• International Journal of Control, Automation, and Systems
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• v.2 no.1
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• pp.107-117
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• 2004

A new algorithm for planning a collision-free path based on an algebraic curve as well as the concept of path space is developed. Robot path planning has so far been concerned with generating a single collision-free path connecting two specified points in a given robot workspace with appropriate constraints. In this paper, a novel concept of path space (PS) is introduced. A PS is a set of points that represent a connection between two points in Euclidean metric space. A geometry mapping (GM) for the systematic construction of path space is also developed. A GM based on the 2$^{nd}$ order base curve, specifically Bezier curve of order two is investigated for the construction of PS and for collision-free path planning. The Bezier curve of order two consists of three vertices that are the start, S, the goal, G, and the middle vertex. The middle vertex is used to control the shape of the curve, and the origin of the local coordinate (p, $\theta$) is set at the centre of S and G. The extreme locus of the base curve should cover the entire area of actual workspace (AWS). The area defined by the extreme locus of the path is defined as quadratic workspace (QWS). The interference of the path with obstacles creates images in the PS. The clear areas of the PS that are not mapped by obstacle images identify collision-free paths. Hence, the PS approach converts path planning in Euclidean space into a point selection problem in path space. This also makes it possible to impose additional constraints such as determining the shortest path or the safest path in the search of the collision-free path. The QWS GM algorithm is implemented on various computer systems. Simulations are carried out to measure performance of the algorithm and show the execution time in the range of 0.0008 ~ 0.0014 sec.

• Korean Journal of Remote Sensing
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• v.21 no.2
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• pp.145-162
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• 2005

To improve the accuracy of land-cover discrimination in SAB data classification, this paper presents a methodology that includes feature extraction and fusion steps with multi-temporal SAR data. Three features including average backscattering coefficient, temporal variability and coherence are extracted from multi-temporal SAR data by considering the temporal behaviors of backscattering characteristics of SAR sensors. Dempster-Shafer theory of evidence(D-S theory) and fuzzy logic are applied to effectively integrate those features. Especially, a feature-driven heuristic approach to mass function assignment in D-S theory is applied and various fuzzy combination operators are tested in fuzzy logic fusion. As experimental results on a multi-temporal Radarsat-1 data set, the features considered in this paper could provide complementary information and thus effectively discriminated water, paddy and urban areas. However, it was difficult to discriminate forest and dry fields. From an information fusion methodological point of view, the D-S theory and fuzzy combination operators except the fuzzy Max and Algebraic Sum operators showed similar land-cover accuracy statistics.

• Journal of Elementary Mathematics Education in Korea
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• v.21 no.2
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• pp.309-341
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• 2017

This study aims to investigate an approach to teach percentages in elementary mathematics class by analyzing calculating strategies with percentage the students use to solve the percentage tasks and their percentages of correct answers, as well as types of errors with percentages the students make. For this research 182 sixth graders were examined. The instrument test consists of various task types in reference to the previous study; the percentages tasks are divided into algebraic-geometric, part whole-comparison-change and find part-find whole-find percentage tasks. According to the analysis of this study, percentages of correct answers of students with percentage tasks were lower than we expected, approximately 50%. Comparing the percentages of correct answers according to the task types, the part-whole tasks are higher than the comparison and change tasks, the geometric tasks are approximately equal to the algebraic tasks, and the find percentage tasks are higher than the find whole and find part tasks. As to the strategies that students employed, the percentage of using the formal strategy is not much higher than that of using the informal strategy, even after learning the formal strategy. As an insightful approach for teaching percentages, based on the study results, it is suggested to reinforce the meaning of percentage, include various types of the comparison and change tasks, emphasize the informal strategy explicitly using models prior to the formal strategy, and understand the relations among part, whole and percentage throughly in various percentage situations before calculating.

• Transactions of the Korean Society of Mechanical Engineers
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• v.14 no.1
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• pp.172-178
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• 1990

To predict the qualitative performance characteristics of Stirling Engines, an analytical approach to the Ideal Adiabatic Model set up by Urieli et al. has been treated. First, volume variations of both the expansion and the compression cylinders are approximated to piecewise linear function of the crank angle, which make it possible to specify the mass flow direction of each cylinder a priori to solve a set of basic equation. In consequences, an engine cycle can be considered as a combination of 4-type fundamental process. For each process, pressure is obtained as a solution of the algebraic equation. Application of the cyclic steady condition to the whole cycle completes the analysis. Further investigations result in analytical expressions for cyclic heat and work in terms of dependent variables determined from the pressure. The results are expected useful in establishing the preliminary design conditions of Stirling Engines.

• Structural Engineering and Mechanics
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• v.27 no.5
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• pp.625-638
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• 2007

The damage detection process may appear difficult to be implemented for truss structures because not all degrees of freedom in the numerical model can be experimentally measured. In this context, the damage locating vector (DLV) method, introduced by Bernal (2002), is a useful approach because it is effective when operating with an arbitrary number of sensors, a truncated modal basis and multiple damage scenarios, while keeping the calculation in a low level. In addition, the present paper also evaluates the noise influence on the accuracy of the DLV method. In order to verify the DLV behavior under different damages intensities and, mainly, in presence of measurement noise, a parametric study had been carried out. Different excitations as well as damage scenarios are numerically tested in a continuous Warren truss structure subjected to five noise levels with a set of limited measurement sensors. Besides this, it is proposed another way to determine the damage locating vectors in the DLV procedure. The idea is to contribute with an alternative option to solve the problem with a more widespread algebraic method. The original formulation via singular value decomposition (SVD) is replaced by a common solution of an eigenvector-eigenvalue problem. The final results show that the DLV method, enhanced with the alternative solution proposed in this paper, was able to correctly locate the damaged bars, using an output-only system identification procedure, even considering small intensities of damage and moderate noise levels.

• Honam Mathematical Journal
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• v.36 no.3
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• pp.695-706
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• 2014

Various properties of digital covering spaces have been substantially used in studying digital homotopic properties of digital images. In particular, these are so related to the study of a digital fundamental group, a classification of digital images, an automorphism group of a digital covering space and so forth. The goal of the present paper, as a survey article, to speak out utility of digital covering theory. Besides, the present paper recalls that the papers [1, 4, 30] took their own approaches into the study of a digital fundamental group. For instance, they consider the digital fundamental group of the special digital image (X, 4), where X := $SC^{2,8}_4$ which is a simple closed 4-curve with eight elements in $Z^2$, as a group which is isomorphic to an infinite cyclic group such as (Z, +). In spite of this approach, they could not propose any digital topological tools to get the result. Namely, the papers [4, 30] consider a simple closed 4 or 8-curve to be a kind of simple closed curve from the viewpoint of a Hausdorff topological structure, i.e. a continuous analogue induced by an algebraic topological approach. However, in digital topology we need to develop a digital topological tool to calculate a digital fundamental group of a given digital space. Finally, the paper [9] firstly developed the notion of a digital covering space and further, the advanced and simplified version was proposed in [21]. Thus the present paper refers the history and the process of calculating a digital fundamental group by using various tools and some utilities of digital covering spaces. Furthermore, we deal with some parts of the preprint [11] which were not published in a journal (see Theorems 4.3 and 4.4). Finally, the paper suggests an efficient process of the calculation of digital fundamental groups of digital images.

• Journal of Electrical Engineering and Technology
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• v.8 no.6
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• pp.1530-1541
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• 2013

The coexistence and extinction of species are important concepts for biological systems and can be distinguished by an investigation of stability. When determining local stability of nonlinear systems, Lyapunov indirect method based on the Jacobian linearization has been widely employed due to its simplicity. Despite such popularity, it is not applicable to singular systems whose Jacobian has at least one eigenvalue that is equal to zero. In such singular cases, an appropriate Lyapunov function should be sought to determine the stability of systems, which is rather difficult and quite involved. In this paper, we seek for a simple criterion to determine stability of the equilibrium that is located at the boundary of the positive orthant, when one of eigenvalues of the Jacobian is zero. The goal of the paper is to present a generalized condition for the equilibrium to attract all trajectories that starting from initial condition in the positive orthant and near the equilibrium. Unlike the Lyapunov direct method, the proposed method requires just a simple algebraic computation for checking the stability of the critical point. Our approach is applied to various biological systems to show the effectiveness of the proposed method.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.4
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• pp.483-487
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• 2007

This paper is concerned with the observer design problem for linear neutral systems with time-varying delays. The problem addressed is that of designing a full-order observer that guarantees the exponential stability of the error system. An effective algebraic matrix equation approach is developed to solve this problem. In particular, both observer analysis and design problems are investigated. Sufficient conditions for a linear neutral system to be stable are first established. Furthermore, an illustrative example is used to demonstrate the validity of the proposed design procedure.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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• v.20 no.2
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• pp.171-183
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• 2022

The parent and daughter nuclides in a radioactive decay chain arrive at secular equilibrium once they have a large half-life difference. The characteristics of this equilibrium state can be used to estimate the production time of nuclear materials. In this study, a mathematical model and algorithm that can be applied to radio-chronometry using the radioactive equilibrium relationship were investigated, reviewed, and implemented. A Bateman equation that can analyze the decay of radioactive materials over time was used for the mathematical model. To obtain a differential-based solution of the Bateman equation, an algebraic numerical solution approach and two different matrix exponential functions (Moral and Levy) were implemented. The obtained result was compared with those of commonly used algorithms, such as the Chebyshev rational approximation method and WISE Uranium. The experimental analysis confirmed the similarity of the results. However, the Moral method led to an increasing calculation uncertainty once there was a branching decay, so this aspect must be improved. The time period corresponding to the production of nuclear materials or nuclear activity can be estimated using the proposed algorithm when uranium or its daughter nuclides are included in the target materials for nuclear forensics.

• Advances in nano research
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• v.17 no.1
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• pp.19-32
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• 2024

Functionally graded-carbon nanotube (FG-CNT) is expected to be a new generation of materials with a wide range of potential applications in technological fields such as aerospace, defense, energy, and structural industries. In this paper, an exact finite strip method for functionally graded-carbon nanotube sandwich plates is developed using first-order shear deformation theory to get the exact natural frequencies of the plates. The face sheets of the plates are made of FG-CNT with continuous and smooth grading based on the power law index. The equations of motion have been generated based on the Hamilton principle. By extracting the exact stiffness matrix for any strip of the sandwich plate as a non-algebraic function of natural frequencies, it is possible to calculate the exact free vibration frequencies. The accuracy and efficiency of the current method is established by comparing its findings to the results of the literature works. Examples are presented to prove the efficiency of the generated method to deal with various problems, such as the influence of the length-to-height ratio, the power law index, and a core-to-face sheet thickness of the single and multi-span sandwich plates with various boundary conditions on the natural frequencies. The exact results obtained from this analysis can check the validity and accuracy of other numerical methods.