• 전자공학회논문지S
• /
• 제34S권2호
• /
• pp.63-70
• /
• 1997

This paper proposes a new algorithm for recognizing polyhedral objects using a single 2-D image. It is base don a new representation scheme having two level hierarchey. In the lower level, geometrical features of each primitive surface are represented using their signatures and the variation of signature due to rotation is represented suing the rotation map. In the higher level, topological features are represented in the inter-surface description table(SDT). Based on the proposed representaton scheme, loer level database searched to find a matching primitive surface. The srotation map determines the degree of rotation as well as the matchness. If all surfaces in a test object find their matching primitive surfaces, its structural information is compared with the SDTs of object models. If primitive surfaces of a test object equal to tha tof certain model and satisfy inter-surfaces relationship in SDT, a test object is recognized as the model.

• Journal of Ship and Ocean Technology
• /
• 제6권2호
• /
• pp.37-50
• /
• 2002

In the present numerical simulation of viscous free surface flow around a ship, two-fluids in-compressible Reynolds-averaged Navier-Stokes equations with the standard $\textsc{k}-\varepsilon$turbulence model are discretized on a regular grid by using a finite volume method. A local level-set method is introduced for capturing the free surface movement and the influence of the viscous layer and dynamic boundary condition of the free surface are implicitly considered. Partial differential equations in the level-set method are discretized with second order ENO scheme and explicit Euler scheme in the space and time integration, respectively. The computational results for the Series-60 model with $C_B=0.6$ show a good agreement with the experimental data, but more validation studies for commercial complicated hull forms are necessary.

• 제어로봇시스템학회논문지
• /
• 제6권2호
• /
• pp.190-196
• /
• 2000

A hybrid position/force control scheme to regulate the force and position by dual arms is proposed where two arms are treated as one rm in a kinematic viewpoint. The force error calculated from the information of two force/torque sensors attached to the end of each arm is transferred to minimum configuration space coordinates and then is distributed to total system joint coordinates, The position adjustment at the total con-figuration coordinates is computed based on the effective compliance matrix with respect to total joint coordinates which is obtained by coordinate transformation between the task coordinates and the total joint coordinates. The proposed scheme is applied to sawing task. When the trajectory of the saw is planned to follow a line in a horizontal plane 2 position parameters are to be controlled(i.e., two translational positions) Also a certain level of contact force has to be controlled along the vertical direction(i.e. minus z-direction) not to loose the contact with the object to be sawn. We experimentally show that the performance of the velocity and force response are satisfactory. The proposed hybrid control scheme can be applied to arbitrary two cooperating arm system regardless of their kinematic structure and the number of actuated joints.

• Journal of Electrical Engineering and information Science
• /
• 제2권6호
• /
• pp.74-81
• /
• 1997

Xcent-Net is a new system network designed to support a clustered SMP called SPAX(Scalable Parallel Architecture based on Xbar) that is being developed by ETRI. It is a duplicated hierarchical crossbar network to provide the connections among 16 clusters of 128 nodes. Xcent-Net is designed as a packet switched, virtual cut-through routed, point-to-point network. Variable length packets contain up to 64 bytes of data. The packets are transmitted via full duplexed, 32-bit wide channels using source synchronous transmission technique. Its plesiochronous clocking scheme eliminates the global clock distribution problem. Two level priority-based round-robin scheme is adopted to resolve the traffic congestion. Clear-to-send mechanism is used as a packet level flow control scheme. Most of functions are built in Xcent router, which is implemented as an ASIC. This paper describes the architecture and the functional features of Xcent-Net and discusses its implementation.

• 한국정보처리학회논문지
• /
• 제1권4호
• /
• pp.490-501
• /
• 1994

본 연구에서는 ATM 네트워크 트래픽 제어에서 사용되는 셀 마킹 기법의 문제점을 제시하고 사용자 레벨의 우선순위를 고려한 확장된 셀 마킹 기법을 제안하였다. 기존 의 트래픽 모니터링 기법에서는 셀의 트래픽 규약 위반 사항만을 가지고 셀의 CLP 비트를 1로 마킹하였다. 이렇게 함으로써 낮은 순위의 셀이 늘어나고, 사용자 레벨의 우선 순위와는 상관없이 셀의 등급이 낮아지게 되었다. 본 연구에서는 FCI 비트와 CLP 비트를 결합하여 3 레벨의 우선 순위 방식을 제안한다. CLP=0인 셀의 레벨을 2 단 계로 구분하였다. 결과적으로 제안한 기법이 기존의 방법보다 높은 순위 셀을 더 많이 보존할 수 있었으며 높은 순위의 셀 손실도 줄일 수 있었다. 또한 제안한 3 레벨에 대 해 두개의 임계차를 갖는 부분 버퍼 공유 기법(PBS : partial buffer sharing)으로 성 능을 분석하였다. 분석 결과 두개의 임계치를 갖는 PBS가 우선 순위없는 기법이나 한 개의 임계치를 가진 PBS 보다 더 효율적인 제어가 가능하였다.

• 조명전기설비학회논문지
• /
• 제22권12호
• /
• pp.64-70
• /
• 2008

종래의 준 랜덤 주파수 캐리어(PRC : Pseudo-Randomized Frequency Carrier) 변조기법을 3상 H-브리지 멀티레벨 인버터(HBML: H-Bridge Multi-Level Inverter)에 적용하는 경우, 스위칭 주파수의 2배 주파수 영역에서 큰 스펙트럼 클러스터가 그대로 존재하는 문제점이 있다. 본 연구에서는 서로 2배의 주파수 비율을 갖는 2개의 고정주파수 삼각파 캐리어와 3단계 멀티플렉서(MUX : Multiplexer)를 이용하여 종래의 PRC기법의 고조파 스펙트럼 확산 효과를 개선하였다. 제안된 기법은 1.5[kw]급 3상 HBML인버터 구동시스템에 적용하였으며, 종전의 방법과 제안된 방법의 전압 및 전류 고조파 스펙트럼을 비교 검토하였다.

• 한국통신학회논문지
• /
• 제35권5B호
• /
• pp.721-733
• /
• 2010

본 논문에서는 군 MANET 환경에서 작전에 따라 단말들이 그룹으로 이동하는 경우를 고려하여, 효과적으로 메시지를 전달할 수 있는 확장 가능 콘텐트 기반 라우팅 기법을 제안한다. 제안하는 기법은 Publish/Subscribe 모델에 기반한 콘텐트 라우팅 기법이다. 노드들은 자신의 위치나 관심에 근거하여 클러스터를 형성하게 된다. 제안하는 기법에서는 다단계로 포개지는 구조의 클러스터 구성을 허용한다. 각 노드는 클러스터 헤드에게 자신의 특정콘텐트에 대한 관심을 알리고, 클러스터 헤드는 이를 종합하여 이웃 클러스터 헤드에게 전달한다. 데이터는 관심이 전달된 역방향 경로로 클러스터 헤드를 거쳐 개별 단말에게까지 전달된다. 시뮬레이션을 통해 기존의 MANET 환경에서 사용했던 콘텐트 기반 라우팅 기법과 본 논문에서 제안한 기법의 성능을 비교 분석한다. 제안한 기법은 노드 수가 증가하더라도 기존 기법에 비해 네트워크의 제어 메시지 부담이 크지 않으며, 특히 그룹 이동성을 가질 경우 기존 기법에 비해 메시지 전달율이 높다.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1997년도 추계학술대회 논문집
• /
• pp.214-219
• /
• 1997

We propose a new scheme of high-resolution heterodyne interferometer that employs the two-axial mode He-Ne laser with an inter-mode beat frequency of 600-1000 MHz. An electronic RF-heterodyne circuit lowers the beat frequency down to 5 MHz, so that the phase change of the interferometer output is precisely measured with a displacement resolution of 0.1 nanometer without significant loss of dynamic bandwidth. A thermal control scheme is adopted to stabilize the cavity length with aims to suppress frequency drifts caused by the phenomena of frequency pulling and polarization anisotropy of the two-axial mode laser to a stability level of 2 parts in $10^9$. The two-axial mode HeNe laser yields a high output power of 2.0 mW, whlch allows us to perform multiple measurements of up to 10 machine axes simultaneously.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.743-746
• /
• 1996

A hybrid control scheme to regulate the force and position by dual arms is proposed, where two arms are treated as one arm in a kinematic viewpoint. Our approach is different from other hybrid control approaches which consider robot dynamics, in the sense that we employ a purely kinematic based approach for hybrid control, with regard to the nature of position-controlled industrial robots. The proposed scheme is applied to sawing task. In the sawing task, the trajectory of the saw grasped by dual arms is planned in an offline fashion. When the trajectory of the saw is planned to follow a line in a horizontal plane, 3 position parameters are to be controlled(i.e, two translational positions and one rotational position). And a certain level of contact force has to be controlled along the vertical direction(i.e., minus z-direction) not to loose the contact with the object to be sawn. Typical feature of sawing task is that the contact position where the force control is to be performed is continuously changing. Therefore, the kinematic mapping between the force controlled position and the joint actuators has to be updated continuously. The effectiveness of the proposed control scheme is experimentally demonstrated. The proposed hybrid control scheme can be applied to arbitrary dual arm systems, regardless of their kinematic structure and the number of actuated joints.

• Ocean and Polar Research
• /
• 제35권3호
• /
• pp.249-258
• /
• 2013

Vertical and horizontal mixing processes in the ocean mixed layer determine sea surface temperature and temperature variability. Accordingly, simulating these processes properly is crucial in order to obtain more accurate climate simulations and more reliable future projections using an ocean general circulation model (OGCM). In this study, by using Modular Ocean Model version 4 (MOM4) developed by Geophysical Fluid Dynamics Laboratory, the upper ocean temperature and mixed layer depth were simulated with two different vertical mixing schemes that are most widely used and then compared. The resultant differences were analyzed to understand the underlying mechanism, especially in the Tropical Pacific Ocean where the differences appeared to be the greatest. One of the schemes was the so-called KPP scheme that uses K-Profile parameterization with nonlocal vertical mixing and the other was the N scheme that was rather recently developed based on a second-order turbulence closure. In the equatorial Pacific, the N scheme simulates the mixed layer at a deeper level than the KPP scheme. One of the reasons is that the total vertical diffusivity coefficient simulated with the N scheme is ten times larger, at maximum, in the surface layer compared to the KPP scheme. Another reason is that the zonal current simulated with the N scheme peaks at a deeper ocean level than the KPP scheme, which indicates that the vertical shear was simulated on a larger scale by the N scheme and it enhanced the mixed layer depth. It is notable that while the N scheme simulates a deeper mixed layer in the equatorial Pacific compared to the KPP scheme, the sea surface temperature (SST) simulated with the N scheme was cooler in the central Pacific and warmer in the eastern Pacific. We postulated that the reason for this is that in the central Pacific atmospheric forcing plays an important role in determining SST and so does a strong upwelling in the eastern Pacific. In conclusion, what determines SST is crucial in interpreting the relationship between SST and mixed layer depth.