• Proceedings of the KIEE Conference
• /
• 2000.07d
• /
• pp.2735-2737
• /
• 2000

In this paper, we deal with modeling and analysis for mobile manipulator systems. In order to avoid the difficulties occurring due to slippage or unevenness of the terrain, we propose the utilization of minimum actuators. In this case, the resulting systems typically possess kinematic redundancies which can be beneficially employed for correcting the position error. A simple PD control method along with kinematic redundancy is employed to recover position errors for trajectory control in task space. Several primary and secondary criteria utilizing kinematic redundancy of the mobile manipulator system are tested through graphic animation.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 1999.05a
• /
• pp.163-169
• /
• 1999

Residual stresses causing stress corrosion cracking (SCC) of thin-walled steam generator U tubes were investigated. The residual stresses were measured by hole drilling methods, and the applied stresses resulting from the internal pressure and the temperature gradient in the steam generator were estimated theoretically. In U-bent regions, the residual stresses at extrados were induced with compressive stress(-), and its maximum value reached -319MPa in axial direction at $\phi$= $0^{\circ}$ in position. Maximum tensile residual stress of 170MPa was found to be at the flank side at position of $\phi$= $90^{\circ}$, i.e., at apex region. Hoop stress due to the pressure and temperature differences between primary and secondary side were analyzed to be 76 MPa and 45 MPa, respectively.

• MALSORI
• /
• no.60
• /
• pp.97-108
• /
• 2006

The purpose of this study is to observe how Korean listeners detect a target phoneme with 'Focus' represented by prosodic prominence and question-induced semantic emphasis, and with intonational manipulation. According to the automated phoneme detection task using E-Prime, the Korean listeners detected phoneme targets more rapidly when the target-bearing words were in prominence position and in question-induced position. However, the presence of question-induced semantic emphasis reduced the prominence effect, so two effects interacted: when question-induced emphasis were primarily given as a cue, prominence which was given as secondary cue affected less to fine the new information. Besides, the intonation with manipulation was responded to faster than without manipulation.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.50-53
• /
• 1988

This paper presents an approach to the position control of a robot manipulator by using a self-tuning pole-placement controller with an inverse model. The linearized independent difference equations of manipulator motion are obtained, and the parameters of these models are estimated on line. The controller is composed of two parts, the primary controller obtains desired torques by using an inverse model and the secondary controller computes variational torques on the basis of induced perturbation equations by minimizing a quadratic criterion with a closed-loop pole-placement. Simulation is performed to demonstrate the effectiveness of this approach.

• Proceedings of the Korean Biophysical Society Conference
• /
• 1999.06a
• /
• pp.37-37
• /
• 1999

The influenza A viruses which are the most severe and common among the influenza viruses have 8 segmented RNA genomes Each RNA segment has highly conserved 3' and 5' terminal sequence except a single U\longrightarrowC variation especially in the 4 position of the 3' terminal of the 3 segments encoding own RNA polymerase.(omitted)

• Journal of the Korean Society of Safety
• /
• v.2 no.3
• /
• pp.37-43
• /
• 1987

The combustion process in gas turbine combustor mainly influenced by flow pattern in combustor, and especially the flow pattern near the nozzle and the shape of recirculation zone affect strongly on the flame stabilization, temperature distribution and combustion efficiency in combustor. In this paper, the author has designed and manufactured transparent simplified model combustors on the basis of K. Suzuki's combustor design method to investigate the effects of swirl number and secondary air hold arrays in axial position on the flow characteristics by adopting the tuft method and 5 hole pitot tube.

• Proceedings of the Korean Society of Fisheries Technology Conference
• /
• 2001.05a
• /
• pp.435-436
• /
• 2001

In sand beaches the benthic macrofauna feeding on primary food sources such as detritus and phytoplankton and being prey in turn for top predators such as fishes occupies a key position in the center of food chains. Amphipods are the most productive bentho-pelagic animals (Barnard, 1963) and are commonly consumed by fishes and larger crustaceans (Vetter, 1995). Consequently, amphipods play an important role in energy flow as a trophic link from primary producers to higher consumers(Chiaravalle et al., 1997).

• Journal of Korean Ophthalmic Optics Society
• /
• v.4 no.2
• /
• pp.51-55
• /
• 1999

The eye movement of the eyeball's center of a rotation can represent with the rotation matrix $R_x$, $R_y$, $R_z$ due to a coordinate axis rotation transformation of Cartesian coordinate, and describes of an abduction, an adduction, an elevation, a depression, an intorsion, an extorsion in principle rotation six forms of the eye. The eye movement from primary eye position to tertiary eye position could be composed with the rotation matrix combination, and by the primary rotation of six and the secondary rotation of eight, could be represented with the extrocular muscle of six. The position of the cornea vertex point or pupil point due to the eye movement can describe to transform the rotation matrix of the cartesian coordinate to spherical coordinate$(r,{\theta},{\phi})$.

• The Journal of the Korea Contents Association
• /
• v.4 no.4
• /
• pp.141-152
• /
• 2004

In this paper, we propose the index structure supporting the future position retrievals with efficiently updating continuous positions of moving objects in location based services. For reducing update costs of moving objects, our index structure directly accesses to the leaf node with moving objects using secondary index structure and performs bottom up update when node information is changed. Positions of moving objects are stored in primary index structure. In primary index structure, the split information similar to kd-tree is stored to internal node for increasing node's fanout. And the proposed index structure supports the future position retrievals using velocity of moving objects in the child node.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2017.11a
• /
• pp.199-200
• /
• 2017

In order to meet the international performance requirements for eLoran testbed operation, it is necessary to measure ASF (Additional Secondary Factor) of vessel's route as well as differential correction and the provision using differential Loran (dLoran) station operation. According to HEA (Harbor Entrance and Approach) performance of the IMO, the position accuracy should be within 10meters. Therefore this paper presents the possibility to meet the position accuracy of the IMO HEA through simulation results.