• 전기학회논문지
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• 제60권8호
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• pp.1592-1598
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• 2011

In this paper, a formation control method based on the leader-following approach for nonholonomic mobile robots is proposed. In the previous works, it is assumed that the followers know the leader's velocity by means of communication. However, it is difficult that the followers correctly know the leader's velocity due to the contamination or delay of information. Thus, in this paper, an adaptive approach based on the parameter projection algorithm is proposed to estimate the leader's velocity. Moreover, the adaptive backstepping technique is used to compensate the effects of a dynamic model with the unknown time-invariant and time-varying parameters. From the Lyapunov stability theory, it is proved that the errors of the closed-loop system are uniformly ultimately bounded. Simulation results illustrate the effectiveness of the proposed control method.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2004년도 Asia Navigation Conference
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• pp.146-154
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• 2004

Evaluating the risk of collision quantitatively plays a key role in developing the expert system of navigation and collision avoidance. This study suggested and developed a new approach to the evaluation by using the sech function as an alternative to the existing methods of appraising the collision risk. This study also investigated and built up theoretically how to determine the gradient coefficients in this approach and suggested the appropriate values as much as applicable. Finally this study analyzed thoroughly how to determine the threshold function of avoiding time and developed the appropriate equation.

• ETRI Journal
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• 제38권3호
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• pp.435-443
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• 2016

In this paper, an efficient beam tracking algorithm for a regularized zero-forcing (RZF) approach in slowly fading multiple-input and single-output (MISO) broadcast channels is considered. By modifying an RZF equation, an RZF beam tracking algorithm is proposed using matrix perturbation theory. The proposed algorithm utilizes both beams from the previous time step and channel difference (between the previous and current time steps) to calculate the RZF beams. The tracking performance of the proposed algorithm is analyzed in terms of the mean square error (MSE) between a tracking approach and an exact recomputing approach, and in terms of the additional MSE caused by the beam tracking error at the receiver. Numerical results show that the proposed algorithm has almost the same performance as the exact recomputing approach in terms of the sum rate.

• Journal of Information Processing Systems
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• 제8권1호
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• pp.21-54
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• 2012

As we know every software development process is pretty large and consists of different modules. This raises the idea of prioritizing different software modules so that important modules can be tested by preference. In the software testing process, it is not possible to test each and every module regressively, which is due to time and cost constraints. To deal with these constraints, this paper proposes an approach that is based on the fuzzy multi-criteria approach for prioritizing several software modules and calculates optimal time and cost for software testing by using fuzzy logic and the fault tolerance approach.

• 대한임베디드공학회논문지
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• 제16권4호
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• pp.137-143
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• 2021

We propose an adaptive non-singular terminal sliding-mode control for the fast finite-time convergence (FANTSMC) in robot manipulator. The proposed FANTSMC approach is developed to be applied without singularity in robot manipulator, which has a new pole-placement control with the non-singular terminal sliding variable while generating the desirable control torque. Moreover, the switching gain is designed to suppress the time-delayed estimation error appropriately, which aims at providing the high robust tracking performance. Also, the proposed one employs one-sample delayed information to cancel out the system uncertainties and disturbances. For these reasons, it offers strong attraction within the finite time. It is shown that the tracking performance of the proposed FANTSMC approach is guaranteed to be uniformly ultimately bounded through the Lyapunov stability. The effectiveness of the proposed FANTSMC approach is illustrated in simulations, which is compared with that of the up-to-date control approach.

• KIEAE Journal
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• 제12권5호
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• pp.29-34
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• 2012

A rental housing has a key role to supply the living space to non-ownership. A public rental housing is particularly aimed at providing the living space for the low-income households with a low rent fee. Therefore, the local government would try to maintain the facilities of the rental housing and to get the decent living condition. For getting the required living condition, it should make a maintenance plan, which contains the repair time, repair scope and targeted component and finishings. This study is aimed at providing the optimal repair time in 12 components and components of the rental housing which is controlled by the local government. The optimal repair time has two steps to get the final result. First, it would draw the 1'st repair time with the probabilistic and empirical approach. Second, comparing the drawn data and the service life, the optima repair time would be provided with considering the components' attributes. Result are as follows : First, the optimal repair time would be considered with the component attributes. There are user's convenience, its safety and physical aspect. Second, the kitchen utensils, elevator and water tap has a optimal time of 16, 19, 17 years respectively which is considered with physical aspect. In addition, the optima repair time of the wiring appliance and lighting equipment are 12 years and 10 years respectively.

• 한국항행학회논문지
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• 제18권4호
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• pp.288-295
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• 2014

현재 사용 중인 계기착륙장치(ILS)는 시스템 특성상 동시에 다수의 입항하는 항공기가 사용하기 어렵고, 활주로 방향별로 장비들이 설치되어야 한다. 또한 착륙하는 항공기들이 일정한 구역에서 단일 비행경로만으로 착륙절차가 구성되어야 한다는 한계점이 있다. 이에 항공 교통량이 증가하게 된다면 입항하는 항공기들의 체공 시간이 더욱 증가하게 될 것이다. 이러한 한계점을 보완하기 위해 GNSS를 이용한 착륙시설로 GBAS가 개발 되었다. 본 논문에서는 비행시험 전 시뮬레이터를 이용하여 태안 비행장에서 실제 사용 하고 있는 항공기 착륙절차와 Curved approach를 이용한 절차를 비교 하였다. 비교 결과 Curved approach 절차를 이용하게 되면 기존절차보다 비행시간이 감소되어 연료 및 소음공역회피 등과 같은 효과가 일어 날 수 있을 것으로 판단된다.

• Wind and Structures
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• 제6권2호
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• pp.107-126
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• 2003

This paper describes a simple and practical approach through the application of Linear Stochastic Estimation (LSE) to reconstruct wind-induced pressure time series from the covariance matrix for structural load analyses on a low building roof. The main application of this work would be the reduction of the data storage requirements for the NIST aerodynamic database. The approach is based on the assumption that a random pressure field can be estimated as a linear combination of some other known pressure time series by truncating nonlinear terms of a Taylor series expansion. Covariances between pressure time series to be simulated and reference time series are used to calculate the estimation coefficients. The performance using different LSE schemes with selected reference time series is demonstrated by the reconstruction of structural load time series in a corner bay for three typical wind directions. It is shown that LSE can simulate structural load time series accurately, given a handful of reference pressure taps (or even a single tap). The performance of LSE depends on the choice of the reference time series, which should be determined by considering the balance between the accuracy, data-storage requirements and the complexity of the approach. The approach should only be used for the determination of structural loads, since individual reconstructed pressure time series (for local load analyses) will have larger errors associated with them.

• Journal of Trauma and Injury
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• 제29권4호
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• pp.139-145
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• 2016

Purpose: The major pelvic trauma results in high mortality with associated fatal other injuries. During early stage of resuscitation, multidisciplinary approach is essential to improve the survival and outcomes. This study aims to report the effect and positive outcome of the trauma team approach on the management of hemodynamically unstable pelvic bone fracture. Methods: This retrospective review included all patients with hemodynamically unstable pelvic bone fracture admitted between March 2007 and December 2015. Patients were divided into group A, which comprised those admitted before the trauma team approach was started, and group B, which comprised those admitted after the approach was started. The advanced trauma life support protocol was followed for all patient. The comparisons between the two groups were based on medical records. Study variables included demographics, initial vital sign, injury severity score, fracture type, and injury mechanism. We analyzed the outcomes in each group with respect to the time interval for doctors' arrival, total length of stay in the emergency department (ED), time interval for computed tomography evaluation, 24-hour mortality, time interval for definitive fixation, and definitive fixation in the time-window of opportunity. Results: Fifty-three patients met the inclusion criteria. No statistically significant differences in demographic data existed between the two groups. The time interval for doctors' arrival (min, $63.09{\pm}50.48$ vs $21.48{\pm}17.75$; p=0.038) and total length of stay in the ED (min, $269.33{\pm}105.96$ vs $115.49{\pm}56.24$; p=0.023) were significantly improved. The 24-hour mortality was not significantly different between the two groups.(%, 14.3 vs 12.0; p=1.000) However, the time interval for definitive fixation and definitive fixation in the time-window of opportunity showed better results. Conclusion: The trauma team approach has positive effects, which include initial resuscitation through multidisciplinary approach and shortening the time interval to definitive fixation, on the management of hemodynamically unstable pelvic bone fracture.

• 한국항해항만학회지
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• 제27권6호
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• pp.619-624
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• 2003

Evaluating the risk of collision quantitatively plays a key role in developing the expert system of navigation and collision avoidance. This study analysed thoroughly how to determine the threshold function related to the avoidance time as described in the new evaluation of collision risk using sech function, and developed the appropriate equation as applicable.