• Journal of the Korean Society for Precision Engineering
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• v.21 no.7
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• pp.107-114
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• 2004

This paper presents a two-time scale approach for vibration reduction of a high speed Cartesian manipulator. High speed manipulators would be subject to mechanical vibration due to high inertia forces acting on linkages. To achieve high throughput capability, such motion induced vibration would have to be damped quickly, to reduce settling time of the manipulator end-effector. This paper develops a two-time scale model fer a structurally-flexible Cartesian manipulator. Based on the two-time scale model, a composite controller consisting of a computed torque method for the slow time-scale rigid body subsystem, and a linear quadratic state-feedback regulator for the fast time-scale flexible subsystem, is designed. Simulation results show that the proposed two time-scale controller yields good performance in attenuating structural vibration arising due to excitation from inertial forces.

• Journal of Positioning, Navigation, and Timing
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• v.10 no.3
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• pp.197-206
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• 2021

We compared two typical ensemble time scale algorithms; AT1 and Kalman filter. Four commercial atomic clocks composed of two hydrogen masers and two cesium atomic clocks provided measurement data to the algorithms. The allocation of relative weights to the clocks is important to generate a stable ensemble time. A 30 day-average-weight model, which was obtained from the average Allan variance of each clock, was applied to the AT1 algorithm. For the reduced Kalman filter (Kred) algorithm, we gave the same weights to the two hydrogen masers. We also compared the frequency stabilities of the outcome from the algorithms when the frequency offsets and/or the frequency drift offsets estimated by the algorithms were corrected or not corrected by the KRISS-made primary frequency standard, KRISS-F1. We found that the Kred algorithm is more effective to generate a stable ensemble time scale in the long-term, and the algorithm also generates much enhanced short-term stability when the frequency offset is used for the calculation of the Allan deviation instead of the phase offset.

• Journal of Korean Academy of Nursing
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• v.17 no.1
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• pp.33-43
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• 1987

This study was to explore the level of self-actualization of the students in Korea Air and Correspondence University. The study subjects consisted of 507 students who visited the counseling center for taking advices to several psychosocial problems due to distance education through nursing counseling. The self actualization of the subjects evaluated by the self-actualization Inventory standardized by Kim and Lee in Korea. It consisted of 130 two-choice comparative value and behavior judgements. The items also consisted of two basic scales: one is inner directed scale (107 items) and the other is time competence (23 items) which included eight subscales, each of which measures a conceptually important element of self-actualization. Analysis of finding was as follows: 1) The self-actualization mean score of the total subjects was characterized by normal value within normal range of scale. The highest subscale score was NC scale: the lowest scale was EX scale. 2) The mean score of time competence scale of female student was higher than male student's time competence scale. 3) There was no significant differences in self aclualization among 4 groups in age. 4) There was also no significant differences in self-actualization between the group taken one time nursing counseling and the group taken two more times nursing counseling. 5) The problems of Job, learning, personality and further study, significantly had effects on the score of self-actualization level.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.10
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• pp.1287-1292
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• 1999

In large-scale systems, we frequently encounter the time-delay and the uncertainty, and these should be considered in the design of controller because these are the source of the degradation of the system performance and instability of system. In this paper, we consider the robust stability of the linear large scale systems with the uncertainties and the time-delays. The considered uncertainties are both structured uncertainty and the unstructured uncertainty. Also, the considered time-delays are time-varying having finite time derivative limits. Based on the Lyapunov theorem and the linear matrix inequality(LMI) technique, we present two sufficient conditions that guarantee the robust stability of the system. The conditions are expressed as the LMI forms which can be easily checked their feasibility by using the well-known LMI control toolbox. Finally, we show by two examples that our results are less conservative than the previous results.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.198-202
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• 1987

The regulator problem can be considered as some impulsive disturbance rejection one. In this point of view, the rate of decay is one of important factors for regulation and depends on how negative the real parts of the eigenvalues of closed-loop system. The algorithm that the closed-loop system has eigenvalues lying within a vertical. strip is useful for rapid disturbance rejection. This paper presents a design method for a linear quadratic regulator of two-time scale system with eigenvalues in a vertical strip by use of time-scale separation property.

• Journal of Astronomy and Space Sciences
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• v.34 no.1
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• pp.45-54
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• 2017

This study examines the scale unique instruments used for astronomical observation during the Joseon dynasty. The Small Simplified Armillary Sphere (小簡儀, So-ganui) and the Sun-and-Stars Time-Determining Instrument (日星定時儀, Ilseong-jeongsi-ui) are minimized astronomical instruments, which can be characterized, respectively, as an observational instrument and a clock, and were influenced by the Simplified Armilla (簡儀, Jianyi) of the Yuan dynasty. These two instruments were equipped with several rings, and the rings of one were similar both in size and in scale to those of the other. Using the classic method of drawing the scale on the circumference of a ring, we analyze the scales of the Small Simplified Armillary Sphere and the Sun-and-Stars Time-Determining Instrument. Like the scale feature of the Simplified Armilla, we find that these two instruments selected the specific circumference which can be drawn by two kinds of scales. If Joseon's astronomical instruments is applied by the dual scale drawing on one circumference, we suggest that 3.14 was used as the ratio of the circumference of circle, not 3 like China, when the ring's size was calculated in that time. From the size of Hundred-interval disk of the extant Simplified Sundial in Korea, we make a conclusion that the three rings' diameter of the Sun-and-Stars Time-Determining Instrument described in the Sejiong Sillok (世宗實錄, Veritable Records of the King Sejong) refers to that of the middle circle of every ring, not the outer circle. As analyzing the degree of 28 lunar lodges (lunar mansions) in the equator written by Chiljeongsan-naepyeon (七政算內篇, the Inner Volume of Calculation of the Motions of the Seven Celestial Determinants), we also obtain the result that the scale of the Celestial-circumference-degree in the Small Simplified Armillary Sphere was made with a scale error about 0.1 du in root mean square (RMS).

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.550-553
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• 1986

This paper presents a procedure for the time-scale separation and a design method for the sub-optimal composite regulator and Kalman filter of the large-scale discrete stochastic system with two time-scale properties. Provided that the fast sub-system is asymptotically stable, the reduced-order regulator and Kalman filter for the slow sub-system with dominant modes is designed as a sub-optimal regulator for the system.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.18 no.3
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• pp.551-569
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• 2024

With the rapid development of electric vehicles (EVs) industry, EV charging service becomes more and more important. Especially, in the case of suddenly drop of air temperature or open holidays that large-scale EVs seeking for charging devices (CDs) in a short time. In such scenario, inefficient EV charging scheduling algorithm might lead to a bad service quality, for example, long queueing times for EVs and unreasonable idling time for charging devices. To deal with this issue, this paper propose a Deep-Q-Network (DQN) based two-stage scheduling method for the large-scale EVs charging service. Fine-grained states with two delicate neural networks are proposed to optimize the sequencing of EVs and charging station (CS) arrangement. Two efficient algorithms are presented to obtain the optimal EVs charging scheduling scheme for large-scale EVs charging demand. Three case studies show the superiority of our proposal, in terms of a high service quality (minimized average queuing time of EVs and maximized charging performance at both EV and CS sides) and achieve greater scheduling efficiency. The code and data are available at THE CODE AND DATA.

• Journal of applied mathematics & informatics
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• v.11 no.1_2
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• pp.215-241
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• 2003

In this paper, solute transport in heterogeneous aquifers using a modified Fokker-Planck equation (MFPE) is investigated. This newly developed mathematical model is characterised with a time-, scale-dependent dispersivity. A two-dimensional finite volume quadrilateral mesh method (FVQMM) based on a quadrilateral background interpolation mesh is developed for analysing the model. The FVQMM transforms the coupled non-linear partial differential equations into a system of differential equations, which is solved using backward differentiation formulae of order one through five in order to advance the solution in time. Three examples are presented to demonstrate the model verification and utility. Henry's classic benchmark problem is used to show that the MFPE captures significant features of transport phenomena in heterogeneous porous media including enhanced transport of salt in the upper layer due to its parameters that represent the dependence of transport processes on scale and time. The time and scale effects are investigated. Numerical results are compared with published results on the some problems.

• Smart Structures and Systems
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• v.14 no.5
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• pp.831-845
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• 2014

This paper proposed a discrete wavelet transform based method for time-varying physical parameter identification of shear type structures. The time-varying physical parameters are dispersed and expanded at multi-scale as profile and detail signal using discrete wavelet basis. To reduce the number of unknown quantity, the wavelet coefficients that reflect the detail signal are ignored by setting as zero value. Consequently, the time-varying parameter can be approximately estimated only using the scale coefficients that reflect the profile signal, and the identification task is transformed to an equivalent time-invariant scale coefficient estimation. The time-invariant scale coefficients can be simply estimated using regular least-squares methods, and then the original time-varying physical parameters can be reconstructed by using the identified time-invariant scale coefficients. To reduce the influence of the ill-posed problem of equation resolving caused by noise, the Tikhonov regularization method instead of regular least-squares method is used in the paper to estimate the scale coefficients. A two-story shear type frame structure with time-varying stiffness and damping are simulated to validate the effectiveness and accuracy of the proposed method. It is demonstrated that the identified time-varying stiffness is with a good accuracy, while the identified damping is sensitive to noise.