• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2401-2403
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• 2002

Given a certain target point, the mobile robot's navigation could be mainly considered about two areas, 'how fast and accurate' and 'how safe'. Such problems regarding the velocity and stability possess close relationship with the path in which the mobile robot navigates in. Thus, the system proposed in this research paper was constructed so the mobile robot can obtain the optimum path by utilizing the information according to the environmental map, based on the Global Path Planning. Also by inducing the Local Path Planning method, it was constructed so that the robots can avoid the obstacles, which were not shown in the environmental map on-line. Particularly, by fusing the Local and Global Path Planning together, it is possible for the robots to plan similar path. At the same time, the focus was on the materialization of effective mobile robot's navigation. It was made possible by utilizing the Fuzzy Logic Control. Also, the validity of the algorithm proposed was proven through the trial experiment.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.4
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• pp.534-540
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• 1990

In this paper the characteristics of submicron gate GaAs MESFET's have been studied using a particle model which takes into account the hot-electron transport phenomena, i.e., the velocity overshoot. \ulcornervalley(<000> direction), L valley (<111>direction), X valley (<100>direction) as the GaAs conduction energy band and optical phonon, acoustic phonon, equivalent intervalley, nonequivalent intervalley scattering as the scattering models, have been considered in this simulation. And the GaAs material and the device simulation have been done by determination of the free flight time, scattering mechanism and scattering angle according to Monte-Carlo algorithm which makes use of a particle model. As a result of the particle simulation, firstly the electron distribution, the potential energy distribution and the situation of electron displacement in 0.6 \ulcorner gate length device have been obtained. Secondly, the cutoff frequency, obtained by this method, is k47GHz which is in good agreement with the calculated result of theory. And the current-voltage characteristics curve which takes account of the buffer layer effect has been obtained. Lastly it has been verified that parasitic current at the buffer layer can be analyzed using channel depth modulation.

• The Journal of Korean Physical Therapy
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• v.16 no.3
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• pp.112-124
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• 2004

Purpose : The purpose of this study is to research the effects of the differences in shoe heel height on balanced performances with a balance master. Method : 40 healthy female adults were divided into 2 groups at random. All the female participants were tested by a balance master system. Differences were analyzed according to high heel shoes and low heel shoes. The ability of static postural balance control was measured by modified CTSIB and unilateral stance test, while that of dynamic postural balance control was measured by LOS (limit of stability) and rhythmic weight shift, among the programs of a balance master. Result : 1. There is no significant correlation between the ability of static and dynamic postural balance control before main test without the shoes. 2. Movement velocity and directional control ability were significant correlation compared result of in high heel shoes and low heel shoes group. Conclusion : In conclusion, the test results of the high heeled shoe group and the low heeled shoe group through a balance master system showed that the former one is inferior to the latter one.

• KIPS Transactions on Software and Data Engineering
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• v.7 no.5
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• pp.169-176
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• 2018

The purpose of this study is to analyze the relationship between the centrality and the research performance by conducting the social network analysis for the social science journal in the last 10 years. As a result of the relationship analysis, the correlation between centrality and research productivity was highly correlated in most groups, but the impact factor and frequency of citations were not significant. In relation with the comprehensive research such as a H-index, middle productive group correlation was more significant than the upper productive group.

• International Journal of Naval Architecture and Ocean Engineering
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• v.2 no.2
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• pp.87-95
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• 2010

The structural intensity analysis, which calculates the magnitude and direction of vibrational energy flow from vibratory velocity and internal force at any point of a structure, can give information on dominant transmission paths, positions of sources and sinks of vibration energy. This paper presents a numerical simulation system for structural intensity analysis and visualization to apply for ship structures based on the finite element method. The system consists of a general purpose finite element analysis program MSC/Nastran, its pre- and post-processors and an in-house program module to calculate structural intensity using the model data and its forced vibration analysis results. Using the system, the structural intensity analysis for a 4,100 TEU container carrier is carried out to visualize structural intensity fields on the global ship structure and to investigate dominant energy flow paths from harmonic excitation sources to superstructure at resonant hull girder and superstructure modes.

• Journal of Drive and Control
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• v.15 no.3
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• pp.8-13
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• 2018

This paper presents a phase portrait analysis-based safety control algorithm for excavators, using adaptive sliding mode control. Since working postures and material types cause the excavator's rotational inertia to vary, the rotational inertia was estimated, and this estimation was used to design an adaptive sliding mode controller for collision avoidance of the excavator. In order to estimate the rotational inertia, the recursive least-squares estimation with multiple forgetting was applied with the information of the swing velocity of the excavator. For realistic evaluation, an actual working scenario-based performance evaluation was conducted. Based on the estimated rotational inertia and an analysis of estimation errors, sliding mode control inputs were computed. The actual working scenario-based performance evaluation of the designed safety algorithm was conducted, and the results showed that the developed safety control algorithm can efficiently avoid a collision with an object in consideration of rotational inertia variations.

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.28-38
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• 2014

This paper verifies the performance of Extended Kalman Filter(EKF) and MCL(Monte Carlo Localization) approach to localization of an underwater vehicle through experiments. Especially, the experiments use acoustic range sensor whose measurement accuracy and uncertainty is not yet proved. Along with localization, the experiment also discloses the uncertainty features of the range measurement such as bias and variance. The proposed localization method rejects outlier range data and the experiment shows that outlier rejection improves localization performance. It is as expected that the proposed method doesn't yield as precise location as those methods which use high priced DVL(Doppler Velocity Log), IMU(Inertial Measurement Unit), and high accuracy range sensors. However, it is noticeable that the proposed method can achieve the accuracy which is affordable for correction of accumulated dead reckoning error, even though it uses only range data of low reliability and accuracy.

• Journal of Biomedical Engineering Research
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• v.10 no.1
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• pp.33-42
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• 1989

The doppler effect is used for measuring the velocity of the blood flow in artery. Because of the range information, the pulsed doppler system is most commonly used. In this paper, we propose a new two-dimensional(2-D) pulsed Doppler system. Which uses second-order sampling method and serial processing. The proposed system using second-order sampling method eliminates in-phase, quadrature-phase balancing problem at demodulator of quadrature detection method. In addition, the new pulsed 2-D doppler system eliminates balancing problem of channels of 2-D doppler system because of serial processing.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.8 no.3
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• pp.386-396
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• 1996

The dynamic characteristics of a condenser are numerically studied for the control of air-conditioning systems. The important factors, such as the refrigerant flow rate and refrigerant temperature, air velocity and air temperature at the condenser inlet, are incorporated into the analysis. This study was focused on the analysis of dynamic responses by transfer function method in the condenser. Block diagrams were made through analytic transfer function, and dynamic responses are evaluated on Bode diagrams in the frequency response. These results may be used for determining an optimum design parameters in an actual component and total systems. Also, the mathematical models, frequency response and steady state response may be used to increase understanding, to obtain useful information for its commercialization, to evaluate the hardware and the optimum design parameters, the design control system and to determine the best controller setting for the refrigeration and air conditioning systems.

• Journal of Industrial Technology
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• v.20 no.B
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• pp.155-162
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• 2000

Although Fuzzy Logic Controller(FLC) adopted three terms as input gives better performance, FLC is in general composed of two-term control because of the difficulty in the construction of fuzzy rule base. In this paper, a three-term FLC which is similar to PID control but acts as a nonlinear controller is proposed. To reduce the complexity of the rule base design and to increase efficiency. a simplified fuzzy PID control is induced from a hybrid velocity/position type PID algorithm by sharing a common rule base for both fuzzy PI and fuzzy PD parts. It is simple in structure, easy in implementation, and fast in calculation. The phase plane technique is applied to obtain the rule base for fuzzy two-term control and the resultant rule base is Macvicar-Whelan type. And the membership function is a Gaussian function. The frequency response information is used in tuning of the membership functions. Also a tuning strategy for the scaling factors is proposed based on the relationship between PID gain and the scaling factors. Simulation results show better performance and the effectiveness of the proposed method.