• Journal of the Korean Society for Precision Engineering
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• v.15 no.1
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• pp.78-86
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• 1998

This paper presents a numerical method of the minimum-time trajectory planning for a robot manipulator amid obstacles. Each joint displacement is represented by the linear combination of the finite-term quintic B-splines which are the known functions of the path parameter. The time is represented by the linear function of the same path parameter. Since the geometric path is not fixed and the time is linear to the path parameter, the coefficients of the splines and the time-scale factor span a finite-dimensional vector space, a point in which uniquely represents the manipulator motion. The displacement, the velocity and the acceleration conditions at the starting and the goal positions are transformed into the linear equality constraints on the coefficients of the splines, which reduce the dimension of the vector space. The optimization is performed in the reduced vector space using nonlinear programming. The total moving time is the main performance index which should be minimized. The constraints on the actuator forces and that of the obstacle-avoidance, together with sufficiently large weighting coefficients, are included in the augmented performance index. In the numerical implementation, the minimum-time motion is obtained for a planar 3-1ink manipulator amid several rectangular obstacles without simplifying any dynamic or geometric models.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.8
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• pp.810-816
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• 2007

A security robot system named EGIS-SR is a mobile security robot through one of the new growth engine project in robotic industries. It allows home surveillance through an autonomous mobile platform using onboard cameras and wireless security sensors. EGIS-SR has many sensors to allow autonomous navigation, hierarchical control architecture to handle lots of situations in monitoring home surveillance and mighty networks to achieve unmanned security services. EGIS-SR is tightly coupled with a networked security environment, where the information of the robot is remotely connected with the remote cockpit and patrol man. It achieved an intelligent unmanned security service. The robot is a two-wheeled mobile robot and has casters and suspension to overcome a doorsill. The dynamic motion is verified through $ADAMS^{TM}$ simulation. For the main controller, PXA270 based hardware platform based on linux kernel 2.6 is developed. In the linux platform, data handling for various sensors and the localization algorithm are performed. Also, a local path planning algorithm for object avoidance with ultrasonic sensors and localization using $StarGazer^{TM}$ is developed. Finally, for the automatic charging, a docking algorithm with infrared ray system is implemented.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.12
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• pp.2335-2341
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• 2009

High technique growth of modem times and high industrial facility in consequence of buildings demand for electric power of an extensive scale with stability supply and maintenance of high quality. But, power system always have risk of network contingency. When power system break out disturbance, it circumstantially happen like uncontrolled loss of load developing from of cascading. Severely which would be raised wide area blackout, plan to prevent, which make stability through a little of load shedding and multi-level UnderVoltageLoadShdding should work. This paper presents target, sensitivity of bus voltage have choose appropriating load shedding location and load shedding decision making logic with considering rate of change of voltage have studied multi-level under voltage load shedding scheme. Calculation of rate of change of voltage applied method of least square. As a result, we are studied an dynamic analysis of 2008 summer peak data. We have been known that network analysis is a little development and developing UnderVoltageLoadShedding scheme.

• The Journal of Asian Finance, Economics and Business
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• v.7 no.9
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• pp.19-30
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• 2020

This paper investigates, in a single equation framework, the effect of bank-specific and macroeconomic determinants on micro-, small- and medium-sized loans by commercial banks in Indonesia. This study uses a sample of 790 observations from 79 commercial banks in Indonesia over the years 2006-2015. This study uses two estimation methods for our panel regressions: static and dynamic generalized method of moments (GMM) panel estimator. In static relationships, the literature usually uses the least square methods on fixed effects (FE) or random effects (RE). I found evidence that all banks, bank profitability and size are positively and significantly related to micro-, small- and medium-sized loans, while the coefficients of liquidity are significantly positive in all specifications, except government banks which is significantly negative. The relationship between risk and credit growth is negative for non-government banks. All estimated equations show that the effect of the capital variable on lending banks to MSMEs is not important in government banks and non-government banks. Finally, macroeconomic variables, such as inflation and gross domestic product, clearly affect the lending of the banking sector particularly non-state banks. The findings have several policy implications to Indonesia government, regulatory authority and bank managers in order to improve bank profitability through bank lending.

• Land and Housing Review
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• v.10 no.4
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• pp.51-59
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• 2019

The government is encouraging the notice of obligatory reclaimed asphalt as a result of the economic and social positioning of green growth to reduce the amount of waste resources and to solve natural resource problems by recycling continuously generated waste resources. However, it is necessary to develop application guideline for each application to apply reclaimed asphalt to the site because quality control of the reclaimed asphalt is difficult and the specifications are ambiguous as well. Therefore, in this study, the mix design, quality test, performance test, and finite element analysis about reclaimed Asphalt Pavement were conducted to develop application guideline for reclaimed hot asphalt. The mix design was carried out for the comparative general hot mix asphalt mixture, the reclaimed hot mix asphalt mixture using the additive, and the reclaimed hot mix asphalt mixture without the additive. Indirect tensile strength and tensile strength ratio tests were used to characterize the reclaimed hot mix asphalt mixture. Using the results of dynamic modulus test and FWD test for KPRP analysis and finite element analysis, the performance life was evaluated for general pavement and pavement using recycled aggregate. Finally, the life cycle cost analysis was used to compare and analyze the economics of reclaimed asphalt concrete pavement.

• Proceedings of the KIPE Conference
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• 2002.07a
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• pp.510-514
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• 2002

Power Quality and reliability are becoming important issues for critical and sensitive loads. The recent growth in the use of impactive and nonlinear loads has caused many power quality problems such as voltage flicks, harmonics and unbalances, which may cause the modem automatic devices to fail, misoperate, or shut down. This paper deals with 7-Level H-Bridge Line-Interactive Dynamic Voltage Restorer (LIDVR) system. It has the power factor near to unity under normal source voltage, can compensate the harmonic current of the load and instant interruption, and has the fast response. Currently, most of the DVR design studies are based on the assumption of the balanced three-phase system. But, actually line fault occurred $1{\phi}\;{sag}\;or\;2{\phi}$ sag. Hence, proposed new control scheme compensate asymmetry input voltage. Finally, simulation results verify the proposed 7-Level H-Bridge LIDVR system.

• Proceedings of the KIEE Conference
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• 2002.07c
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• pp.1644-1648
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• 2002

The relationships between MgO deposition conditions and firing voltage of AC PDP were investigated as a function of ambient temperature. Substrate temperature and growth rate were selected as the major parameters that can affect the properties of MgO most significantly. Firing voltages increase with increasing temperature regardless of deposition conditions of the MgO layer. However, the relative magnitude of the firing voltage variation decrease with increasing substrate temperature and decreasing deposition speed. It was also found that the sample obtained at the condition of lower deposition rate shows better dynamic margin characteristics.

• Journal of Korean Society of Forest Science
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• v.94 no.5 s.162
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• pp.313-320
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• 2005

This study was performed in a 38-year-old Mongolian pine (Pinus sylvestris L. var. mongolica Litvin) plantation in northeast China. Data were collected from 5 sample trees with different canopy position ranging in DBH from 14.6 cm to 23.8 cm. Sawn speciments that included the biggest knot were taken from the stem below the living crown. Number and distribution of knots per whorl below the living crown were studied by relative height below living crown (RHBC). A linear model expressed as function of whorl age (AGE), whorl height ($H_k$) and the stem diameter at which the whorl was located ($D_k$) was developed to predict the knot diameter and angle. The number of annual rings in four periods and the width of respective zone alone stem were used as dependant variables to analyze the knot develop phases. In average, the number of years from branch birth to ceased forming rings was 7.8, the branches remained alive for 4.2 years without forming annual rings, and branches were occluded 14.4 years after their death. These results can provide abundance branch and knot information so as to describe current and past tree growth dynamic of Mongolian pine plantation.

• Journal of Korea Society of Digital Industry and Information Management
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• v.8 no.4
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• pp.83-90
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• 2012

With the rapid growth of internet infrastructure, World Wide Web is evolving recently into various services such as cloud computing, social network services. It simply go beyond the sharing of information. It started to provide new services such as E-business, remote control or management, providing virtual services, and recently it is evolving into new services such as cloud computing and social network services. These kinds of communications through World Wide Web have been interested in and have developed user-centric customized services rather than providing provider-centric informations. In these environments, it is very important to check and analyze the user requests to a website. Especially, estimating user preferences is most important. For these reasons, analyzing web logs is being done, however, it has limitations that the most of data to analyze are based on page unit statistics. Therefore, it is not enough to evaluate user preferences only by statistics of specific page. Because recent main contents of web page design are being made of media files such as image files, and of dynamic pages utilizing the techniques of CSS, Div, iFrame etc. In this paper, large log analyzer was designed and executed to analyze web server log to estimate web contents preferences of users. With mapreduce which is based on Hadoop, large logs were analyzed and web contents preferences of media files such as image files, sounds and videos were estimated.

• Korea-Australia Rheology Journal
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• v.20 no.1
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• pp.27-34
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• 2008

Clay suspensions in liquid polymers exhibit a time-dependent behaviour that includes viscoelastic as well as thixotropic features. Because of the presence of interacting clay platelets, particulate networks can develop, which are broken down during flow and rebuild upon cessation of the flow. Here, the use of thixotropic techniques in probing flow-induced structures in nanocomposites is explored with data on a hectorite-poly(isobutylene) model system. By means of fast stress jump measurements the hydrodynamic contributions to the steady state stresses are determined as well as those caused by the stretching of the clay floes. Flow reversal measurements do not provide a clear indication of flow-induced anisotropy in the present case. The recovery of the clay microstructure upon cessation of flow is followed by means of overshoot and dynamic measurements. The development of a particulate network is detected by the appearance and growth of a low frequency plateau of the storage moduli. The modulus-frequency curves after various rest times collapse onto universal master curves, regardless of the pre-shear history or temperature. The scaling factors for this master curve are the crossover parameters. The crossover moduli are nearly a linear function of the crossover frequency, the relation being identical for recovery after shearing at different shear rates. This function depends, however, on temperature.