• Journal of Institute of Control, Robotics and Systems
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• v.6 no.3
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• pp.317-328
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• 2000

This paper presents an effective approach to collision-free motion planning of a robot in the work-space including time-varying obstacles. The free arc is defined as a set composed of the configuration points of the robot satisfying collision-free motion constraint at each sampling time. We represent this free arc with respect to the new coordinate frame centered at the goal configuration and there for the collision-free path satisfying motion constraint is obtained by connecting the configuration points of the free arc at each sampling mined from the sequence of free arcs the optimality is determined by the performance index. Therefore the complicated collision-free motion planning problem of a robot is transformed to a simplified SUB_Optimal Collision Avoidance Problem(SOCAP). We analyze the completeness of the proposed approach and show that it is partly guaranteed using the backward motion. Computational complexity of our approach is analyzed theoretically and practical computation time is compared with that of the other method. Simulation results for two cally and practical computation time is compared with that of the other method. Simulation results for two SCARA robot manipulators are presented to verify the efficacy of the proposed method.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.12 no.1
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• pp.5-11
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• 2002

Active vibration control of intelligent laminated composite plates is performed experimental1y Laminated composite place is modeled by the system identification method. For the system identification process, the laminated composite place is excited by two piezoelectric actuators with PRBS signals. At the same time, the displacement of the laminated composite plate is measured by a gap sensor. From these excited PRBS signals and the measured displacement sequence, system parameters of the laminated composite plate are estimated using a recursive prediction error method. Model of the laminated composite plate with two piezoeletric actuators is assumed to be the form of ARMAX. From the estimated ARHMAX model, a state space equation of the observable canonical form is obtained. With this state space equation, a controller and an observer for active vibration control is designed using the optimal control method. Controller and observer are implemented on a digital system. Experiments on the vibration control are Performed with changing the outer layer fiber orientation of intelligent composite plates.

• Proceedings of the KSMRM Conference
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• 2003.10a
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• pp.45-45
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• 2003

To evaluate remodeling of infarcted myocardium with contrast-enhanced MRI (co-MRI) at true end-diastole (ED) MRI was performed with a Gyroscan Intera (1.5 Tesla, Philips, Netherlands) in 13 patients with acute subendocardial myocardial infarction. The First exam was done 0-15 days (mean 5.2days) after symptom onset and the second exam 28-88days (mean 49 days) after the first exam. Ce-MRI encompassing the entire left ventricle was performed with a multi-shot, turbo-field-echo, breath-hold sequence and a non-selective, inversion prepulse 10 minutes after the intravenous injection of Gd-DTPA at a dose of 0.2 mmol/kg body weight. To allow the long TD, ECG synchronization should use two RR-intervals for one acquisition of a segment of k-space by setting the heart rate to half that of the true heart rate. Trigger delay time (TD) was adjusted to the RR-interval for true end-diastolic imaging. The other typical parameters were TR=5.4ms, TE=1.6ms, voxel size=1.37${\times}$1.37${\times}$10mm, k-space data segmented into 8 segments with 32 lines of segment per two cycles over 16 cardiac circles. The thickness of hyperenhanced myocardium and epicardially nonenhanced myocardium were followed.

• Proceedings of the KSMRM Conference
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• 2003.10a
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• pp.92-92
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• 2003

To evaluate remodeling of infarcted myocardium with contrast-enhanced MRI (co-MRI) at true end-diastole (ED) MRI was performed with a Gyroscan Intera (1.5 Tesla, Philips, Netherlands) in 13 patients with acute subendocardial myocardial infarction. The First exam was done 0-15 days (mean 5.2days) after symptom onset and the second exam 28-88days (mean 49 days) after the first exam. Ce-MRI encompassing the entire left ventricle was peformed with a multi-shot, turbo-field-echo, breath-hold sequence and a non-selective, inversion prepulse 10 minutes after the intravenous injection of Gd-DTPA at a dose of 0.2 mmol/kg body weight. To allow the long TD, ECG synchronization should use two RR-intervals for one acquisition of a segment of k-space by setting the heart rate to half that of the true heart rate. Trigger delay time (TD) was adjusted to the RR-interval for true end-diastolic imaging. The other typical parameters were TR=5.4ms, TE=1.6ms, voxel size=1.37$\times$1.37$\times$10mm, k-space data segmented into 8 segments with 32 lines of segment per two cycles over 16 cardiac cycles. The thickness of hyperenhanced myocardium and epicardially nonenhanced myocardium were followed.

• Journal of Korean Tunnelling and Underground Space Association
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• v.9 no.2
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• pp.99-107
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• 2007

A method was suggested by You et al. (2000) to calculate safety factor of a tunnel based on numerical analysis with the shear strength reduction technique. In the method, the shotcrete is assumed to fail when its stress exceeds the allowable stress. The proposed method had been steadily developed by You et al. (2005) and Han et al. (2006). In this study, the previous routine was corrected so that tunnel construction sequences could be considered in calculating the safety factor of a tunnel. In addition, a proper way to model shotcrete is to be suggested by comparing with the previous studies.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2002.11a
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• pp.127-132
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• 2002

This paper proposes a sensor-fusion technique where the data sets for the previous moments are properly transformed and fused into the current data sets to enable accurate measurement, such as, distance to an obstacle and location of the service robot itself. In the conventional fusion schemes, the measurement is dependent on the current data sets. As the results, more of sensors are required to measure a certain physical parameter or to improve the accuracy of the measurement. However, in this approach, instead of adding more sensors to the system the temporal sequence of the data sets are stored and utilized for the measurement improvement. Theoretical basis is illustrated by examples and the effectiveness is proved through the simulations. finally, the new space and time sensor fusion (STSF) scheme is applied to the control of a mobile robot in an unstructured environment as well as structured environment.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.12 no.4
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• pp.347-356
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• 1987

This paper is to propose a new line code suitable for a high speed unipolar pulse transmission system, such as a high speed optical digital transmission system. The original information speed can be converted into the transmission speed $\frac{(m+1)}{m}$ by the speed converter. Then this code, named mBiZ code, is generated by means of an Exclusive NOR between the bit stream inserted a space into every m bits and the bit stream delayed by the time slot allocated a single bit at the output coded sequence. Therefore, a mBiZ code can reduce a redundancy in the line code for transmission and its conversion circuits can be devised easily. The mBiZ code can also suppress undesirable long consecuitive identical digits and make line code balance in the mark and space ratio. Therefore, high frequency and low frequency components in power spectrum of a mBiZ code can be suppessed.

• Journal of Astronomy and Space Sciences
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• v.14 no.2
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• pp.320-329
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• 1997

A solar radio spectrograph for monitoring solar radio emission was installed at Ichon branch of Radio Research Laboratory in 1995. The spectrograph consists of three different antennas to sweep a wide band of frequencies in the range of 30MHz~2500MHz. We have developed the operating software for the acquisition and the analysis of solar radio data obtained by solar radiospectrograph in order to carry out active solar radio observational studies. It was found that by using our software, we could have very good solar radio data for a sequence of three TYPE III bursts observed on 4 Nov. 1997. In this paper, we show the radio spectrograph and the result of the observation by its operating software.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.6
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• pp.484-491
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• 2016

The purpose of this development is weight reduction of hollow type steel torque bar by changing the material from steel to composite. Structure analysis is executed by the finite element model generated by the structural load condition and geometric structure requirement. According to this analysis result, optimized ply sequence and wall thickness are defined. To simulate analysis result, torsion test for composite torque bar was performed. Throughout the test result, the stiffness and strength requirement of composite torque bar was verified.

• International Journal of Aeronautical and Space Sciences
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• v.12 no.4
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• pp.305-317
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• 2011

This paper presents an overview on flutter boundary prediction in tests which is principally based on a system stability measure, named Jury's stability criterion, defined in the discrete-time domain, accompanied with the use of autoregressive moving-average (AR-MA) representation of a sampled sequence of wing responses excited by continuous air turbulences. Stability parameters applicable to two-, three- and multi-mode systems, that is, the flutter margin for discrete-time systems derived from Jury's criterion are also described. Actual applications of these measures to flutter tests performed in subsonic, transonic and supersonic wind tunnels, not only stationary flutter tests but also a nonstationary one in which the dynamic pressure increased in a fixed rate, are presented. An extension of the concept of nonstationary process approach to an analysis of flutter prediction of a morphing wing for which the instability takes place during the process of structural morphing will also be mentioned. Another extension of analytical approach to a multi-mode aeroelastic system is presented, too. Comparisons between the prediction based on the digital techniques mentioned above and the traditional damping method are given. A future possible application of the system stability approach to flight test will be finally discussed.