• 제어로봇시스템학회논문지
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• 제13권11호
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• pp.1099-1105
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• 2007

In this paper, modified two-port time-domain passivity approach is proposed for stable bilateral control of teleoperators under time-varying communication delay. We separate input and output energy at each port of a bilateral controller, and propose a sufficient condition for satisfying the passivity of the bilateral controller including time-delay. Output energy at the master port should be less than the transmitted input energy from the slave port with time-delay, and output energy at the slave port should be less than the transmitted input energy from the master port with time-delay. For satisfying above two conditions, two passivity controllers are attached at each port of the bilateral controller. A packet reflector with wireless internet connection is used to introduce serious time-varying communication delay of teleoperators. Average amount of time-delay was about 190(msec) for round trip, and varying between 175(msec) and 275(msec). Moreover some data packet was lost during the communication due to UDP data communication. Even under the serious time-varying delay and packet loss communication condition, the proposed approach can achieve stable teleoperation in free motion and hard contact as well.

• 정보과학회 컴퓨팅의 실제 논문지
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• 제21권3호
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• pp.257-262
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• 2015

소프트웨어가 복잡해짐에 따라 개발자가 인지하지 못하는 버그가 증가하고 있다. 공격자들은 시스템을 공격하거나 악성코드를 유포하기 위해 이와 같은 소프트웨어 버그 중 보안에 취약한 버그를 이용한다. 대표적인 방법으로 문서, 멀티미디어 등의 파일을 조작하여 보안에 취약한 버그를 발생시키는 방법으로 최근 지능적 지속 공격 빈번하게 사용되었다. 이에, 본 논문에서는 소프트웨어의 보안 취약점을 찾기 위한 프로그램 자동 분석 방법을 제안한다. 제안 방법은 문서, 멀티미디어 등 입력 값에 의해 발생되는 소프트웨어의 보안에 취약한 버그를 찾는 것을 목표로 한다. 먼저, 동적 오염 분석을 통해 입력 데이터가 취약 코드 지점까지 전파되는 과정을 추적하고 입력데이터 전파와 관련이 있는 명령어를 추출한다. 추출된 연관 명렁어를 수식화하고 이를 SMT 해석기를 이용하여 보안 취약점이 발생할 수 있는 입력 값을 찾는다. 제안 방법을 통해 아래아 한글, 곰 플레이어에서 크래시가 발생할 수 있는 입력값과 취약 코드 6개를 찾았다.

• Environmental Engineering Research
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• 제16권1호
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• pp.19-27
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• 2011

This paper introduces an approach to identify the total energy consumption with subsequent $CO_2$ emissions, for both industrial and non-industrial sectors. Statistical data for 2005 were compiled in a national account system to construct an energy input-output table for investigating the influence between energy demand and supply activities. The methodological approach was applied to South Korea. Twelve types of energy and fifteen industrial and non-industrial sectors are formed as the compartments of the input-output table. The results provided quantitative details of the energy consumption and identified the significant contributions from each sector. An impact analysis on the $CO_2$ emissions for the demand side was also conducted for comparison with the supply side.

• 제어로봇시스템학회논문지
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• 제16권3호
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• pp.207-214
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• 2010

This paper proposes about decentralized control approach based Leader-Follower formation control using LOS (Line of Sight) algorithm and unknown input observer. The position of robots which is a basic information in multi-robot or single robot motion control is determined by localization algorithm fusing UPS (Ultrasonic Position System) and kinematics model. For formation control, a decentralized control approach individually installing a local controller in leader and follower robot is adopted. Leader robot is controlled to track a specified trajectory by LOS algorithm, and the other robots follow the leader by local controller based on tracking platoon level function, self-sensing data and estimated information from unknown input observer. The performance of proposed method is proven through the formation experiment of two vehicle models.

• Earthquakes and Structures
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• 제16권4호
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• pp.487-499
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• 2019

Energy-based seismic design of structures has gradually become prominent in today's structural engineering investigations because of being more rational and reliable when it is compared to traditional force-based and displacement-based methods. Energy-based approaches have widely taken place in many previous studies and investigations and undoubtedly, they are going to play more important role in future seismic design codes, too. This paper aims to compute the maximum earthquake energy input to elastic single-degree-of-freedom (SDOF) systems for selected real ground motion records. A data set containing 100 real ground motion records which have the same site soil profiles has been selected from Pacific Earthquake Research (PEER) database. Response time history (RTH) analyses have been conducted for elastic SDOF systems having a constant damping ratio and natural periods of 0.1 s to 3.0 s. Totally 3000 RTH analyses have been performed and the maximum mass normalized earthquake input energy values for all records have been computed. Previous researchers' approaches have been compared to the results of RTH analyses and an approach which considers the pseudo-spectral velocity with Arias Intensity has been proposed. Graphs of the maximum earthquake input energy versus the maximum pseudo-spectral velocity have been obtained. The results show that there is a good agreement between the maximum input energy demands of RTH analysis and the other approaches and the maximum earthquake input energy is a relatively stable response parameter to be used for further seismic design and evaluations.

• 한국농공학회논문집
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• 제57권3호
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• pp.9-19
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• 2015

Internal air temperature of greenhouse is an important variable that can be influenced by the complex interaction between outside weather and greenhouse inside climate. This paper focuses on a data-based model approach to predict internal air temperature of the greenhouse. External air temperature, solar radiation, wind speed and wind direction were measured next to an experimental greenhouse supported by the Electronics and Telecommunications Research Institute and used as input variables for the model. Internal air temperature was measured at the center of three sections of the greenhouse and used as an output variable. The proposed model consisted of a transfer function including the four input variables and tested the prediction accuracy according to the sampling interval of the input variables, the orders of model polynomials and the time delay variable. As a result, a second-order model was suitable to predict the internal air temperature having the predictable time of 20-30 minutes and average errors of less than ${\pm}1K$. Afterwards mechanistic interpretation was conducted based on the energy balance equation, and it was found that the resulting model was considered physically acceptable and satisfied the physical reality of the heat transfer phenomena in a greenhouse. The proposed data-based model approach is applicable to any input variables and is expected to be useful for predicting complex greenhouse microclimate involving environmental control systems.

• 지식경영연구
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• 제21권1호
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• pp.27-40
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• 2020

Response surface methodology (RSM) empirically studies the relationship between a response variable and input variables in the product or process development phase. The ultimate goal of RSM is to find an optimal condition of the input variables that optimizes (maximizes or minimizes) the response variable. RSM can be seen as a knowledge management tool in terms of creating and utilizing data, information, and knowledge about a product production and service operations. In the field of product or process development, most real-world problems often involve a simultaneous consideration of multiple response variables. This is called a multiple response surface (MRS) problem. Various approaches have been proposed for MRS optimization, which can be classified into loss function approach, priority-based approach, desirability function approach, process capability approach, and probability-based approach. In particular, the loss function approach is divided into univariate and multivariate approaches at large. This paper focuses on the univariate approach. The univariate approach first obtains the mean square error (MSE) for individual response variables. Then, it aggregates the MSE's into a single objective function. It is common to employ the weighted sum or the Tchebycheff metric for aggregation. Finally, it finds an optimal condition of the input variables that minimizes the objective function. When aggregating, the relative weights on the MSE's should be taken into account. However, there are few studies on how to determine the weights systematically. In this study, we propose an interactive procedure to determine the weights through considering a decision maker's preference. The proposed method is illustrated by the 'colloidal gas aphrons' problem, which is a typical MRS problem. We also discuss the extension of the proposed method to the weighted MSE (WMSE).

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1998년도 추계학술대회 학술발표 논문집
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• pp.433-439
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• 1998

In this paper, we present an approach to the structure identification based on the input space partition methods and to the parameter identification by hybrid learning method in neuro-fuzzy system. The structure identification can automatically estimate the number of membership function and fuzzy rule using grid partition, tree partition, scatter partition from numerical input-output data. And then the parameter identification is carried out by the hybrid learning scheme using back-propagation and least squares estimate. Finally, we sill show its usefulness for neuro-fuzzy modeling to truck backer-upper control.

• Communications for Statistical Applications and Methods
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• 제18권2호
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• pp.171-177
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• 2011

실생활에서 얻어지는 자료에서 근사함수를 구성하기 위하여 모델링을 하기 전에 측정된 원자료로부터 이상치를 제거하는 것이 필요하다. 기존의 이상치 진단의 방법들은 시각화나 최대 잔차들을 이용해왔다. 그러나 종종 다차원의 입력자료를 가지는 비선형함수에 대한 이상치 진단은 좋지 않은 결과를 얻었다. 다차원 입력자료를 갖는 비선형함수에 대한 전형적인서포트 벡터 회귀에 기초한 이상치 진단방법들은 좋은 수행능력을 얻어지지만, 계산비용이나 모수들의 보정 등의 실질적인 문제점들을 가지고 있다. 본 논문에서 계산비용을 감소하고 이상치의 문턱을 적절히 정의하는 서포트 벡터회귀를 이용한 이상치 진단의 실질적인방법을 제안한다. 제안한 방법을 실제자료들에 적용하여 타당성을 보일 것이다.

• 기술경영경제학회:학술대회논문집
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• 기술경영경제학회 1997년도 제11회 하계학술발표회 논문집
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• pp.160-171
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• 1997

This paper starts out by reviewing the literature that in different ways utilizes patent data as a output of R&D investment. The main focus, however, is an analysis of time-lag between R&D input and output. To achieve this research objective, the basic data associated with the R&D input(expenditure, researchers) and output(patent, utilities) for the past 15 years, from 1980 to 1994, in the areas of electrical-electronic, mechanical and chemical industries have been collected. And the raw output data were altered it to objective data using Laspeyres approach and analyzed using multiple regression analysis, especially stepwise regression analysis. The result of this study can be summarized as follows: a) The time-lag between R&D input and output is from 1 to 4 years. This result is equal to the research conclusion of the existing foreign studies. b) It was found that the time-lag of patents was longer than of utility models. c) It was showed that the time-lag of electrical-electronic, mechanical industry was longer than the chemical one.