• The Transactions of the Korean Institute of Electrical Engineers
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• v.37 no.3
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• pp.186-193
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• 1988

A pointwise PD-optimal control method is proposed for the continuous path control of robot manipulators with bounded inputs. The controller employs the desired acceleration plus PD (proportional and derivative) actions in the Cartesian space. The gain parameters of the controller are adjusted so that the Euclidean norm of the deviation between the actual and desired accelerations is minimized subject to the constraints of bounded input torques and the system guarantees negative feedback. To show the Validities of the proposed mithods, computer simulations are performed for a SCARA type robot.

• 한국기계연구소 소보
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• s.16
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• pp.63-68
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• 1986

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1402-1407
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• 2004

Moving a fragile object from an initial point to a goal location in minimum time without damage is pursued in this paper. In order to achieve the goal, first of all, the range of maximum acceleration and velocity are specified, which the manipulator can generate dynamically on the path that is planned a priori considering the geometrical constraints. Later, considering the impulsive force constraint of the object, the range of maximum acceleration and velocity are going to be obtained to keep the object safe while the manipulator is carrying it along the curved path. Finally, a time-optimal trajectory is planned within the maximum allowable range of the acceleration and velocity. This time optimal trajectory planning can be applied for real applications and is suitable for not only a continuous path but also a discrete path.

• Journal of Environmental Impact Assessment
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• v.18 no.3
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• pp.143-150
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• 2009

The present study investigates the effects of the flight paths of military aircraft on noise map and its WECPNL(Weighted Equivalent Continuous Perceived Noise Level) distribution. Aircraft noise modeling and simulation have been performed on a Korean military air base by means of INM(Integrated Noise Model) with the input data of airfield location, aircraft specifications, flight paths and aircraft's operation schedules. The result of noise modelling has been verified in comparison with the result of measured noise level. The flight path of military aircraft, as the key parameter of the present study, was modeled by combining takeoff, overfly, approach and touch-and-go modes. The present INM simulations have been conducted for various flight path cases with different takeoff, approach modes and overfly modes. The simulation results showed that the change of flight path can remarkably affect the noise influence region and the WECPNL distribution around the airfield.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.11
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• pp.1844-1853
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• 2001

In the present investigation, it was attempted to design the rolling pass schedule fur a clean steel of 0.1C-1.5Mn-0.25Si with the objective of the austenite grain refinement. As the method of approach, a coupled mathematical modeling technique was proposed which consists of a recrystallization model and a flow stress modes. The validity of the coupled model was examined through comparison with results of continuous and discontinuous compression tests at various temperatures, strains and strain rates. The coupled model was incorporated with the finite element method to set up a systematic design methodology far the rolling path schedule for austenite grain refinement. Two path schedules were obtained and discussed in the paper with regard to rolling path time, average grain size, grain size deviation in thickness, etc.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.22 no.4
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• pp.75-80
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• 2014

A lunar lander demonstrator developed for the purpose of demonstrating lunar landing technologies recently in Korea. The thruster control system of the lunar lander demonstrator adopted the main thrusters for altitude control and the reaction thrusters for attitude control. In this paper, we propose a path tracking controller base on Euler angles. The control signals of the controller are of continuous type. And Pulse Width Modulator(PWM) is adopted to provide On/Off signals. We perform MATLAB simulation for evaluating the path tracking performance and the final landing velocity of the lunar lander demonstrator.

• Journal of KSNVE
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• v.10 no.5
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• pp.792-799
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• 2000

Aircraft noise in the vicinity of Kimpo international airport has damaged to large number of people who live in communities. This paper investigates noise exposed area due to aircraft flight based on prediction modeling program INM and flight path data. Especially effect on route for aircraft has been considered. Ti also examines noise impact for various flight modes, such as a thrust cutback climb method.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.112-121
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• 2021

Unlike a typical small-sized robot navigating in a free space, an autonomous vehicle has to travel in a designated road which has lanes to follow and traffic rules to obey. High-Definition (HD) maps, which include road markings, traffic signs, and traffic lights with high location accuracy, can help an autonomous vehicle avoid the need to detect such challenging road surroundings. With space constraints and a pre-built HD map, a new type of path planning algorithm can be conceived as a substitute for conventional grid-based path planning algorithms, which require substantial planning time to cover large-scale free space. In this paper, we propose an obstacle-avoiding, cost-based planning algorithm in a continuous space that aims to pursue a globally-planned path with the help of HD map information. Experimentally, the proposed algorithm is shown to outperform other state-of-the-art path planning algorithms in terms of computation complexity in a typical urban road setting, thereby achieving real-time performance and safe avoidance of obstacles.

• Journal of Information Technology Services
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• v.18 no.5
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• pp.99-117
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• 2019

In recent years, the one-person media has increasingly gained popularity. The purpose of this study is to investigate the relationship among the service quality, satisfaction and intention of continuous use of one-person media service and to further examine the mediating effect of satisfaction operating on the relationship between the service quality and intention of continuous use. Based on the literature review, hypotheses were developed and the research model was built for testing. The sample of 358 users was selected to achieve these objectives. From the analysis of PLS(Partial Lease Square Path Analysis), key research findings are summarized as follows. First, relationships among the service quality, satisfaction, and intention of continuous use were all positively correlated each other. Second, the effect of service quality on intention of continuous use was mediated by satisfaction. Third, the content quality of one-person media has the higher effectiveness than platform quality to satisfaction and intention of continuous use. Results of this paper are expected not only to emphasize the importance of satisfaction based on the service quality, but also to provide multifaceted implications and directions for the management of one-person media service effectively.

• Journal of Dental Rehabilitation and Applied Science
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• v.28 no.4
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• pp.371-383
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• 2012

Shaping the root canal system to maintain original canal curvature is essential to clinical success in endodontic treatment. Opposed to most root canals that are curved, endodontic instruments are made from straight metal blanks. They have a tendency of straightening the root canal during preparation and frequently result in procedural errors. A new treatment method to maintain original canal curvature during shaping has been introduced for preventing procedural errors. The aim of this study was to compare the ability of instruments to maintain original canal curvature of continuous rotary system and single file system. Thirty ISO 15, 0.02 taper, Endo Training Blocks(Dentsplay Maillefer) were used. Specimens were assigned to 1 of 3 groups for shaping: specimens in group 1 were shaped with ProFile #20/.06 at the WL. Specimens in group 2 were shaped with Mtwo #35/.04 at the WL. Specimens in group 3 were shaped with WaveOne Primary reciprocating files at the WL after the glide path was achieved with PathFile. Pre- and postinstrumentation digital images were superimposed and processed with Matlab r2010b(The MathWorks Inc, Natick, MA) software to analyze the curvature-radius ratio(CRr), representing canal curvature modification. Data for comparison on the ability of instruments to maintain original canal curvature depending on each Ni-Ti file were analyzed with 1-way ANOVA(P<.05). Data for comparison on the ability of instruments to maintain original canal curvature depending on each Ni-Ti file system were analyzed with independent t-test(P<.05). A statistically significant difference(P<0.05) was noted on each Ni-Ti file. ProFile and WaveOne instrumentations maintained the original canal curvature significantly better(P<0.05) than Mtwo file. There were no significant difference(P>0.05) between continuous rotary system and single file system. Under the conditions of this study, ProFile and WaveOne instruments maintained the original curvature significantly better than Mtwo file and were less modification of the canal curvature compared. There was no significant difference between continuous rotary system and single file system in shaping of simulated canals. As clinical practitioners, it may be advantages to use hybrid approach when root canal shapes depending on the design and usage of Ni-Ti files.