• 제목/요약/키워드: Avoid

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신경회로망을 이용한 이중암 로봇의 충돌회피를 위한 최적작업계획 (Optimal Task Planning for Collision-Avoidance of Dual-Arm Robot Using Neural Network)

  • 최우형
    • 한국공작기계학회:학술대회논문집
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    • 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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    • pp.176-181
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    • 2000
  • Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

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MPEG-2 비트 스트림에 대한 고속 워터마크 삽입방법 (A fast watermark embedding method for MPEG-2 bit stream)

  • 김성일;서정일;김구영;원치선
    • 한국방송∙미디어공학회:학술대회논문집
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    • 한국방송공학회 1997년도 학술대회
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    • pp.151-154
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    • 1997
  • In this paper, we propose a new watermarking algorithm for copyright protection of video data. The proposed algorithm inserts a watermark directly on the MPEG-2 bitstream. Since more and more video data are stored and transmitted in a compressed form, it is desirable to insert a watermark on the compressed bit stream to avoid the expensive full-decoding and re-encoding process. Embedding a watermark in the compressed domain, we can also avoid the effect of the compression error which may erase the watermark.

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Treatment Planning to Avoid failures

  • 이옥
    • 대한치과보철학회:학술대회논문집
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    • 대한치과보철학회 2003년도 춘계학술대회 및 제1회 한일 공동 학술대회
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    • pp.39-39
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    • 2003
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학습동기가 시험 스트레스와 스트레스 대처 양식에 미치는 영향 (Effects of Learning Motivation on the Stress Coping Style and Stress of Test)

  • 장철;이은혜;천지수
    • 대한통합의학회지
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    • 제2권2호
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    • pp.89-96
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    • 2014
  • Purpose : In this study, we selected three research subjects to attempt to clear learning motivation of college students is what impact the stress coping style and stress test. First, age, gender, the future career after graduation, the presence or absence of part-time job is, its impact on learning motivation. Second, learning motivation is what effect the stress of the test. Third, based on the motivation of learning, how deal pursuing efforts form the social support, the center of the problem-solving approach, seeking to avoid the reaction to stress how different form. Methods : K University occupational therapy and one, two, three grade 100 students (male 22 people, female 78) to target age, sex, and after graduation, part-time status, motivation, stress, stress coping style questionnaire for distribution and was written. Results : First of all, women's social support form graduation course, more robust than pursue blank after the synchronization uncertainty and stress, and graduated from the trading center and avoid the use of career, more form. Second, motivation and stress test, a difference between the notice could not see. Third, the higher the motivation of learning, problem-solving, Action form to the center to use as many as you, but avoid using too much in the center form is addressed. Conclusion : As a result of the study that came out of the course after graduating from ensure that learning motivation is high, the more the uncertainty, the more to cope with stress in the center of the form to avoid form address was used. Because of this, the student careers after graduation, to make sure that can help you to compare efforts over is believed to be necessary.

Inducer Design to Avoid Cavitation Instabilities

  • Kang, Dong-Hyuk;Watanabe, Toshifumi;Yonezawa, Koichi;Horiguchi, Hironori;Kawata, Yutaka;Tsujimoto, Yoshinobu
    • International Journal of Fluid Machinery and Systems
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    • 제2권4호
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    • pp.439-448
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    • 2009
  • Three inducers were designed to avoid cavitation instabilities. This was accomplished by avoiding the interaction of tip cavity with the leading edge of the next blade. The first one was designed with extremely larger leading edge sweep, the second and third ones were designed with smaller incidence angle by reducing the inlet blade angle or increasing the design flow rate, respectively. The inducer with larger design flow rate has larger outlet blade angle to obtain sufficient pressure rise. The inducer with larger sweep could suppress the cavitation instabilities in higher flow rates more than 95% of design flow coefficient, owing to weaker tip leakage vortex cavity with stronger disturbance by backflow vortices. The inducer with larger outlet blade angle could avoid the cavitation instabilities at higher flow rates, owing to the extension of the tip cavity along the suction surface of the blade. The inducer with smaller inlet blade angle could avoid the cavitation instabilities at higher flow rates, owing to the occurrence of the cavity first in the blade passage and its extension upstream. The cavity shape and suction performance were reasonably simulated by three dimensional CFD computations under the steady cavitating condition, except for the backflow vortex cavity. The difference in the growth of cavity for each inducer is explained from the difference of the pressure distribution on the suction side of the blades.

Improved NADPH Regeneration for Fungal Cytochrome P450 Monooxygenase by Co-Expressing Bacterial Glucose Dehydrogenase in Resting-Cell Biotransformation of Recombinant Yeast

  • Jeon, Hyunwoo;Durairaj, Pradeepraj;Lee, Dowoo;Ahsan, Md Murshidul;Yun, Hyungdon
    • Journal of Microbiology and Biotechnology
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    • 제26권12호
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    • pp.2076-2086
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    • 2016
  • Fungal cytochrome P450 (CYP) enzymes catalyze versatile monooxygenase reactions and play a major role in fungal adaptations owing to their essential roles in the production avoid metabolites critical for pathogenesis, detoxification of xenobiotics, and exploitation avoid substrates. Although fungal CYP-dependent biotransformation for the selective oxidation avoid organic compounds in yeast system is advantageous, it often suffers from a shortage avoid intracellular NADPH. In this study, we aimed to investigate the use of bacterial glucose dehydrogenase (GDH) for the intracellular electron regeneration of fungal CYP monooxygenase in a yeast reconstituted system. The benzoate hydroxylase FoCYP53A19 and its homologous redox partner FoCPR from Fusarium oxysporum were co-expressed with the BsGDH from Bacillus subtilis in Saccharomyces cerevisiae for heterologous expression and biotransformations. We attempted to optimize several bottlenecks concerning the efficiency of fungal CYP-mediated whole-cell-biotransformation to enhance the conversion. The catalytic performance of the intracellular NADPH regeneration system facilitated the hydroxylation of benzoic acid to 4-hydroxybenzoic acid with high conversion in the resting-cell reaction. The FoCYP53A19+FoCPR+BsGDH reconstituted system produced 0.47 mM 4-hydroxybenzoic acid (94% conversion) in the resting-cell biotransformations performed in 50 mM phosphate buffer (pH 6.0) containing 0.5 mM benzoic acid and 0.25% glucose for 24 h at $30^{\circ}C$. The "coupled-enzyme" system can certainly improve the overall performance of NADPH-dependent whole-cell biotransformations in a yeast system.

중국 유학생의 사회적 지지가 주관적 웰빙에 미치는 영향 -성취동기의 매개효과를 중심으로- (The Impacts of Chinese Student's Social Support on Subjective Well-Being: Focused on the Mediating Effects of Achievement Motivation)

  • 장준호;지초
    • 디지털융복합연구
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    • 제19권8호
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    • pp.133-139
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    • 2021
  • 본 연구는 사회적 지지의 중요성을 인식하고 사회적 지지가 성취동기를 매개로 주관적 웰빙에 미치는 영향을 검증하는데 초점을 두었다. 이러한 과정에 있어서 주관적 웰빙을 향상시킬 수 있는 핵심 변수로 성취동기의 성공추구 동기와 실패회피 동기의 매개효과를 명확히 규명하였다. 이러한 연구목적을 달성하기 위해 국내 대학에 재학하고 있는 중국 유학생을 대상으로 실증분석을 실시하였다. 실증분석을 통해 사회적 지지는 성공추구 동기와 실패회피 동기를 향상시키며, 성공추구 동기와 실패회피 동기는 주관적 웰빙을 강화하는 요소로 판명되었다. 또한 사회적 지지와 주관적 웰빙 간의 관계에서 성공추구 동기와 실패회피 동기의 매개효과 및 다중매개효과를 분석한 결과, 성공추구 동기만이 부분매개 효과가 있는 것으로 나타났다. 마지막으로 본 연구를 통한 실무적 시사점을 제시함과 동시에 향후의 연구 방향에 관해서 논의하였다.

실험계획법을 이용한 대형 선박용 레이더 마스트의 공진회피 설계 (Design Enhancement to Avoid Radar Mast Resonance in Large Ship using Design of Experiments)

  • 박준형;이대용;양정욱;송창용
    • 한국해양공학회지
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    • 제33권1호
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    • pp.50-60
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    • 2019
  • Recently, problems with excessive vibration of the radar masts of large bulk carriers and crude oil tankers have frequently been reported. This paper explores a design method to avoid the resonance of a radar mast installed on a large ship using various design of experiment (DOE) methods. A local vibration test was performed during an actual sea trial to determine the excitation sources of the vibration related to the resonant frequency of the radar mast. DOE methods such as the orthogonal array (OA) and Latin hypercube design (LHD) methods were used to analyze the Pareto effects on the radar mast vibration. In these DOE methods, the main vibration performances such as the natural frequency and weight of the radar mast were set as responses, while the shape and thickness of the main structural members of the radar mast were set as design factors. From the DOE-based Pareto effect results, we selected the significant structural members with the greatest influence on the vibration characteristics of the radar mast. Full factorial design (FFD) was applied to verify the Pareto effect results of the OA and LHD methods. The design of the main structural members of the radar mast to avoid resonance was reviewed, and a normal mode analysis was performed for each design using the finite element method. Based on the results of this normal mode analysis, we selected a design case that could avoid the resonance from the major excitation sources. In addition, a modal test was performed on the determined design to verify the normal mode analysis results.

SGA에서 매수인의 계약해제권에 관한 연구: CISG와의 비교를 중심으로 (A Comparative Study on the Right to Avoid the Contract of the Buyer under SGA and CISG)

  • 민주희
    • 아태비즈니스연구
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    • 제11권3호
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    • pp.273-290
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    • 2020
  • Purpose - The purpose of this paper is to examine the buyer's right to avoid the contract under SGA and CISG. Design/methodology/approach - This paper has conducted literature reviews to analyze the right to avoid the contract of the buyer based on the comparative study. Findings - Under s. 11(3) of SGA, the breach of a condition and an intermediate which deprives the buyer substantially of the whole benefit of the contract may give rise to a right to treat the contract as repudiated. But under Art. 49 of CISG, the buyer has the right to terminate the contract where the seller's failure to performance amounts to a fundamental breach of contract. Regarding the breach of an intermediate and the breach under CISG, the buyer should take into account where the seller's breach is fundamental or not. Moreover, an anticipatory breach can give rise to a right to avoid the contract. The anticipatory breach of a condition justifies termination. The breach of an intermediate and the breach under CISG require an anticipatory fundamental breach of the contract. Under SGA, the buyer has to prove an anticipatory breach in fact but CISG does not require virtual certainty, which SGA has stricter criteria to assess an anticipatory breach. Research implications or Originality - Comparative study helps to understand the nature of provisions under SGA and CISG and suggests practical advice to choose applicable laws. SGA gives more certainty to classify a contractual term. In case of the breach of a condition including the anticipatory breach under SGA, the buyer does not have to ask how much serious the breach is. But CISG requires the fundamental breach of the contract, which means that the buyer has the more burden of proof compared with SGA.

지향각이 넓은 저가의 초음파센서를 이용한 이동로봇의 장애물 회피 (Obstacle Avoidance of a Mobile Robot Using Low-Cost Ultrasonic Sensors with Wide Beam Angle)

  • 최윤규;최우수;송재복
    • 제어로봇시스템학회논문지
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    • 제15권11호
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    • pp.1102-1107
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    • 2009
  • An ultrasonic sensor has been widely used as a range sensor for its low cost and capability of detecting some obstacles, such as glasses and black surfaces, which are not well detected by a laser scanner and an IR sensor. Although low-cost sensors are preferred for practical service robots, they suffer from the inaccurate and insufficient range information. This paper proposes a novel approach to obstacle avoidance using low-cost anisotropic ultrasonic sensors with wide beam angle. In this paper, obstacles can be detected by the proposed sensor configuration which consists of one transmitter and three receivers. Because even wide obstacles are represented by a point, which corresponds to the intersection of range data from each receiver of the anisotropic sensor, a robot cannot avoid wide obstacles successfully. This paper exploits the probabilistic mapping technique to avoid collision with various types of obstacles. The experimental results show that the proposed method can robustly avoid obstacles in most indoor environments.