• 제어로봇시스템학회논문지
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• 제11권3호
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• pp.240-245
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• 2005

In this paper, planar waypoint guidance synthesis for UAVs using the LQ optimal impact-angle-control guidance law is proposed. We prove that the energy-optimal control problem with the constraint of passing through the waypoints is equivalent to the problem of finding the optimal pass angles on each waypoint of the optimal impact-angle-control law. The optimal pass angles can be obtained as a numerical solution of the simple pass angle optimization problem that requires neither input parameterization nor constraints. The trajectory obtained by applying the optimal impact-angle-control law with these optimal pass angles becomes energy optimal.

• Journal of Electrical Engineering and Technology
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• 제1권2호
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• pp.200-210
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• 2006

This paper proposes the motion generation method in which the movement of the 3-links leg subsystem in constrained to slider-link and a singular posture can be easily avoided. This method is the realization of jumping control moving in a vertical direction, which mimics a cat's behavior. To consider the movement from the point of the constraint mechanical system, a robotics system for realizing the motion will change its configuration according to the position. The effectiveness of the proposed scheme is illustrated by simulation and experimental results.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• 제19권3호
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• pp.235-252
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• 2015

Optimal impact angle control guidance law and its variants for intercepting a maneuvering target are introduced in this paper. The linear quadratic(LQ) optimal control theory is reviewed first to setup framework of guidance law derivation, called the sweep method. As an example, the inversely weighted time-to-go energy optimal control problem to obtain the optimal impact angle control guidance law for a fixed target is solved via the sweep method. Since this optimal guidance law is not applicable for a moving target due to the angle mismatch at the impact instant, the law is modified to three different biased proportional navigation(PN) laws: the flight path angle control law, the line-of-sight(LOS) angle control law, and the relative flight path angle control law. Effectiveness of the guidance laws are verified via numerical simulations.

• Radiation Oncology Journal
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• 제16권2호
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• pp.99-106
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• 1998

목적 : 임상에서 발생빈도가 높은 위선암, 폐선암, 망막세포종, 자궁경부 편평상피암의 4가지 인 체암세포주(MKN-45, PC-14, Y-79, HeL)를 이용하여 방사선조사후 세포생존분획 및 세포생존곡선의 모양을 결정하는 지표를 구하고 방사선조사후 손상 회복정도를 측정하여 이들 여러 지표간의 상관관계 여부를 구명하기 위하여 본실험을 시행하였다. 대상 및 방법 :각 세포주의 방사선감수성을 보기 위하여 1, 2, 3, 5, 7 및 10Gy의 방사선을 1 회 조사하였고 방사선조사후 준치사손상 회복정도를 보기 위하여 5Gy씩 2회의 방사선조사를 0, 1, 2, 3, 4, 6 및 24시간 간격으로 시행하였다. 세포의 생존분획은 $Sperman-K\"{a}rbor$ 방법으로 세포집락형성능력을 측정하여 산출하였으며 생존곡선의 수학적 분석은 linear-quadratic(LQ), multitarget-single hit(MS) 모형과 mean inactivation $dose(\v{D})$를 이용하였다. 결과 : 방사선조사후의 세포생존 실험결과 2Gy에서의 세포생존분획(SF2)은 0.174에서 0.85까지 다양하게 나타났으며 Y-79는 유의하게 낮은 SF2를, PC-14는 높은 SF2를 나타내었다(p<0.05, t-test). LQ model로 분석한 방사선 세포생존곡선의 분석결과 Y-79, MKN-45, HeLa, PC-14에서 ${\alpha}$가 각각 0.603, 0.355, 0.275, 0.102이었고 ${\beta}$는 각각 0.005, 0.016, 0.025, 0.027이었다. MS model로 분석한 결과는 Y-79, MKN-45, HeLa, PC-14에서 Do가 각각 1.59, 1.84, 1.88, 2.52였고 n은 0.97, 1.46, 1.52, 1.69를 보였다. 한편 Gauss-Laguerre방법으로 계산한 $\v{D}$는 Y-79, MKN-45, HeLa, PC-14에서 각각 1.62, 2.37, 2.61, 3.95였다. SF2가 감소함에 따라 ${\alpha}$값은 증가하였고 Do, $\v{D}$값은 감소하였으며 이들간의 Pearson 상관계수는 각각 0.953, 0.993, 0.999였다. (p<0.05). 분할조사에 의한 준치사손상 회복정도는 약 4시간 내외에 포화상태에 도달하였으며 포화상태의 recovery ratio(RR)는 2에서 3.79 사이였다. RR은 방사선감수성의 지표인 SF2, ${\alpha}$, ${\beta}$, Do, $\v{D}$과 통계학적으로 유의한 상관관계를 나타내지 않았다. 결론 : 본 연구의 결과 네가지 인체상피암세포주의 내재적 발사선감수성은 서로 상이하였으며 Y-79가 가장 민감하였고, MKN-45와 HeLa는 각각 중등도의 방사선감수성을 나타냈으며 PC-14는 방사선감수성이 가장 낮았다. 이와같은 감수성의 차이는 SF2, ${\alpha}$, Do와 $\v{D}$의 차이로 나타났으며 띠들간에는 밀접한 상관관계를 나타내었다. 방사선에 의한 준치사손상 회복력은 MKN-45와 HeLa에서 높게 나타났고 회복력과 방사선감수성과는 무관하였다. 각 암세포주에 따르는 이와같은 지표들은 향후 방사선치료 효과를 높이기 위한 방사선생물학 실험의 기초 자료로서 이용되어 질 수 있을 것이다.

• 전기학회논문지
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• 제56권3호
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• pp.519-523
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• 2007

In this paper, we propose a precise parameter extraction of interior permanent magnet (IPM) motors based on finite element analysis. For the calculation of the two-axis inductances Ld and Lq, the slotting effect and cross magnetization due to torque angle are considered. It is examined that back electro-motive force (BEMF) constant is affected by the magnetic saturation in different ways dependent on motor types. Numerical analyses and some measurements are performed for a spoke type and a flux barrier type IPM motors

• Journal of the Korean Society for Industrial and Applied Mathematics
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• 제19권3호
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• pp.365-386
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• 2015

In this article, the linear quadratic (LQ) optimal guidance laws with arbitrary weighting functions are introduced. The optimal guidance problems in conjunction with the control effort weighed by arbitrary functions are formulated, and then the general solutions of these problems are determined. Based on these investigations, we can know a lot of previous optimal guidance laws belong to the proposed results. Additionally, the proposed results are compared with other results from the generalization standpoint. The potential importance on the proposed results is that a lot of useful new guidance laws providing their outstanding performance compared with existing works can be designed by choosing weighting functions properly. Accordingly, a new optimal guidance law is derived based on the proposed results as an illustrative example.

• 한국해양공학회지
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• 제10권3호
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• pp.153-161
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• 1996

This paper presents a design method of dynamic positioning control system for floating platform with rotatable and retractable thruster using $H_{\infty}$ control technique. The norm band of uncertainty is captured by multiplicative perturbation between nominal model and reduced order model. A controller robust to the uncertainty is designed applying $H_{\infty}$ synthesis. The control law satisfying robust stabillity and nominal performance condition is determined through the mixed sensitivity approach. The evaluation for the resultant controller obtained by $H_{\infty}$ synthesis is done through simulations of the closed loop system. The results of $H_{\infty}$ synthesis are compared to those of the traditional LQ synthesis method.

• 한국연초학회지
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• 제3권2호
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• pp.129-130
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• 1981

The potato tuberworm, Phthorimaea operculella, is an occasional pest to tobacco plants in southern regions of Korea. In order to screen effective pesticides against the worm in tobacco leaves, pot and field experiments were carried out in 1981. In the pot experiment with a tobacco variety, Hicks, several effective organic phosphates (Dimecron- LQ 50, Dursban-WP 25, Ekalux-EC 25. Elsan-EC 47.5, and EPN-EC 45), out of 9 Pesticides tested, were solecte4 from their high mortality of more than 90%. Among these Pesticides Ekalux- EC 25 and Elsan- EC 47.5 were recommended to tobacco growers from their excellent efficacy in the field experiment with a tobacco variety, Burley 21.

• The Journal of Asian Finance, Economics and Business
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• 제8권3호
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• pp.423-431
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• 2021

This study aims to examine the effect of liquidity, activity, leverage, and profitability on firm value, as well as the effect of disclosure of corporate social responsibility (CSR), which in this study is a moderator and company size as a control variable. The sampling technique used in this study is a purposive sampling method with certain criteria, to obtain a sample of 22 LQ45 index companies listed on the Indonesia Stock Exchange in 2014-2019. The data analysis method in this study used was the Multiple Linear Regression Analysis with the SPSS 18 Program. The results show that the ratios of liquidity, activity, leverage, and profitability are significant to firm value in accordance with the initial hypothesis of the study. Corporate Social Responsibility (CSR) plays a role as a moderating variable and company size variable as a control variable on the effect of financial ratios (liquidity, activity, leverage, and profitability) on firm value. The implication of this research is that CSR has a very important role in increasing company value. To attract more investors, companies must pay attention not only to financial performance but also to social performance. Large-scale companies tend to do more CSR so that the company value will increase.

• Asian Journal of Business Environment
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• 제10권3호
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• pp.23-33
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• 2020

Purpose: The purpose of this study is for the leading sector, a pattern of shifting structure of the economic sector, and community export competitiveness on the economy Malinau Regency. Research design, data, and methodology: The type of data used is secondary data with a quantitative approach of 2009-2018. The study data used Location Quotient (LQ), Shift Share Analysis (SSA), and Revealed Comparative Advantage (RCA) analysis tools. Results: There are 6 leading sectors: agriculture; electricity, gas, and clean water; building and construction; trade, hotels, and restaurants. That has been classified has changed the economic structure of the Malinau Regency from the secondary sector to the tertiary and primary sectors in 10 years. While, community export competitiveness of the Malinau Regency through RCA Analysis, see if the export products of coal and excavation (types A, B, C) are shown to have a higher comparative advantage with comparative advantage. This shows that only a few commodities that can provide the good performance of export. Conclusions: Analysis of economic growth in the Malinau Regency after regional autonomy shows that there has been a shift in the economic structure of the economy which is dominated by the structure of the primary sector.