• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2066-2071
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• 2003

In this paper, we identify the isotropic configurations of an omnidirectional mobile robot with three caster wheels, depending on the selection of actuated joints. First, We obtain the kinematic model of a caster wheeled omnidirectional mobile robot(COMR) without matrix inversion. For a given task velocity, the instantaneous motion of each wheel is decomposed into two orthogonal instantaneous motions of the steering and the rotating joints. Second, with the characteristic length introduced, we derive the isotropy conditions of a COMR having $n({\ge}3)$ actuated joints, which are imposed on two Jacobian matrices, $A{\in}R^{n{\times}3}$ and $B{\in}R^{6{\times}6}$. Under the condition of $B{\propto}I_6$, three caster wheels should have identical structure with the length of the steering link equal to the radius of the wheel. Third, depending on the selection of actuated joints, we derive the conditions for $A^t$ $A{\propto}I_3$ and identify the isotropic configurations of a COMR. All possible actuation sets with different number of actuated joints and different combination of rotating and steering joins are considered.

• ETRI Journal
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• v.37 no.1
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• pp.66-76
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• 2015

In this work, we propose an efficient selective retransmission method for multiple-input and multiple-output (MIMO) wireless systems under orthogonal frequency-division multiplexing (OFDM) signaling. A typical received OFDM frame may have some symbols in error, which results in a retransmission of the entire frame. Such a retransmission is often unnecessary, and to avoid this, we propose a method to selectively retransmit symbols that correspond to poor-quality subcarriers. We use the condition numbers of the subcarrier channel matrices of the MIMO-OFDM system as a quality measure. The proposed scheme is embedded in the modulation layer and is independent of conventional hybrid automatic repeat request (HARQ) methods. The receiver integrates the original OFDM and the punctured retransmitted OFDM signals for more reliable detection. The targeted retransmission results in fewer negative acknowledgements from conventional HARQ algorithms, which results in increasing bandwidth and power efficiency. We investigate the efficacy of the proposed method for optimal and suboptimal receivers. The simulation results demonstrate the efficacy of the proposed method on throughput for MIMO-OFDM systems.

• KSBB Journal
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• v.25 no.4
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• pp.371-378
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• 2010

For the biodiesel fuel production from microalgae, the lipid from wet and dry samples of green algae Scenedesmus sp. was extracted by using various solvents and pre-treatment methods. Extraction yield of the lyophilized sample was better than that of dry sample. Chloroform/methanol (2:1, v/v) and ultrasonication or homogenization method were also selected as the most effective solvent and pre-treatment methods for lipid extraction, respectively. Under these constraint conditions, optimization experiment of lipid extraction was investigated by Taguchi approach using orthogonal matrix $L_9$ ($3^4$) method. The optimum extraction conditions of lipid extraction was obtained at pre-treatment of homogenization, extraction time of 5 hour, temperature of $35^{\circ}C$, and solvent ratio of 1:20 (w/v). Yield of extraction at optimized condition was 20.55% and it was 96% of total lipid content (21.38%) of Scenedesmus sp.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.4
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• pp.279-286
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• 1996

In this paper, variable structure control(VSC) based on reaching law method with fuzzy inference for nonlinear systems is proposed. The reaching law means the reaching condition which forces an initial state of system to reach switching surface in finite time, and specifies the dynamics of a desired switching function. Since the conventional reaching law has fixed coefficients, the chattering can be existed largely in sliding mode. In the design of a proposed fuzzy reaching law, we fuzzify RP(representative point)'s orthogonal distance to switching surface and RP's distance the origin of the 2-dimensional space whose coordinates are the error and the error rate. The coefficients of the reaching law are varied appropriately by the fuzzy inference. Hence the state of system in reaching mode reaches fastly switching surface by the large values of reaching coefficients and the chattering is reduced in sliding mode by the small values of those. And the effectiveness of the proposed fuzzy reaching law method is showen by the simulation results of the control of a two link robot manipulator.

• The Journal of Information Technology
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• v.8 no.2
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• pp.77-84
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• 2005

In this paper, electromagnetic scattering problems by a resistive strip grating with tapered resistivity on a grounded dielectric plane according to strip width and spacing, relative permittivity and thickness of dielectric layers, and incident angles of a electric wave are analyzed by applying the Fourier-Galerkin Moment Method known as a numerical procedure. The boundary conditions are applied to obtain the unknown field coefficients and the resistive boundary condition is used for the relationship between the tangential electric field and the electric current density on the strip. The resistivity of resistive strips in this paper varies from zeroes at one edge to infinite at the other edge, then the induced surface current density on the resistive strip is expanded in a series of Jacobi polynomials of the order ${\alpha}=0.2,\;{\beta}=-0.2$ as a orthogonal polynomials. The numerical results of the geometrically normalized reflected power in this paper are compared with those for the existing perfectly conducting strip. The numerical results of the normalized reflected power for conductive strips case with zero resistivity in this paper show in good agreement with those of existing papers.

• Journal of the Korean Ceramic Society
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• v.40 no.2
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• pp.123-127
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• 2003

The effects of process parameters on coating formation and coating properties were investigated using a fused and crushed Ti $O_2$powder by the Taguchi method and L$_{9}$(3$^4$) orthogonal array. The Taguchi analysis was conducted through the results of the coating properties affected strongly by plasma spraying parameters and Ti $O_2$powder was sprayed on Ti-6Al-4V alloy substrate. The coating properties were characterized by thickness, microhardness, porosity and surface roughness using optical microscopy, image analyzer and surface roughness tester respectively. An observed optimum condition of plasma spraying process could be found for potential use as a bioceramic coating.

• Journal of the Korean Society of Clothing and Textiles
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• v.34 no.12
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• pp.2062-2072
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• 2010

This research evaluates the change of the water absorbency and drying speed of a quick-drying knit fabric by repeated laundering and laundering conditions and investigates the influence of laundering conditions on the functional properties of the knit fabric. Four factors of laundering conditions were studied: detergent, water hardness, water temperature, and frequency of rotation. Knit fabrics were washed for 25 laundering cycles in a drum-type washing machine with nine different laundering conditions derived from an orthogonal array. The properties of knit fabrics were measured with a drop absorption test, a strip test, and a drying time test. Relaxation shrinkage pointed to a change in the structural characteristics of the knit fabric. Wetting time was faster and wickability was greater in the knit fabrics that underwent 5 laundering cycles; in addition, there were no obvious changes in wetting time and wickability. The detergent was the most important factor in wetting time (40.4%) and wickability (60% or above). Water hardness, water temperature and RPM had less of an effect on wetting time and wickability. There were no significant differences between the levels of laundering conditions (except for detergent) on wetting time and wickability. Drying times with neutral and alkali were slower by repeated laundering; however, there was no obvious change in drying time. Hardness, water temperature and RPM had less of an impact on drying time.

• Journal of Plant Biotechnology
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• v.36 no.3
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• pp.236-243
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• 2009

The halophyte Leymus chinensis (Trin.) is a perennial rhizome grass (tribe Gramineae) that is widely distributed throughout China, Mongolia and Siberia. This study was conducted to investigate an optimal condition for plant regeneration from mature seeds, leaf base segments, and root segments in L. chinensis. Plant growth regulators affecting embryogenic callus induction and plant regeneration were investigated by four-factor-three-level [L9 (34)] orthogonal test in this study. The effects of explants types (mature seeds, leaf base segments and root segments), callus types, medium types were examined in this study. Wild type (WT) and Jisheng No. 1 plants (JS) were used for primary callus induction. A clear explants difference was seen during callus induction; mature seeds were considered as the preferred explants; and the highest frequency of callus induction was obtained in Medium 6 using mature seeds as explants in WT. Plant regeneration ability was evaluated by frequencies of green callus forming, shooting, rooting, and shooting with roots. Effect of α-naphthalene acetic acid (NAA) on shoot regeneration was remarkable with the highest frequency of 70.8% in WT after 2-month culture. The medium with 0.2- 0.5 mg/L NAA was found to have the highest shoot induction. All regenerated shoots were successfully rooted when transferred on half-strength Murashige and Skoog (MS) basal medium. The acclimatized plantlets were grown to mature with flowering and seeds setting in green house conditions.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.2
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• pp.107-114
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• 2014

This paper applies a compensated low pass filter (LPF) to current measurements for permanent magnet synchronous motor (PMSM) drives. The noise limits the bandwidth of current controllers and has more adverse influences on control performances under the light load condition because of the low signal-to-noise ratio. In order to eliminate the noise sensitivity, this paper proposes a digital LPF with a compensator of gain attenuation and phase delay which are unacceptable in current information for PMSM drives. Characteristics of the proposed LPF are analyzed in comparison with the general LPFs. The compensated LPF is basically designed by the orthogonal property of the measured currents in the ${\alpha}{\beta}$ stationary reference frame. In addition, an implementation issue of the proposed method is discussed. Experimental results using the proposed method show improvements of the current control performance from two perspectives, rapid step responses and reductions of harmonic distortion.

• Journal of Mechanical Science and Technology
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• v.15 no.1
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• pp.88-97
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• 2001

The present study numerically investigates the fuel-air mixing characteristics, flame structure, and pollutant emission inside a double-swirler combustor. A PSR(Perfectly Stirred Reactor) based microstructural model is employed to account for the effects of finite rate chemistry on the flame structure and NO formation. The turbulent combustion model is extended to nonadiabatic flame condition with radiation by introducing an enthalpy variable, and the radiative heat loss is calculated by a local, geometry-independent model. The effects of turbulent fluctuation are taken into account by the joint assumed PDFs. Numerical model is based on the non-orthogonal body-fitted coordinate system and the pressure/velocity coupling is handled by PISO algorithm in context with the finite volume formulation. The present PSR-based turbulent combustion model has been applied to analyze the highly intense turbulent nonpremixed flame field in the double swirler combustor. The detailed discussions were made for the flow structure, combustion effects on flow structure, flame structure, and emission characteristics in the highly intense turbulent swirling flame of the double swirler burner.