• ETRI Journal
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• 제39권1호
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• pp.30-40
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• 2017

In this study, we investigate topology control as a means of obtaining the best possible compromise between the conflicting requirements of reducing energy consumption and improving network connectivity. A topology design algorithm capable of producing network topologies that minimize energy consumption under a minimum-connectivity constraint is presented. To this end, we define a new topology metric, called connectivity efficiency, which is a function of both algebraic connectivity and the transmit power level. Based on this metric, links that require a high transmit power but only contribute to a small fraction of the network connectivity are chosen to be removed. A connectivity-efficiency-based topology control (CETC) algorithm then assigns a transmit power level to each node. The network topology derived by the proposed CETC heuristic algorithm is shown to attain a better tradeoff between energy consumption and network connectivity than existing algorithms. Simulation results demonstrate the efficiency of the CECT algorithm.

• 제어로봇시스템학회논문지
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• 제20권5호
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• pp.526-532
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• 2014

In this paper, we present and analyze a LQ (Linear Quadratic) inverse optimal state-consensus protocol for continuous-time multi-agent systems with undirected graph topology. By Lyapunov analysis of the state-consensus error dynamics, we show the sufficient conditions on the algebraic connectivity of the graph to guarantee LQ inverse optimality and closed-loop stability. A more relaxed stability condition is also provided in terms of the algebraic connectivity. Finally, a formation control protocol for multiple mobile robots is proposed based on the target LQ inverse optimal consensus protocol, and the simulation results are provided to verify the performance of the proposed LQ inverse formation control method.

• 제어로봇시스템학회논문지
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• 제18권3호
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• pp.218-223
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• 2012

Maintenance and improvement of the graph connectivity is very important for decentralized multi-agent systems. Although the CBBA (Consensus-Based Bundle Algorithm) guarantees suboptimal performance and bounded convergence time, it is only valid for connected graphs. In this study, we apply a decentralized estimation procedure that allows each agent to track the algebraic connectivity of a time-varying graph. Based on this estimation, we design a decentralized gradient controller to maintain the graph connectivity while agents are traveling to perform assigned tasks. Simulation result for fully-actuated first-order agents that move in a 2-D plane are presented.

• 한국수학교육학회지시리즈A:수학교육
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• 제58권1호
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• pp.79-99
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• 2019

This study is a study to collect information about 'Limitations of functions' related learning. Especially, this study was conducted on three students who can find answers by algebraic procedure in the process of extreme problem solving. Students have had the experience of converting from their algebraic procedures to graphical expressions. This shows how they reflect on their algebraic procedures. This study is a study that observes these parts. To accomplish this, twelfth were teaching experiment in three high school students. And we analyzed the contents related to the research topic of this study. Through this, students showed the difference of expressions in the method of finding limits by using algebraic interpretation methods and graphs. In addition, we examined the connectivity of the limitations of functions problem solving process of functions using algebraic procedures and graphs in the process of converting algebraic expressions to graph expressions. This study is a study of how students construct limit concepts. As in this study, it is meaningful to accumulate practical information about students' limit conceptual composition. We hope that this study will help students to study limit concept development process for students who have no limit learning experience in the future.

• 한국학교수학회논문집
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• 제8권3호
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• pp.367-382
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• 2005

본 연구는 학교수학에서 대수적 구조(군)의 지도에 관한 논의를 담고 있다. 이를 위해 먼저 Bruner가 제시한 지식의 구조에 대해 논의하고, 그 내용을 학교대수의 지도와 관련지어 살펴본다. 또한 대수적 구조 가운데 군 개념을 중심으로 하여 이와 관련된 선행연구를 Piaget, Freudenthal, Dubinsky, Burn 등의 논의에서 검토해본다. 그리고 초등수학에서부터 고등학교 수학까지 군 개념과 관련된 내용이 어떻게 표현되고 있는지를 살펴본다. 학교수학에서 군 개념과 관련된 내용은 초등수학에서부터 시작되는데, 초등수학의 경우 항등원, 교환법칙, 결합법칙 등을 수의 맥락에서 찾아볼 수 있다. 중학교 수학에서는 덧셈과 곱셈 연산에 있어서 항등원, 역원, 교환법칙, 결합법칙이 보다 구체적으로 제시되고 있으며, 이러한 규칙은 등식의 성질과 이항, 일차방정식의 풀이 등을 통해 살펴볼 수 있다. 고등학교 수학에서는 이항연산을 비롯한 여러 영역에서 군 개념을 포함하는 대수적 구조가 제시되고 있다. 이에 비해 학교대수에서는 이러한 주제들을 통합적으로 구성하려는 시도가 이루어지지 않고 있으며 각각의 내용이 독립적으로 다루어지고 있다. 본 연구에서는 학교대수에서 군 개념과 관련된 내용들을 검토함으로써 대수적구조(군) 측면에서 이러한 내용들을 종합해보고자 한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.996-1003
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• 1990

We present algebraic algorithms for collision-avoidance robot motion planning problems with planar geometric models. By decomposing the collision-free space into horizontal vertex visibility cells and connecting these cells into a connectivity graph, we represent the global topological structure of collision-free space. Using the C-space obstacle boundaries and this connectivity graph we generate exact (non-heuristic) compliant and gross motion paths of planar curved objects moving with a fixed orientation amidst similar obstacles. The gross motion planning algorithm is further extended (though using approximations) to the case of objects moving with both translational and rotational degrees of freedom by taking slices of the overall orientations into finite segments.

• 한국수학교육학회지시리즈D:수학교육연구
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• 제18권4호
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• pp.273-288
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• 2014

In recent years, coding education has been globally emphasized and the Free Semester System will be executed to the public schools in Korea from 2016. With the introduction of the Free Semester System and the rising demand of Computational Thinking (CT) capacity, this research aims to design 'learning environment' in which learners can design and construct mathematical objects through computers and print them out through 3D printers. Furthermore, it will design learning mathematics by constructing the figurate number patterns from 'soma cubes' in the playing context and connecting those to algebraic and combinatorial patterns, which will allow students to experience mathematical connectivity. It is expected that the activities of designing figurate number patterns suggested in this research will not only strengthen CT capacity in relation to mathematical thinking but also serve as a meaningful program for the Free Semester System in terms of career experience as 3D printers can be widely used.

• 대한수학회보
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• 제55권6호
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• pp.1691-1701
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• 2018

New inclusion sets are obtained for the eigenvalues of real matrices for which the all 1's vector is an eigenvector, i.e., the constant row-sum real matrices. A number of examples are provided. This paper builds upon the work of the authors in [7]. The results of this paper are in terms of $Ger{\check{s}}gorin$ discs of the second type. An application of the main theorem to bounding the algebraic connectivity of connected simple graphs is obtained.