• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1269-1274
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• 2004

This paper presents a new quantisation algorithm which has the closed-loop form and guarantees the boundness of accumulative error. This algorithm is particularly useful for mobile robot navigation that is usually implemented on embedded systems. If wheel commands of the mobile robot are given by velocity or positional increment at every control instant and quantised due to finite word length of controller's CPU, the quantisation error gets accumulated to causes large position error. Such an error accumulative characteristic is fatal for non wheeled mobile robots or autonomous vehicles with non-holonomic constraint. To solve this problem, we propose a non-error accumulative quantisation algorithm with closed-loop form. We also show it can be extend to a generalized form corresponding to the n-th order accumulation. The boundness of the accumulative quantisation error is investigated by a series of computer simulation. The proposed method is particularly effective to precise navigation control the autonomous mobile robots.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.525-529
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• 2004

A novel translational 3-dof parallel mechanism is proposed and analyzed. The mechanism consists of three RRPS serial subchains and an additional passive 3-dof type serial subchain. Three RRPS serial subchains alone may form a structure of the 6-DOF Stewart Platform mechanism. However, in the proposed mechanism, an additional passive serial subchain acts as constraints to restrict the output motion of the mechanism in 3-DOF translational space. The closed form position solutions of the proposed mechanism and its first-order kinematic model are derived. Then its workspace size and kinematic characteristics are examined via kinematic isotropic index.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.520-524
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• 2004

In this work, a novel spherical 3-dof parallel mechanism is proposed and analyzed. The mechanism consists of three RRPS serial subchains and an additional passive 3-dof type serial subchain. Three RRPS serial subchains alone may form a structure of 6-DOF Stewart Platform mechanism. However, in the proposed mechanism, an additional passive serial subchain acts as constraints to restrict the output motion of the mechanism within 3-DOF spherical space. The closed form solutions of position analysis of the proposed mechanism and its first-order kinematic model are derived. Then its workspace size and kinematic characteristics are examined via kinematic isotropic index.

• 한국통신학회논문지
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• 제19권6호
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• pp.1075-1084
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• 1994

본 논문에서는 순시 페이딩과 장구간 페이딩의 혼합인 Suzuki 페이딩 채널에서 다이버시티 수신을 사용할 경우 MPSK 변조 방식의 비트 오류 확률에 대한 closed-form의 근사식을 유도한다. 제안된 근사식은 기존의 적분 형태의 식에 비해 계산량 면에서 효율적이며 채널의 파라미터들이 시스템의 성능을 얼마나 열화시키는가를 정량적으로 파악할 수 있음을 보였다. 또한 근사식의 고찰을 통하혀 적절한 송신 전력제어에 의해 시스템의 성능을 향상 시킬 수 있음을 보였다.

• International Journal of CAD/CAM
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• 제6권1호
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• pp.157-166
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• 2006

In order to model blending surfaces with curvature continuity, in this paper we apply sixth order partial differential equations (PDEs), which are solved with a composite power series based method. The proposed composite power series based approach meets boundary conditions exactly, minimises the errors of the PDEs, and creates almost as accurate blending surfaces as those from the closed form solution that is the most accurate but achievable only for some simple blending problems. Since only a few unknown constants are involved, the proposed method is comparable with the closed form solution in terms of computational efficiency. Moreover, it can be used to construct 3- or 4-sided patches through the satisfaction of continuities along all edges of the patches. Therefore, the developed method is simpler and more efficient than numerical methods, more powerful than the analytical methods, and can be implemented into an effective tool for the generation and manipulation of complex free-form surfaces.

• 한국정밀공학회지
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• 제23권9호
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• pp.76-83
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• 2006

Machining accuracy is closely related with tool deflection induced by cutting forces. In this research, cutting forces and tool deflection in end milling are expressed as a closed form of tool rotational angle and cutting conditions. The discrete cutting fores caused by periodic tool entry and exit are represented as a continuous function using the Fourier series expansion. Tool deflection is predicted by direct integration of the distributed loads on cutting edges. Cutting conditions, tool geometry, run-outs and the stiffness of tool clamping part are considered together far cutting forces and tool deflection estimation. Compared with numerical methods, the presented method has advantages in prediction time reduction and the effects of feeding and run-outs on cutting forces and tool deflection can be analyzed quantitatively. This research can be effectively used in real time machining error estimation and cutting condition selection for error minimization since the form accuracy is easily predicted from tool deflection curve.

• Journal of Chest Surgery
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• 제26권12호
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• pp.904-908
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• 1993

Twelve patients had undergone repair of atrioventricular septal defects. Age at operation ranged from 2.4 years to 17 years[mean, 8.25 years]. Five patients were male and seven were female. Three patients had complete atrioventricular septal defect[Rastelli type A] associated with Down`s syndrome. One of the three patient with complete atrioventricular septal defect had tetralogy of Fallot. Three patients had the intermediate form and seven patients had the partial form. The primum atrial septal defect was closed with pericardial patch. The atrioventricular valve septal commissure[mitral cleft] was closed with pledgeted sutures. Three complete atrioventricular septal defect were undergone by two-patch technique. A crescent-shaped Dacron patch was used to occlude the ventricular septal defect. One patient of partial form was sudden death 5 days postoperatively. There were no another complications after surgery. One patient underwent reoperation for opened mitral cleft 2.5 years postoperatively. New York Heart Association functional class of patients was improved postoperatively.

• 한국지반공학회논문집
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• 제18권6호
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• pp.33-42
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• 2002

지반 굴착시 지반의 변위특성과 지보재의 설치시기에 대한 중요한 정보를 제공하는 지반반응곡선(Ground reaction curve)을 구하는 방법은 일반적으로 원형단면이고 측압계수 K＝1.0인 상태를 가정한 closed from solution을 통해서 구해지지만, 실제 현장에서는 주로 마제형 굴착단면이 사용되며 $K\neq$1.0인 경우 대부분이다. 지반 굴착시 측압계수와 굴착 형상에 따라 측벽에서의 초기탄성변위 및 임계지보압이 변화하는 경향을 알아보기 위하여 측압계수 값을 0.5～3.0 사이에서 변화시키고, 각 측압계수마다 초기연직응력을 5～30MPa 사이에서 변화시켜가면서 원형단면과 마제형 단면인 경우를 구분하여 수치해석을 통해 지반반응곡선을 얻었다. Closed form solution에 의해 얻어진 지반반응곡선은 측압계수와 굴착단면의 형상을 고려하지 못하기 때문에 $K\neq$1.0인 실제 지반에 대한 변위거동과 지반의 자립성을 평가하는 데 큰 오차를 유발할 수 있는 것으로 나타났다. 따라서, Closed from solution에 의해 지보재의 설치시기를 예측하는 것은 많은 오차를 수반하는 과정이므로, 수치해석을 통한 지보설치 시기와 자립성에 대한 검토를 수행하는 것이 바람직 할 것으로 판단된다.

• East Asian mathematical journal
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• 제37권1호
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• pp.79-85
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• 2021

In this paper, we investigate the valuation of vulnerable exchange option that has credit risk of option issuer. The reduced-form model is used to model credit risk. We assume that credit event is determined by the jump of the counting process with stochastic intensity, which follows the mean reverting process. We propose a simple approach to derive the closed-form pricing formula of vulnerable exchange option under the reduced-form model and provide the pricing formula as the standard normal cumulative function.

• 한국터널지하공간학회 논문집
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• 제4권3호
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• pp.175-184
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• 2002

일반적으로 터널 굴착시 지보재의 설치시기에 대한 예측을 위하여서는 지반반응곡선 (Ground reaction curve)을 활용하고 있다. 이 지반반응곡선은 굴착에 따른 지반의 변위 특성을 나타내며, 일반적으로 원형단면이고 등방상태 (K = 1.0)로 가정하여 단순화시킨 Closed Form Solution을 통해서 구해진다. 그러나, 원형단면이 아니고, 비등방 응력상태인 실질적인 현장조건을 고려해 본다면, 이 지반반응특성 예측식을 현장조건에 적용함에 있어서 어떠한 한계점을 갖는지에 대하여 규명할 필요가 있다. 이를 위해, 본 논문에서는 굴착단면 형상에 따른 측벽에서의 초기탄성변위 및 임계지보압의 변화 특성에 대하여 연구하였다. 터널굴착 형상은 단면의 높이 (b)와 폭 (a)의 비, 즉 굴착형상 계수 S (=b/a)값이 1.0, 0.8, 0.6, 0.4로 변화하도록 하였으며, 각각의 굴착형상마다 초기등방응력을 5~30 MPa사이에서 변화시켜가면서 수치해석을 통해 지반반응곡선을 얻었다. 수치해석을 통해 얻어진 측벽에서의 지반반응곡선을 분석하여 그에 따른 특성을 제시하였다. 검토결과 지반의 자립성을 평가하는데 있어서 Closed form solution의 사용에는 한계가 있는 것으로 판단된다.