• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2066-2071
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• 2003

In this paper, we identify the isotropic configurations of an omnidirectional mobile robot with three caster wheels, depending on the selection of actuated joints. First, We obtain the kinematic model of a caster wheeled omnidirectional mobile robot(COMR) without matrix inversion. For a given task velocity, the instantaneous motion of each wheel is decomposed into two orthogonal instantaneous motions of the steering and the rotating joints. Second, with the characteristic length introduced, we derive the isotropy conditions of a COMR having $n({\ge}3)$ actuated joints, which are imposed on two Jacobian matrices, $A{\in}R^{n{\times}3}$ and $B{\in}R^{6{\times}6}$. Under the condition of $B{\propto}I_6$, three caster wheels should have identical structure with the length of the steering link equal to the radius of the wheel. Third, depending on the selection of actuated joints, we derive the conditions for $A^t$ $A{\propto}I_3$ and identify the isotropic configurations of a COMR. All possible actuation sets with different number of actuated joints and different combination of rotating and steering joins are considered.

• Korean Journal of Geomatics
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• v.2 no.2
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• pp.131-137
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• 2002

The digital photogrammetric products have been increasingly used as an accurate foundation for representing information associated with infrastructure management. The technological advances in merging raster and vector data within the framework of GIS have allowed for the inclusion of DTMs and digital orthophotos with vector data and its associated attributes. This study addresses not only generating DEMs and digital orthophotos but producing three dimensional building models from aerial photos of an urban area by employing the digital photogrammetric technology. DEMs and digital orthophotos were automatically generated through the process of orientations, image matching and so on, and then the practical problems, which must be solved especially in applying to urban areas, were considered. The accuracy of produced digital orthophotos was derived by using check points. Also three dimensional visualization imagery, which is useful in the landform analysis, and 3D building models were produced. Digital photogrammetric products would be used widely not only as GIS framework data layers by using the GIS link function which links attribute and image information in the database for applying to infrastructure management and but as geospatial data for especially 3D GIS in urban areas.

• Proceedings of the KIPE Conference
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• 2012.07a
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• pp.359-360
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• 2012

This paper proposes a scheme of auto-tuning fuzzy PI controller and input voltage feed forward to control the output voltage of a three-phase Z-source inverter (ZSI). The proposed scheme adjusts the ts (Kp and Ki) in real time in order to find the most suitable Kp and Ki for PI controller and to simplify the controller design. The proposed scheme is verified the validity by experiment and co-simulation in PSIM and MATLAB/SIMULINK both load step change and input DC voltage variation in Z-source inverter, and has compared with the conventional PID control scheme. The experiment results involve of three-phase output voltage, Z-network capacitor voltage and dc-link peak voltage value. By those analysis and comparison, the availability of the proposed method in output voltage transient response quality improving has been verified. Compared with conventional PID method, the proposed method showed a more effective and robust control performance for coping with the severe disturbance conditions.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.8
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• pp.79-88
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• 2009

This paper presents the analytical stiffness analysis method for a low-DOF planar parallel manipulator. An n-DOF (n<3) planar parallel manipulator to which 1- or 2-DOF serial mechanism is connected in series may be used as a positioning device in planar tasks requring high payload and high speed. Differently from a 3-DOF planar parallel manipulator, an n-DOF planar parallel counterpart may be subject to constraint forces as well as actuation forces. Using the theory of reciprocal screws, the planar stiffness is modeled such that the moving platform is supported by three springs related to the reciprocal screws of actuations (n) and constraints (3-n). Then, the spring constants can be precisely determined by modeling the compliances of joints and links in serial chains. Finally, the stiffness of two kinds of 2-DOF planar parallel manipulators with simple and complex springs is analyzed. In order to show the effectiveness of the suggested method, the results of analytical stiffness analysis are compared to those of numerical stiffness analysis by using ADAMS.

• Journal of information and communication convergence engineering
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• v.6 no.3
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• pp.323-326
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• 2008

Data Envelopment Analysis (DEA) is a theoretically sound framework for performance analysis that offers many advantages over traditional methods such as performance ratios and regression analysis. Largely the result of multidisciplinary research during the last three decades in economics, engineering and management, DEA is best described as an effective new way of visualizing and analyzing performance data. Besides, overseas information technology companies have aggressively tried to enter the domestic market. In the age of globalization and high competition, it is imperative that the system integration (SI) companies need to introduce the performance evaluation models of SI projects, including Capability Maturity Model and Software Process Improvement and Capability Determination, to gain a competitive advantage. Therefore, it makes our research regarding evaluation of SI projects very opportune. The purpose of the study is not only to evaluate efficiency of each project by DEA but also to gain insight into various factors such as project complexity, team members' man-months structure, and process index(project management index) that link to the projects performance.

• Safety and Health at Work
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• v.1 no.1
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• pp.43-50
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• 2010

Objectives: The objective of this study was to investigate the effect of chain installation condition on stress distribution that could eventually cause disastrous failure from sudden deformation and geometric rupture. Methods: Fractographic method used for the failed chain indicates that over-stress was considered as the root cause of failure. 3D modeling and finite element analysis for the chain, used in a crane hook, were performed with a three-dimensional interactive application program, CATIA, commercial finite element analysis and computational fluid dynamic software, ANSYS. Results: The results showed that the state of stress was changed depending on the initial position of the chain that was installed in the hook. Especially, the magnitude of the stress was strongly affected by the bending forces, which are 2.5 times greater (under the simulation condition currently investigated) than that from the plain tensile load. Also, it was noted that the change of load state is strongly related to the failure of parts. The chain can hold an ultimate load of about 8 tons with only the tensile load acting on it. Conclusion: The conclusions of this research clearly showed that a reduction of the loss from similar incidents can be achieved when an operator properly handles the installation of the chain.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.4 no.3
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• pp.428-451
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• 2010

Traffic matrix-based anomaly detection and DDoS attacks detection in networks are research focus in the network security and traffic measurement community. In this paper, firstly, a new type of unidirectional flow called IF flow is proposed. Merits and features of IF flows are analyzed in detail and then two efficient methods are introduced in our DDoS attacks detection and evaluation scheme. The first method uses residual variance ratio to detect DDoS attacks after Recursive Least Square (RLS) filter is applied to predict IF flows. The second method uses generalized likelihood ratio (GLR) statistical test to detect DDoS attacks after a Kalman filter is applied to estimate IF flows. Based on the two complementary methods, an evaluation formula is proposed to assess the seriousness of current DDoS attacks on router ports. Furthermore, the sensitivity of three types of traffic (IF flow, input link and output link) to DDoS attacks is analyzed and compared. Experiments show that IF flow has more power to expose anomaly than the other two types of traffic. Finally, two proposed methods are compared in terms of detection rate, processing speed, etc., and also compared in detail with Principal Component Analysis (PCA) and Cumulative Sum (CUSUM) methods. The results demonstrate that adaptive filter methods have higher detection rate, lower false alarm rate and smaller detection lag time.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.9
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• pp.3335-3356
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• 2015

In this paper, we analyze the connectivity of cognitive radio ad-hoc networks in a log-normal shadow fading environment. Considering secondary user and primary user's locations and primary user's active state are randomly distributed according to a homogeneous Poisson process and taking into account the spectrum sensing efficiency of secondary user, we derive mathematical models to investigate the connectivity of cognitive radio ad-hoc networks in three aspects and compare with the connectivity of ad-hoc networks. First, from the viewpoint of a secondary user, we study the communication probability of that secondary user. Second, we examine the possibility that two secondary users can establish a direct communication link between them. Finally, we extend to the case of finding the probability that two arbitrary secondary users can communicate via multi-hop path. We verify the correctness of our analytical approach by comparing with simulations. The numerical results show that in cognitive radio ad-hoc networks, high fading variance helps to remarkably improve connectivity behavior in the same condition of secondary user's density and primary user's average active rate. Furthermore, the impact of shadowing on wireless connection probability dominates that of primary user's average active rate. Finally, the spectrum sensing efficiency of secondary user significantly impacts the connectivity features. The analysis in this paper provides an efficient way for system designers to characterize and optimize the connectivity of cognitive radio ad-hoc networks in practical wireless environment.

• Nuclear Engineering and Technology
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• v.54 no.1
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• pp.97-109
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• 2022

Multi-dimensional coupling analysis is a research hot spot in nuclear reactor thermal hydraulic study and both the full-scale system transient response and local key three-dimensional thermal hydraulic phenomenon could be obtained simultaneously, which can achieve the balance between efficiency and accuracy in the numerical simulation of nuclear reactor. A one-dimensional to three-dimensional (1D-3D) coupling platform for the nuclear reactor multi-dimensional analysis is developed by XJTU-NuTheL (Nuclear Thermal-hydraulic Laboratory at Xi'an Jiaotong University) based on the CFD code Fluent and system code RELAP5 through the Dynamic Link Library (DLL) technology and Fluent user-defined functions (UDF). In this paper, the International Standard Problem (ISP) No. 43 is selected as the benchmark and the rapid boron dilution transient in the nuclear reactor is studied with the coupling code. The code validation is conducted first and the numerical simulation results show good agreement with the experimental data. The three-dimensional flow and temperature fields in the downcomer are analyzed in detail during the transient scenarios. The strong reverse flow is observed beneath the inlet cold leg, causing the de-borated water slug to mainly diffuse in the circumferential direction. The deviations between the experimental data and the transients predicted by the coupling code are also discussed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.2 s.233
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• pp.176-187
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• 2005

This paper presents an evaluation of joint configurations of a robotic finger based on kinematic analysis. The evaluation is based on an assumption that the current control methods for the fingers require that the contact state specified by the motion planner be maintained during manipulation. Various finger-joint configurations have been evaluated for different contact motions. In the kinematic analysis, the surface of the manipulated object was represented by B-spline surface and the surface of the finger was represented by cylinders and a half ellipsoid. Three types of contact motion, namely, 1) pure rolling, 2) twist-roiling, and 3) slide-twist-rolling are assumed in this analysis. The finger-joint configuration best suited for manipulative motion is determined by the dimension of manipulation workspace. The evaluation has shown that the human-like fingers are suitable for maintaining twist-rolling and slide-twist-rolling but not for pure rolling. A finger with roll joint at its fingertip link, which is different from human fingers, proved to be better for pure rolling motion because it can accommodate sideway motions of the object. Several kinds of useful finger-joint configurations suited for manipulating objects by fingertip surface are proposed.