• Journal of Institute of Control, Robotics and Systems
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• v.8 no.2
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• pp.142-150
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• 2002

This paper presents a systematic method of the zigzag gait planning for quadruped walking robots. When a robot walks with a zigzag gait, its body is allowed to move from side to side, while the body movement is restricted along a moving direction in conventional continuous gaits. The zigzag movement of the body is effective to improve the gait stability margin. To plan a zigzag gait in a systematic way, the relationship between the center of gravity(COG) and the stability margin is firstly investigated. Then, new geometrical method is introduced to plan a sequence of the body movement which guarantees a maximum stability margin as well as monotonicity along a moving direction. Finally, an optimal swing-leg sequence is chosen for a given arbitrary configuration of the robot. To verify the proposed method, computer simulations have been performed for both cases of a periodic gait and a non-periodic gait.

• Advances in nano research
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• v.15 no.3
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• pp.263-275
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• 2023

The electron transport properties of Y-type zigzag branched carbon nanotubes (CNTs) are of great significance for micro and nano carbon-based electronic devices and their interconnection. Based on the semi-empirical method combining tight-binding density functional theory and non-equilibrium Green's function, the electron transport properties between the branches of Y-type zigzag branched CNT are studied. The results show that the drain-source current of semiconducting Y-type zigzag branched CNT (8, 0)-(4, 0)-(4, 0) is cut-off and not affected by the gate voltage in a bias voltage range [-0.5 V, 0.5 V]. The current presents a nonlinear change in a bias voltage range [-1.5 V, -0.5 V] and [0.5 V, 1.5 V]. The tangent slope of the current-voltage curve can be changed by the gate voltage to realize the regulation of the current. The regulation effect under negative bias voltage is more significant. For the larger diameter semiconducting Y-type zigzag branched CNT (10, 0)-(5, 0)-(5, 0), only the value of drain-source current increases due to the larger diameter. For metallic Y-type zigzag branched CNT (12, 0)-(6, 0)-(6, 0), the drain-source current presents a linear change in a bias voltage range [-1.5 V, 1.5 V] and is symmetrical about (0, 0). The slope of current-voltage line can be changed by the gate voltage to realize the regulation of the current. For three kinds of Y-type zigzag branched CNT with different diameters and different conductivity, the current-voltage curve trend changes from decline to rise when the branch of drain-source is exchanged. The current regulation effect of semiconducting Y-type zigzag branched CNT under negative bias voltage is also more significant.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.1067-1072
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• 1996

Sensitivity analysis of the cylindrical zigzag cams under acceleration and centrifugal forces is performed. A Lagrangian method is used to determine the mechanism constant of zigzag track, And the equation of motion for cylindrical zigzag cam under rectangular pulse is derived by the governing equations of a single spring mass system. The ratio of the drive force tn resisting force is derived by angular acceleration, centrifugal force and setback force on the operation of the munition. The theoretical sensitivity curves for 3 models are analyzed. And experiments for 3 models are conducted to check safe and functional zone. Zigzag cam types can be satisfied all major design requirements for switch system of munition.

• Advances in nano research
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• v.3 no.1
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• pp.29-37
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• 2015

In the current study, the nonlinear vibration properties of an embedded zigzag single-walled carbon nanotube (SWCNT) are investigated. Winkler-type model is used to simulate the interaction of the zigzag SWCNTs with a surrounding elastic medium. The relation between deflection amplitudes and resonant frequencies of the SWCNT is derived through harmonic balance method. The equivalent Young's modulus and shear modulus for zigzag SWCNT are derived using an energy-equivalent model. The amplitude - frequency curves for large-amplitude vibrations are graphically illustrated. The simulation results show that the chirality of zigzag carbon nanolube as well as surrounding elastic medium play more important roles in the nonlinear vibration of the single-walled carbon nanotubes.

• Korean Journal of Computational Design and Engineering
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• v.6 no.4
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• pp.215-221
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• 2001

In the zigzag milling of a pocket having islands, tool retraction is one of the primary factors that decrease productivity. Therefore, tool path with minimum number of tool retraction has been needed. Most researches about this topic have been concentrated on obtaining the optimum solution formulated through the geometric reasoning off pocket. Recently, several attempts were made to simplify this problem into region partitioning in order to get the numerically expressed minimum solution. In this research, a method reducing the number of tool retractions extended from existing region partitioning is provided. Applying the segment that is normal to the reference direction of zigzag milling, region partitioning is carried out and structural elements of the region are searched via graphs of islands and characteristic points. Through the processes presented, the number of region partitioned is less than that of existing processes.

• The KIPS Transactions:PartA
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• v.14A no.5
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• pp.317-326
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• 2007

We propose more enhanced heuristic for the GOSST(Grade of Services Steiner Minimum Tree) problem in this paper. GOSST problem is a variation of Steiner Tree problem and to find a network topology satisfying the G-Condition with minimum network construction cost. GOSST problem is known as one of NP-Hard or NP-Complete problems. In previous our research, we proposed a heuristic employing Direct Steiner Point Locating strategy with Distance Preferring MST building strategy. In this paper, we propose new Steiner point locating strategy, Zigzag Steiner point Locating strategy. Through the results of out experiments, we can assert this strategy is better than our previous works. The Distance Zigzag GOSST method which hires the Distance Preferring MST building strategy and Zigzag Steiner point Locating strategy defrays the least network construction cost and brings 31.5% cost saving by comparison to G-MST, the experimental control and 2.2% enhancement by comparison to the Distance Direct GOSST method, the best GOSST method in our previous research.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.43 no.4 s.346
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• pp.44-51
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• 2006

In this paper, the resonance characteristics of zigzag wire dipole antennas are first analyzed by the method of moment(MOM) for shortening the space occupation length of straight wire dipole antenna Considering the shortening effect the integrated zigzag dipole antennas with the simplified microstrip feed are designed. Since the integration gives rise to discontinuities due to antenna line width with abrupt bend angles, the compensation by the chamfer is applied. Futhermore the integrated parasitic zigzag lines are properly attached to both sides of substrate for compensation of the effect of the dielectric substrate, hence improving the resonance characteristic. The design results at UHF and ISM band are verified with experiments.

• Archives of Plastic Surgery
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• v.34 no.5
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• pp.667-670
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• 2007

Purpose: Among the materials for cranioplasty, autogenous bone is ideal because it is less susceptible to infection and has lower rates of subsequent exposure. However, the procedure is technically demanding to perform and requires a donor site. Disadvantages further exist when the defect is large and there are attendant limitations in donor site. The authors present their experience with reconstruction of large skull defect using right-angled zigzag osteotomized outer table of autogenous calvarial bone, overcoming the limitation in donor site. Methods: From 2000 to 2006, 9 patients were retrospectively reviewed, who had undergone reconstruction with right angled zigzag osteotomized outer table of autogenous calvarial bone. Results: Aesthetically satisfactory skull shape was achieved. Major complications of infection, hematoma, plate exposure, and donor site complications of dural tear with bleeding, cerebrospinal fluid leak, and meningitis were not seen. One patient had delayed wound healing and was successfully managed conservatively. Conclusion: Autogenous bone is the material of choice for cranioplasty, especially in complicated cases. Right angled zigzag osteotomy is a useful method in reconstruction of large skull defects with less donor site morbidity.

• Journal of Korean Institute of Industrial Engineers
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• v.27 no.1
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• pp.69-88
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• 2001

In the zigzag milling operation, an important issue is to design a machining strategy which minimizes the cutting time. An important variable for minimization of cutting time is the tool path length. The tool path is divided into cutting path and non-cutting path. Cutting path can be subdivided into tool path segment and step-over, and non-cutting path can be regarded as the tool retraction. We propose a new method to determine the cutting direction which minimizes the length of tool path in a convex or concave polygonal shape including islands. For the minimization of tool path length, we consider two factors such as step-over and tool retraction. Step-over is defined as the tool path length which is parallel to the boundary edges for machining area and the tool retraction is a non-cutting path for machining any remaining regions. In the determination of cutting direction, we propose a mathematical model and an algorithm which minimizes tool retraction length in complex shapes. With the proposed methods, we can generate a tool path for the minimization of cutting time in a convex or concave polygonal shapes including islands.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.66 no.3
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• pp.99-104
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• 2017

The three-phase four-wire power distribution system can be used to supply power to single-phase and three-phase loads at the same time. There are linear loads and nonlinear loads as single-phase loads connected to each phase. The nonlinear load generates a harmonic current during the power energy conversion process. In particular, the single-phase nonlinear load has a higher proportion of generation of the third harmonic current than the harmonics of the other orders. In a three-phase four-wire system, the third harmonic current flows through the neutral wire to the power supply side, affecting the power supply side and the line. Furthermore, the magnitude of the current flowing in the neutral line can be higher than the current flowing in the individual phase. If the neutral current is higher than the phase current, the breaker may be blocked. Therefore, it is necessary to reduce the amount of current flowing in the neutral line by harmonics. There is a method of zigzag connecting a single phase transformer by a method of reducing 3 harmonic current. In this study, the method of reducing the magnitude of the three harmonic currents flowing through the zigzag wire by comparing the polarity and the negative polarity characteristics of the single phase transformer was compared through measurement and simulation.