• 대한수학회보
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• 제42권1호
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• pp.93-119
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• 2005

In this paper, we characterize some semi-invariant sub-manifolds of codimension 3 with almost contact metric structure ($\phi$, $\xi$, g) in a complex projective space $CP^{n+1}$ in terms of the structure tensor $\phi$, the Ricci tensor S and the Jacobi operator $R_\xi$ with respect to the structure vector $\xi$.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 2017년도 춘계공동학술대회
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• pp.37-38
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• 2017

최근 방제 및 예찰과 같은 농작업에 단일 UAV(Unmanned Aerial Vehicle)시스템이 적용되고 있지만, 가반하중과 체공시간 등 기존시스템의 문제가 점차 대두되면서 작업 시간을 보다 단축시키고 작업 효율을 극대화 할 수 있는 농업용 멀티 UAV시스템의 필요성이 증대되고 있다. 본 논문에서는 작업자가 다수의 농업용 UAV를 효과적으로 제어할 수 있는 분산군집제어 알고리즘을 제안하며 알고리즘 검증 및 평가를 위한 시뮬레이터를 소개한다. 분산군집제어는 UAV 제어 계층, VP(Virtual Point) 제어 계층, 원격제어 계층으로 이루어진 3계층 제어구조를 가진다. UAV 제어 계층에서 각 UAV는 point mass로 모델링 되는 VP의 이상적인 경로를 추종하도록 제어한다. VP 제어 계층에서 각 VP는 입력 $p_i(t)=u^c_i+u^o_i+u^{co}_i+u^h_i$-(1)을 받아 제어되는데 여기서, $u^c_i{\in}{\mathbb{R}}^3$는 VP 사이의 충돌방지제어, $u^o_i{\in}{\mathbb{R}}^3$는 장애물과의 충돌방지제어, $u^{co}_i{\in}{\mathbb{R}}^3$는 UAV 상호간의 협조제어, $u^h_i{\in}{\mathbb{R}}^3$는 작업자로부터의 원격제어명령이다. (1)의 제어입력에서 충돌방지제어는 각 $u^i_c:=-{\sum\limits_{j{\in}{\eta}_i}}{\frac {{\partial}{\phi}_{ij}^c({\parallel}p_i-p_j{\parallel})^T}{{\partial}p_i}}$-(2), $u^o_c:=-{\sum\limits_{r{\in}O_i}}{\frac {{\partial}{\phi}_{ir}^o({\parallel}p_i-p^o_r{\parallel})^T}{{\partial}p_i}}$-(3)로 정의되면 ${\phi}^c_{ij}$와 ${\phi}^o_{ir}$는 포텐셜 함수를 나타낸다. 원격제어 계층에서 작업자는 햅틱 인터페이스를 통해 VP의 속도를 제어하게 된다. 이때 스케일변수 ${\lambda}$에 대하여 VP의 원격제어명령은 $u^t_i(t)={\lambda}q(t)$로 정의한다. UAV 시뮬레이터는 리눅스 환경에서 ROS(Robot Operating Systems)를 기반한 3차원 시뮬레이터인 Gazebo상에 구축하였으며, 마스터와 슬레이브 간의 제어 명령은 TCPROS를 통해 서로 주고받는다. UAV는 PX4 기반의 3DR Solo 모델을 사용하였으며 MAVROS를 통해 MAVLink 통신 프로토콜에 접속하여 UAV의 고도, 속도 및 가속도 등의 상태정보를 받을 수 있다. 현재 멀티 드론 시스템을 Gazebo 환경에 구축하였으며, 추후 시뮬레이터 상에 분산군집제어 알고리즘을 구현하여 검증 및 평가를 진행하고자 한다.

• 대한수학회보
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• 제45권4호
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• pp.663-670
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• 2008

In this paper, the aim is to solve the neutral delay differential equations in the following form using multiquadric approximation scheme, (1) $$\{_{\;y(t)\;=\;{\phi}(t),\;\;\;\;\;t\;{\leq}\;{t_1},}^{\;y'(t)\;=\;f(t,\;y(t),\;y(t\;-\;{\tau}(t,\;y(t))),\;y'(t\;-\;{\sigma}(t,\;y(t)))),\;{t_1}\;{\leq}\;t\;{\leq}\;{t_f},}$$ where f : $[t_1,\;t_f]\;{\times}\;R\;{\times}\;R\;{\times}\;R\;{\rightarrow}\;R$ is a smooth function, $\tau(t,\;y(t))$ and $\sigma(t,\;y(t))$ are continuous functions on $[t_1,\;t_f]{\times}R$ such that t-$\tau(t,\;y(t))$ < $t_f$ and t - $\sigma(t,\;y(t))$ < $t_f$. Also $\phi(t)$ represents the initial function or the initial data. Hence, we present the advantage of using the multiquadric approximation scheme. In the sequel, presented numerical solutions of some experiments, illustrate the high accuracy and the efficiency of the proposed method even where the data points are scattered.

• 대한치과보철학회지
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• 제50권4호
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• pp.292-298
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• 2012

연구 목적: 이 연구의 목적은 임플란트의 직경, 길이 및 디자인의 변화가 임플란트 안정성 지수에 미치는 영향을 비교하는 것이다. 연구 재료 및 방법: 골질차이에 의한 변수를 제거하기 위해 상악골 평균밀도와 유사한 균일한(0.48g /$cm^3$) 밀도를 가진 Polyuretane foam blocks (Sawbones$^{(R)}$, Pacific Research Laboratories Inc, Vashon, Washington)을 이용, 임플란트(Implantium$^{(R)}$, Dentium, Seoul, Korea)를 다양한 직경(${\phi}3.8$, ${\phi}4.3$ 및 ${\phi}4.8$)과 길이(8, 10 및 12 mm)로 식립하여 그 변화가 임플란트 안정성 지수(Implant Stability Quotient, ISQ)에 미치는 영향을 비교하였다. 또 같은 직경과 길이(${\phi}4.3{\times}10mm$)에서 submerged와 non-submerged (SimplelineII$^{(R)}$, Dentium, Seoul, Korea) 디자인이 ISQ 에 미치는 영향을 비교하였다. 식립 회전력의 영향을 배제하기 위해 동일한 35 N의 Torque로 각 실험군당 10개씩 총 60개의 임플란트를 식립하였다. Osstell$^{TM}$ mentor(Integration Diagnostic AB, Sweden)를 이용하여 공진주파수를 측정한 후 ISQ 값으로 기록하였고, 그 결과를 one-way ANOVA와 Tukey HSD test로 분석하였다(${\alpha}$=.05). 결과: 1. 임플란트 직경의 변화는 ISQ에 영향을 미치지 않았으나(P>.05), 임플란트 길이가 증가함에 따라 ISQ도 증가하였다(P<.001). 2. 임플란트 디자인의 변화는 ISQ와 유의한 상관관계를 보여 Submerged 디자인의 ISQ가 non-submerged 디자인보다 높게 나타났다(P<.05). 결론: 임플란트 안정성을 높이기 위해서는 가능한 길이가 긴 임플란트를 식립하는 것이 유리하며, 같은 길이의 임플란트에서 볼 때 Non-submerged 디자인보다 submerged 디자인이 더 높은 ISQ를 얻을 수 있을 것으로 생각된다.

• 천문학회보
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• 제42권2호
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• pp.51.1-51.1
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• 2017

We present the dependence of halo properties on two different Galactic potentials: the $St{\ddot{a}}ckel$ potential and the Milky Way-like potential known as "Galpy". Making use of the Sloan Digital Sky Survey Data Release 12 (SDSS DR12), we find that the shape of the metallicity distribution and rotation velocity distribution abruptly changes at 15 kpc of $Z_{max}$ (the maximum distance of stellar orbit above or below the Galactic plane) and 32 kpc of $r_{max}$ (the maximum distance of an orbit from the Galactic center) in the $St{\ddot{a}}ckel$, which indicates that the transition from the inner to outer halo occurs at those distances. When adopting the $St{\ddot{a}}ckel$ potential, stars with $Z_{max}$ > 15 kpc show a retrograde motion of $V_{\phi}=-60km\;s^{-1}$, while stars with $r_{max}$ > 32 kpc show $V_{\phi}=-150km\;s^{-1}$. If we impose $V_{\phi}$ < $-150km\;s^{-1}$ to the stars with $Z_{max}$> 15 kpc or $r_{max}$> 32, we obtain the peak of the metallicity distribution at [Fe/H] = -1.9 and -1.7 respectively. However, there is the transition of the metallicity distribution at $Z_{max}=25kpc$, whereas there is no noticeable retrograde motion in the Galpy. The reason for this is that stars with high retrograde motion in the $St{\ddot{a}}ckel$ potential are unbound and stars with low rotation velocity reach to larger region of $Z_{max}$ and $r_{max}$ due to shallower potential in the Galpy. These results prove that as the adopted Galactic potential can affect the interpretation of the halo properties, it is required to have a more realistic Galactic potential for the thorough understanding of the dichotomy of the Galactic halo.

• Journal of applied mathematics & informatics
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• 제30권1_2호
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• pp.161-171
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• 2012

We consider the fourth-order differential equation with one-dimensional $p$-Laplacian (${\phi}_p(x^{\prime\prime}(t)))^{\prime\prime}=f(t,x(t),x^{\prime}(t),x^{\prime\prime}(t)$) a.e. $t{\in}[0,1]$, subject to the boundary conditions $x^{\prime\prime}}(0)=0$, $({\phi}_p(x^{\prime\prime}(t)))^{\prime}{\mid}_{t=0}=0$, $x(0)={\sum}_{i=1}^n{\mu}_ix({\xi}_i)$, $x(t)=x(1-t)$, $t{\in}[0,1]$, where ${\phi}_p(s)={\mid}s{\mid}^{p-2}s$, $p$ > 1, 0 < ${\xi}_1$ < ${\xi}_2$ < ${\cdots}$ < ${\xi}_n$ < $\frac{1}{2}$, ${\mu}_i{\in}\mathbb{R}$, $i=1$, 2, ${\cdots}$, $n$, ${\sum}_{i=1}^n{\mu}_i=1$ and $f:[0,1]{\times}\mathbb{R}^3{\rightarrow}\mathbb{R}$ is a $L^1$-Carath$\acute{e}$odory function with $f(t,u,v,w)=f(1-t,u,-v,w)$ for $(t,u,v,w){\in}[0,1]{\times}\mathbb{R}^3$. We obtain the existence of at least one nonconstant symmetric solution by applying an extension of Mawhin's continuation theorem due to Ge. Furthermore, an example is given to illustrate the results.

• Journal of Astronomy and Space Sciences
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• 제12권1호
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• pp.1-13
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• 1995

We carried out photometric and spectroscopic observatious of the blue compact dwarf galaxy Haro 6 in the Virgo Cluster of Galaxies. The long-slit spectroscopy was employed at three position angles, $\Phi$=$0^{\circ}$, $\Phi$=$30^{\circ}$, and $\Phi$=$120^{\circ}$with CCD camera mounted on the Cassegrain Spectrograph. Based on the mean intrinsic axial ratio < $q_0$ >=0.3, we derived inclination I of the system as $44^{\circ}$using our composite V-band CCD image. Careful analysis on the velocity field of the system shows an asymptotically fiat rotation curve with the maximum rotational velocity $V(r)_{max}$ reaches about 12km/sec. The calculation of the dynamical mass of Haro 6 with a simple mass model is briefly discussed with emphasis on the mass to luminosity ratio. From the IRAS Point Source Cataloque, we derived dust-to-gas ratio which indicates relatively low dust content, thus tempting us to conjecture the youth of the system.

• Korean Journal of Mathematics
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• 제16권1호
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• pp.41-49
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• 2008

We show the existence of a negative solution for the system of the following nonlinear wave equations with critical growth, under Dirichlet boundary condition and periodic condition $$u_{tt}-u_{xx}=au+b{\upsilon}+\frac{2{\alpha}}{{\alpha}+{\beta}}u_+^{\alpha-1}{\upsilon}_+^{\beta}+s{\phi}_{00}+f,\\{\upsilon}_{tt}-{\upsilon}_{xx}=cu+d{\upsilon}+\frac{2{\alpha}}{{\alpha}+{\beta}}u_+^{\alpha}{\upsilon}_+^{{\beta}-1}+t{\phi}_{00}+g,$$ where ${\alpha},{\beta}>1$ are real constants, $u_+={\max}\{u,0\},\;s,\;t{\in}R,\;{\phi}_{00}$ is the eigenfunction corresponding to the positive eigenvalue ${\lambda}_{00}$ of the wave operator and f, g are ${\pi}$-periodic, even in x and t and bounded functions.

• 대한수학회논문집
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• 제9권3호
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• pp.701-710
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• 1994

Suppose ${X_n}$ is a Markov process taking values in some arbitrary space $(S, \varphi)$ with n-stemp transition probability $$ P^{(n)}(x, B) = Prob(X_n \in B$\mid$X_0 = x), x \in X, B \in \varphi.$$ We shall call a Markov process with transition probabilities $P{(n)}(x, B)$ $\phi$-irreducible for some non-trivial $\sigma$-finite measure $\phi$ on $\varphi$ if whenever $\phi(B) > 0$, $$ \sum^{\infty}_{n=1}{2^{-n}P^{(n)}}(x, B) > 0, for every x \in S.$$ A non-trivial $\sigma$-finite measure $\pi$ on $\varphi$ is called invariant for ${X_n}$ if $$ \int{P(x, B)\pi(dx) = \pi(B)}, B \in \varphi $$.

• Structural Engineering and Mechanics
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• 제47권3호
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• pp.383-399
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• 2013

High-strength strands are widely used as a key structural element in cable-stayed bridges and prestressed concrete structures. Conventional strands for stay cable and tendons in prestressed concrete structures are ${\phi}$15.7mm coated seven-wire strands and ${\phi}15.2mm$ uncoated seven-wire strands, respectively, but the ultimate strengths of both strands are 1860MPa. The objective of this paper is to investigate the tensile behavior of a newly developed ${\phi}15.7mm$ 2,200 MPa coated strand and a ${\phi}15.2mm$ 2,400 MPa uncoated strand according to various types of mono anchorages and to propose appropriate anchorages for both strands. Finite element analyses were initially performed to find how the geometry of the anchor head affects the interaction among the anchor head, the wedge and the strand and to find how it affects the stress distributions in both parts. Tensile tests for the new strands were carried out with seven different types of mono anchorages. The test results were compared to each other and to the results obtained from the tensile tests with a grip condition. From the analysis and the test results, desirable mono anchorages for the new strands are suggested.