-gu Ansan 426-910 Korea Republic of

ISBN: (纸本)9781612848433

This paper presents a novel method for natural changing of emotional expression. Although formal behavior generation method using the simulated annealing algorithm selects various behaviors, there are weak correlations among behavior history. To make strong correlations, we restrict the randomness of the simulated annealing algorithm. This method sifts unapt candidate behavior combinations out by considering the previous behavior combinations and makes adequate range of candidate behavior combinations. We have verified the continuity of the proposed method using a cyber robot simulator. © 2011 IEEE.

关键词： Simulated annealing

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How do we conquer the growth limits of capitalism? Schumpeterian Dynamics of Open Innovation

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Journal of Open Innovation: technology, Market, and Complexity 2015年第2期1卷 1-20页

作者： Yun, JinHyo Joseph IOT and ROBOT Convergence Division and Innovation Management Program Daegu Gyeongbuk Institute of Science and Technology (DGIST) 333 Techno Jungang-daero Hyeonpung-myeon Dalseong-gun Daegu 711-873 South Korea

The purpose of this study is to answer the research question, "How do we conquer the growth limits of capitalism?" Based on existing studies on growth limits of capitalism by Marx and Schumpeter as well as the recent discussions of Drucker, Rifkin, and Piketty, the dynamic model of an open innovation economy system (OIES) is proposed as an answer to this research question. OIES consists of an open innovation economy, closed innovation economy, and social innovation economy. The dynamics of OIES occurs from the positive interaction among the open innovation economy, closed innovation economy, and social innovation economy. The dynamics of the OIES circle are from an open innovation economy, through a closed innovation economy and social innovation economy, and back to an open innovation economy again. In addition, the validation of the model for the dynamics of OIES is improved by simulating the life cycle of the dynamics of OIES, low-level OIES dynamics, and high-level OIES dynamics, and by inquiring about a practical economic system corresponding to each simulation situation. Next through a comparative discussion between the linear steps of Schumpeter 1 and 2, and Socialist Democracy, and the dynamics of an open Innovation economic system, the practical and theoretical characteristics of the dynamics of OIES are clearly defined. Finally, the limits of this study and a follow-up research project are presented in addition to a summary of the discussion. © 2015 Yun.

关键词： Closed innovation Dynamics Open innovation Open innovation economy system Social innovation

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Foot Trajectory Generation of Hydraulic Quadruped robots on Uneven Terrain

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IFAC Proceedings Volumes 2008年第2期41卷 3021-3026页

作者： HyoungKwon Kim Daehee Won Ohung Kwon Tae-Ju Kim Sang-Seok Kim Sangdeok Park Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea (Tel:+82-31-8040-6293

This paper proposes trot pattern generation and online control methods for a legged robot to carry heavy-loads and move fast on the uneven terrain. The trot pattern is generated from the frequency modulated pattern generation method based on the frequency modulated oscillator in order for the legged robots to operate outdoors with the static and dynamic mobility. The efficiency and performance of the proposed are verified through the computer simulation and experiments using qRT-1/-2. In experiments, qRT which is a 2-legged and 2-wheeled robot and a front drive system vehicle with hydraulic linear actuators is used. The robot has trotted gaits at speeds up to 1.3 m/s on the even surface, walked up and down the 20 degree inclines, and walked at 0.7 m/s on the uneven surface. Also it has carried over 100 kg of the total weights including over 40 kg of the payload.

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Output feedback nonlinear control for electro-hydraulic systems

Output feedback nonlinear control for electro-hydraulic syst...

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作者： Kim, Wonhee Won, Daehee Shin, Donghoon Chung, Chung Choo Department of Electrical Engineering Hanyang University Seoul 133-791 Korea Republic of Division of Electrical and Biomedical Engineering Hanyang University Seoul 133-791 Korea Republic of Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan Gyeonggi-Do 426-171 Korea Republic of

In this paper we present an output feedback nonlinear control for position tracking of electro-hydraulic systems (EHSs). Although previous nonlinear control methods improved the position tracking performance of EHS, all of the methods require full state feedback. However, due to cost and space limitations, it is not always possible to measure the full state of the EHS. The proposed method consists of a high gain observer and a passivity-based controller. The high gain observer is designed to estimate the full state, and the passivity-based control is implemented for position tracking. In order to design the passivity-based controller with the high gain observer, a defined Lyapunov condition guarantee that the origin of the tacking error dynamics is exponentially stable by selecting the controller gain. The stability of the closed-loop is studied using the singular perturbation theorem. The performance of the proposed method is validated through simulations and experiments. © 2012 Elsevier Ltd. All rights reserved.

关键词： Tracking (position)

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Position tracking and flatness controller with disturbance observer in hydraulic servo systems

Position tracking and flatness controller with disturbance o...

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50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011

作者： Kim, Wonhee Shin, Donghoon Won, Daehee Chung, Chung Choo Department of Electrical Engineering Hanyang University Seoul 133-791 Korea Republic of Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan Gyeonggi-Do 426-171 Korea Republic of Division of Electrical and Biomedical Engineering Hanyang University Seoul 133-791 Korea Republic of

ISBN: (纸本)9784907764395

A position tracking and flatness controller with disturbance observer (DOB) is proposed in hydraulic servo systems (HSSs). In this paper, we assume that the disturbance is a biased sinusoidal signal with unknown frequency. DOB is designed in the form of 2nd high pass filter to estimate the disturbance. The nonlinear controller is designed to compensate the estimation error of the disturbance and to track the desired position and load pressure as a near IO linearizing inner-loop load pressure controller and a feedback plus feedforward outer-loop position controller. The desired load pressure is designed using differential flatness property of the HSS mechanical subsystem. The performance of the proposed method is validated via simulations. © 2011 SICE.

关键词： Tracking (position)

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