• Journal of Drive and Control
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• v.14 no.3
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• pp.25-31
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• 2017

This study presents a methodology for simulating a unified approach that controls interaction force between tool and objective by using a synthesis method of robot interacting control law for stabilizing the transient process of motion. Root locus is used to analyze stabilization of motion deviation characteristics. Based on responses of motion deviation, contact force is derived to satisfy exponential stability and we generate control input with respect to motion trajectories and interaction force. Moreover, simulation is applied to experimental application of a Cartesian robot driven by two stepper motors, and the noise of feedback signals is considered as presence of system inaccuracies, and the unified approach of interaction force control is examined precisely.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.2 s.314
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• pp.1-9
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• 2007

In this paper, new results for perturbation bounds for unified decentralized systems by a unified approach using $\delta$ (defined as a shift operator at unified approach) are presented. Robust stability analysis of unified decentralized system is investigated by new robust stability bound under system uncertainties. New unified stability bounds are developed based on the unified Lyapunov matrix equation. It is shown that the system maintains its stability when new unified bounds are applied. Numerical example is presented to illustrate the proposed analysis.

• Journal of Electrical Engineering and information Science
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• v.3 no.3
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• pp.306-315
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• 1998

In this paper, a unified approach to the H\ulcorner controller design is proposed under the $\delta$-form for both continuous and discrete systems. Most of important basic concepts of H\ulcorner control, such as inner, co-inner, GCARE and GFARE, are reformulated by the unified form. The NLCF(Normalized left Comprime Factor) plant description has been reviewed in the $\delta$-form, and some corresponding results are proposed. And the unified H\ulcorner controller is designed which is based on the McFarlane and Glover{1]. The state-space parameterization for all suboptimal controllers is given under the NLCF model which may not be strictly proper, and the central controller is derived by using the solution to Hankel norm approximation problem[2]. The unified controller is applied to the industrial boiler control problem to exemplify the performance of the controller.

• The Journal of Information Systems
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• v.16 no.1
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• pp.111-133
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• 2007

The purpose of this study is to present a new function point estimation approach for the Object-Oriented information systems. In order to fulfill this purpose, we first review the literature on Function Point Analysis of IFPUG, Unified Modeling Language, and Unified Process. Then, we derive a method and rules for estimating Function Points based on Use Cases and Class Diagrams. To analyze the appropriateness of the proposed approach, we conduct the empirical testing. 143 use cases are collected from production, marketing, distribution, sales, and other areas from the Object-Oriented systems development projects. We compare our new approach with the existing methods that are usually used for traditional systems development projects. The results show that our proposed approach is more appropriate for the Object-Oriented environment.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.12 no.4
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• pp.119-130
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• 2012

Recently, the software system is getting complicating and the customers are requiring faster development. For the traditional sequential approach can't against this problem iterative approach is used instead. For the representative iterative approach, there is RUP (Rational's Unified Process). However, RUP standard practical methods are phase, iteration, and disciplines, sequentially. As a result, there's some waste of manpower when a discipline is executed in an iteration, it has to wait till the next same discipline is executed. There are linear approach, sequential approach, overlapped iteration approach, and time-boxed iteration for the efficient execution of RUP. However, they have some problems such as waste of manpower or difficulty in the project management. This paper suggests a method about how to execute the disciplines as a concurrent type. The concurrent approach prevents the waste of manpower and solves the difficulty of project management.

• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.37-47
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• 2023

This paper introduced how to construct Denavit-Hartenberg (DH) parameters from the Unified Robot Description Format (URDF). URDF is convenient for describing a robot even though the robot is very complex. On the other hand, DH convention is not an easy notation for many novices who want to describe a robot. Therefore, most vendors provide URDF and users prefer to use URDF to describe a robot. However, some controllers or algorithms are based on DH parameters to perform kinematics, dynamics, control, etc. To connect URDF and DH parameters, we present a three-step approach to construct DH parameters from URDF. The first step is to define the joint axis for constructing DH parameters. The second step is constructing DH parameters to define joint character. The final step is constructing DH parameters to define the coordinate frame of the child link. This approach is based on intuitive vector calculation and guarantees the uniqueness of DH parameters. To verify our approach, we applied our approach to a simple one-link robot, a manipulator with 6 DOF, and a quadruped robot with 3 DOF per leg. We verified that our approach worked well based on forward kinematic results.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.581-585
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• 1992

A unified approach to continuous and discrete-time Nehari problems, based on recently developed results by the authors for the one-block and Hankel-norm model reduction problems, is proposed. First, we derive discrete-time solutions in delta domain where numerical error is small and then we show that the derived form becomes same as the continuous form when the sampling interval approaches to zero.

• Proceedings of the KIEE Conference
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• 2002.07a
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• pp.419-421
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• 2002

This paper presents a methodology for the application of Unified Modeling Language (UML) to develop the new load management system. Development of new load management system in competitive electricity market is very complex since it requires too much data of power system. For the efficient and flexible design to develop of new load management system, a UML approach in applied which is composed of a class diagram, package diagram using Rational Rose Unified Process.

• JSTS:Journal of Semiconductor Technology and Science
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• v.13 no.3
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• pp.213-223
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• 2013

A unified channel thermal noise model valid in all operation regions is presented for short channel MOS transistors. It is based on smooth interpolation between weak and strong inversion models and consistent physical model including velocity saturation, channel length modulation, and carrier heating. From testing for noise benchmark and comparing with published noise data, it is shown that the proposed noise model could be useful in simulating the MOSFET channel thermal noise in all operation regions.

• Journal of Korea Society of Industrial Information Systems
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• v.22 no.1
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• pp.23-32
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• 2017

In this paper, We suggest a unified approach for the analysis of discrete-time MAP/G/1 queueing system. Many researches on the D-MAP/G/1 queue have been used different approach to analyze system queue length and waiting time for the same system. Therefore, a unified framework for analyzing a system is necessary from a viewpoint of system design and management. We first derived steady-state workload distribution, and then waiting time and sojourn time are derived by the result of workload analysis. Finally, system queue length distribution is derived with generating function from the sojourn time distribution.