• Publications of The Korean Astronomical Society
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• v.22 no.4
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• pp.103-111
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• 2007

On the formulation frameworks of linearly perturbed spacetime and weak gravitational lensing(WGL) we studied the statistical properties of a bundle of light rays propagating through stochastic gravitational wave background(SGWB). For this we considered the SGWB as tensor perturbations of linearly perturbed Friedmann spacetime. Using the solution of null geodesic deviation equation(NGDE) we related the convergence, shear and rotation deformation spectra of WGL with the strain spectra of SGWB. Adopting the astrophysical and cosmological SGWB strain spectra which were already known we investigated the approximated spectral forms of convergence, shear and rotation of WGL.

• Journal of the Korea Institute of Military Science and Technology
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• v.18 no.4
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• pp.451-458
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• 2015

This paper handles self-collision avoidance for a rescue robot with redundant manipulators. In order to detect all available self-collisions in advance, minimum distances between arbitrary robot parts should be monitored in real-time. For the minimum distance estimation, we suggest a modified method from a previous skeleton algorithm which has less computation burden and realize collision avoidance based on a potential function using the proposed algorithm. The resultant command by collision avoidance should not disturb a given primary task, so null-space of joint solution from a CLIK is utilized for collision avoidance by a gradient projection method.