• Journal of Institute of Control, Robotics and Systems
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• v.8 no.6
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• pp.477-483
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• 2002

This paper deals with a workspace analysis of multi-legged walking robots in velocity domain(velocity workspace analysis). Noting that when robots are holding the same object in multiple cooperating robotic arm system the kinematic structure of the system is basically the same with that of a multi-legged walking robot standing on the ground, we invented a way ot applying the technique for multiple arm system to multi-legged walking robot. An important definition of reaction velocity is made and the bounds of velocities achievable by the moving body with multi-legs is derived from the given bounds on the capabilities of actuators of each legs through Jacobian matrix for given robot configuration. After some assumption of hard-foot-condition is adopted as a contact model between feet of robot and the ground, visualization process for the velocity workspace is proposed. Also, a series of application examples will be presented including continuous walking gaits as well as several different stationary posture of legged walking robots, which validate the usefulness of the proposed technique.

• Journal of the Korean Vacuum Society
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• v.8 no.3B
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• pp.308-314
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• 1999

We used the photoreflectance spectroscopy for characterization of the infrared photodetector structure we GaAs/$Al_{0.3}Ga_{0.7}As$ multi-quantum well (MQW) structures grown by molecular beam epitaxy (MBE) method. Energy gap related transitions in GaAS and AlGaAs were observed. The Al composition(x) was determined b Sek's composition formula. MQW related transition energies were identify the transitions, the experimentally observed energies were compare with results of the envelope function approximation for a rectangular quantum well.

• ETRI Journal
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• v.34 no.3
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• pp.450-453
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• 2012

IEEE 802.11n standards introduced a mixed-mode format frame structure to achieve higher throughput with multiple antennas while providing backward compatibility with legacy systems. Although multi-input multi-output channel estimation was possible only with high-throughput long training fields (HT-LTFs), the proposed scheme utilizes a legacy LTF as well as HT-LTFs in a decision feedback manner to improve the accuracy of the estimates. It was verified through theoretical analysis and simulations that the proposed scheme effectively enhances the mean square error performance.

• The Bulletin of The Korean Astronomical Society
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• v.44 no.1
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• pp.60.1-60.1
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• 2019

In this talk, I will briefly review the discovery and early-time interferometric observations of the Galactic Center radio source and then go through recent major updates including the improvement in the array capabilities, developments of the scattering and intrinsic structure modeling, and high-frequency astrometric observations of this source. Introduction of the 1.3 mm VLBI observations in 2017 and 2018 (e.g. array configuration and signal-to-noise ratios), as well as the related multi-wavelength campaign (including GMVA and EAVN observations), will be also presented.

• Industrial Engineering and Management Systems
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• v.8 no.1
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• pp.29-36
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• 2009

We present two local-search based metaheuristics for the multi-source capacitated facility location problem. In such a problem, each customer's demand can be supplied by one or more facilities. The problem is NP-hard and the number of locations in the optimal solution is unknown. To keep the search process effective, the proposed methods adopt the following features: (1) a multi-exchange neighborhood structure, (2) a tabu list that keeps track of recently visited solutions, and (3) a multi-start to enhance the diversified search paths. The transportation simplex method is applied in an efficient manner to obtain the optimal solutions to neighbors of the current solution under the algorithm framework. Two in-and-out selection rules are also proposed in the algorithms with the purpose of finding promising solutions in a short computational time. Our computational results for some of the benchmark instances, as well as some instances generated using a method in the literature, have demonstrated the effectiveness of this approach.

• Journal of Home Health Care Nursing
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• v.16 no.1
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• pp.59-66
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• 2009

Purpose & Method: Based on a large amount of research concerning the recognition of local residents in an era of an increasing number of multi-cultural families, this study aimed to provide fundamental data for program development and policies. As well, the data was stratified based on understanding of multi-cultural society, recognition of multi-cultural families, and social and economic adaptability of multi-cultural families. Result: The available literature supports the view that an understanding of a multi-cultural society and recognition of multi-cultural families encourages an emphasis on maintaining ethnicity and respect for diverse cultures. Parental approval for friendships with members of multi-cultural families tends to be encouraged, although there is still resistance to marital ties with such families. The literature indicates that immigrant women participate in economic activities of their adopted locale and adapt to the new societal structure. A positive correlation between recognition and interests in social and economic adaptiveness was apparent. Conclusion: Findings of the study suggest that complement, development, and application of realistic programs and institutional policies are required to understand multi-cultural families and establish a multi-cultural society. Ongoing research will be valuable in resolving outstanding questions and clarifying political alternatives.

• Journal of Electrical Engineering and Technology
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• v.8 no.1
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• pp.90-96
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• 2013

As the need of electric motor is increased rapidly throughout our society, the various application fields are created and the service market called robot gets expanded as well as the existing industrial market. Out of those, the joint systems such as humanoid that is servo actuator for position control or all fields which require multi-degree of freedom (multi-DOF) require the development of innovative actuator. It is multi-DOF spherical motor that can replace the existing system in multi-DOF operating system. But, multi-DOF spherical motor that has been researched up to date is at the stage which is insufficient in performance or mechanical practicality yet. Thus, first of all the research results and limitation of the previously-researched guide frame-type spherical motors were analyzed and then the feature of double air-gap spherical motor which was devised to complement that was studied. The double air-gap multi-DOF spherical motor is very suitable spherical motor for system applying which requires the multi-DOF operation due to its simple structure that does not require other guide frame as well as performance improvement due to its special shape which has two air-gaps. So, the validity of the study was verified by designing and producing it with 3D-FEM through the exclusive jig for multi-DOF spherical motor.

• Journal of Mechanical Science and Technology
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• v.19 no.11
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• pp.1975-1987
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• 2005

An input time delay always exists in practical systems. Analysis of the delay phenomenon in a continuous-time domain is sophisticated. It is appropriate to obtain its corresponding discrete-time model for implementation via digital computers. In this paper a new scheme for the discretization of nonlinear systems using Taylor series expansion and the zero-order hold assumption is proposed. The mathematical structure of the new discretization method is analyzed. On the basis of this structure the sampled-data representation of nonlinear systems with time-delayed multi-input is presented. The delayed multi-input general equation has been derived. In particular, the effect of the time-discretization method on key properties of nonlinear control systems, such as equilibrium properties and asymptotic stability, is examined. Additionally, hybrid discretization schemes that result from a combination of the scaling and squaring technique (SST) with the Taylor series expansion are also proposed, especially under conditions of very low sampling rates. Practical issues associated with the selection of the method's parameters to meet CPU time and accuracy requirements, are examined as well. A performance of the proposed method is evaluated using a nonlinear system with time delay maneuvering an automobile.

• IEIE Transactions on Smart Processing and Computing
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• v.4 no.4
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• pp.258-264
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• 2015

The first 77 GHz transceiver that applies a heterodyne structure-based linear frequency modulation-frequency shift keying (LFM-FSK) front-end module (FEM) is presented. An LFM-FSK waveform generator is proposed for the transceiver design to avoid ghost target detection in a multi-target environment. This FEM consists of three parts: a frequency synthesizer, a 77 GHz up/down converter, and a baseband block. The purpose of the FEM is to make an appropriate beat frequency, which will be the key to solving problems in the digital signal processor (DSP). This paper mainly focuses on the most challenging tasks, including generating and conveying the correct transmission waveform in the 77 GHz frequency band to the DSP. A synthesizer test confirmed that the developed module for the signal generator of the LFM-FSK can produce an adequate transmission signal. Additionally, a loop back test confirmed that the output frequency of this module works well. This development will contribute to future progress in integrating a radar module for multi-target detection. By using the LFM-FSK waveform method, this radar transceiver is expected to provide multi-target detection, in contrast to the existing method.

• International Journal of Naval Architecture and Ocean Engineering
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• v.13 no.1
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• pp.163-177
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• 2021

Numerical simulations of the Vortex-Induced Vibration (VIV) about a large-scale flexible pipe subject to shear flow were carried out in this paper. Efficiency verification was performed firstly, validating that the proposed fluid-structure interaction solution strategy is competent in predicting the VIV response. Then, the VIV characteristics related to multi-mode and spanwise hybrid waveform about the flexible pipe attributed to shear flow were investigated. When inflow velocity rises, higher vibration modes are apt to be excited, and the spanwise waveform easily convertes from a standing-wave-dominated status to a hybrid standing-traveling wave status. The multi-mode or even multiple-dominant-mode is prone to occur, that is, the dominant mode is often followed by several apparent subordinate modes with considerable vibration energy. Hence, the shedding frequencies no longer obey Strouhal law, and vibration trajectories become intricate. According to the motion analysis concerning the coupled cross-flow and in-line vibrations, as well as the corresponding wake patterns, a tight coupling interaction exists between the structural deformation and the wake flow behind the flexible pipe. In addition, the evolution of the vortex tube along the pipe span and a strong 3D effect are observed due to the slenderness of the flexible pipe and the variability of the vortex shedding attributed to the shear flow.