• Journal of the Korean Institute of Intelligent Systems
• /
• v.26 no.1
• /
• pp.23-29
• /
• 2016

This paper presents balancing control of a two-wheel mobile robot (TWMR). TWMR is aimed to maintain balance while moving. Although TWMR can be controlled by linear controllers such as PD controller, time-delayed controller is employed for robustness. Performances of PD controllers and time-delayed controllers are compared. Especially, experimental studies on different acceleration estimation for the time-delayed controller are conducted. Performances by different acceleration estimations of the balancing angle, of the position, and of both angle and position are compared empirically.

• KOREAN JOURNAL OF CROP SCIENCE
• /
• v.43 no.1
• /
• pp.15-18
• /
• 1998

Receptivity of corn silk to pollen decreases with time. For effective pollination, it is important to study the receptivity of corn silks in relation to time elapsed after their emergence. Two commercial corn hybrids, 'Kwanganog' and 'Suwon 19', were tested for their silk growth and effects of delayed pollination on kernel development for 1 to 13 days after emergence of the first silk. Silks elongated rapidly for the first 3 days and then gradually decreased. Silks grew more than 30mm per day for the first 3 days and stopped growing on the 11 or 12th day after emergence of the first silk. Filled ear length decreased slowly for the first 8 days, and then decreased rapidly. Similar trends were observed for number of kernel rows and number of kernels per row or ear. The highest numbers of kernels per row or ear were observed when plants were pollinated 2-4 days after silking. These numbers decreased gradually up to 8 days, and then decreased sharply. This result indicates that 8 day-delayed pollination has no influence on kernel development. There were negative correlations between silk length and ear characteristics except kernel weight. Silk growth rate was positively correlated with filled ear length, row number, and kernel number. It might be assumed that delayed pollination by one week after the first silk emerged would not affect on kernel set.

• Corrosion Science and Technology
• /
• v.10 no.4
• /
• pp.131-135
• /
• 2011

The demands of high-strength steel have been steadily increased to reduce the weight of vehicles. Although the TRIP steel has been the promising candidate material for the purpose, high strength hinders the application due to the susceptibility to hydrogen delayed fracture in the corrosive environment. Moreover, the testing method was not specified in the ISO standards. In this work, the test method to evaluate the susceptibility of hydrogen delayed fracture was studied by slow strain rate testing technique. The four test experimental parameters were studied : strain rate, hydrogen charging time, holding time after hydrogen charging, and holding time after cadmium plating. The steel was fractured by hydrogen in case the strain rate was in the range of $1{\times}10^{-4}{\sim}5{\times}10^{-7}/sec$. It was confirmed that the slow strain rate test is effective method to evaluate the susceptibility to hydrogen delayed fracture. The holding time over 24 hrs after hydrogen charging, nullified the hydrogen effect, that is, the specimen was no more susceptible to hydrogen after 24 hrs even though the specimen was fully hydrogen-charged. Moreover, cadmium electroplating could not prevent from diffusing out the hydrogen from the steel in the experiment. The effective experimental procedures were discussed.

• Proceedings of the Korea Concrete Institute Conference
• /
• 2005.05b
• /
• pp.349-352
• /
• 2005

In this work, effects of limestone powder on hydration of $C_3A-CaSO_4\cdot2H_2O$ system was discussed based on the XRD Quantitative analysis, and the possibility of Delayed Ettringite Formation was also discussed. The early hydration of $C_{3}A$ was delayed by addition of $CaCO_{3}$ powder. The delay effect was enhanced by increasing of $CaCO_{3}$ content and finer powder of $CaCO_{3}$ addition. After consumption of $CaSO_4\cdot2H_2O$, the reaction of $CaCO_{3}$ is started. Delayed Ettringite Formation would take place because monosulfoaluminate is not stable in presence of $CaCO_{3}$. In order to prevent the delayed ettringite formation in $C_3A-CaSO_4\cdot2H_2O-CaCo_3$ system, the reduction of monosulfoaluminate formation is important. Therefore, by increasing the amount of $CaCO_{3}$ addition and finer $CaCO_{3}$ powder addition, the delayed ettringite formation can be prevented.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.2
• /
• pp.148-154
• /
• 2009

In this paper, an embedded Kalman filter for a time-delayed controller is designed on an FPGA to estimate accelerations of the robot arm. When the time-delayed controller is used as a controller, the inertia estimation along with accelerations is needed to form the control law. Although the time-delayed controller is known to be robust to cancel out uncertainties in the nonlinear systems, performances are very much dependent upon estimating the acceleration term ${\ddot{q}}(t-{\lambda})$ along with inertia estimation ${\hat{D}}(t-{\lambda})$. Estimating accelerations using the finite difference method is quite simple, but the accuracy of estimation is poor specially when the robot moves slowly. To estimate accelerations more accurately, various filters such as the least square fit filter and the Kalman filter are introduced and implemented on an FPGA chip. Experimental studies of following the desired trajectory are conducted to show the performance of the controller. Performances of different filters are investigated experimentally and compared.

• The Journal of the Acoustical Society of Korea
• /
• v.16 no.1
• /
• pp.100-103
• /
• 1997

In this paper, we analyze the time delayed effect of speech feature. Here, the time delayed effect means that the current feature vector of speech is under the influence of the previous feature vectors. In this paper, we use a set of LPC driven cepstal coefficients and evaluate the time delayed effect of cepstrum with the performance of the speech recognition system. For the experiments, we used the speech database consisting of 22 words which uttered by 50 male speakers. The speech database uttered by 25 male speakers was used for training, and the other set was used for testing. The experimental results show that the time delayed effect is large in the lower orders of feature vector but small in the higher orders.

• Journal of Chest Surgery
• /
• v.29 no.12
• /
• pp.1377-1380
• /
• 1996

Severe hemodynamic dysfunction may follow after the closure of the median sternotomy in patients with myocardial edema, cardiac dilatation, and severe postoperative bleeding. In extreme cases, myocardial edema may be so severe that cardiac function is compromised merely by the edges of the open sternum touching the heart. Sternotomy remained open and delayed sternal closure is already described adjunct in complicated cardiac operations. We experi nced a case of delayed sternal closure after 16 hours of CABG using synthes DCP wide plate in a 54-year old obese female patient. Our experience conims that delayed sternal closure Is an effective at simple means of dealing with severe myocardial edema so we report this case with literature review.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.10 no.10
• /
• pp.4977-4996
• /
• 2016

The existence of excessively large and too filled network buffers, known as bufferbloat, has recently gained attention as a major performance problem for delay-sensitive applications. Researchers have made three types of suggestions to solve the bufferbloat problem. One is End to End (E2E) congestion control, second is deployment of Active Queue Management (AQM) techniques and third is the combination of above two. However, these solutions either seem impractical or could not obtain good bandwidth utilization. In this paper, we propose a Transmission Control Protocol（TCP）delayed window update mechanism which uses a congestion detection approach to predict the congestion level of networks. When detecting the network congestion is coming, a delayed window update control strategy is adopted to maintain good protocol performance. If the network is non-congested, the mechanism stops work and congestion window is updated based on the original protocol. The simulation experiments are conducted on both high bandwidth and long delay scenario and low bandwidth and short delay scenario. Experiment results show that TCP delayed window update mechanism can effectively improve the performance of the original protocol, decreasing packet losses and queuing delay while guaranteeing transmission efficiency of the whole network. In addition, it can perform good fairness and TCP friendliness.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.12 no.5
• /
• pp.2124-2141
• /
• 2018

Recent studies have revealed the efficacy of incorporating delayed channel state information at transmit side (CSIT) in transmission scheme design. This paper focuses on transmit precoder design to maximize the ergodic sum-rate in a two-user Multiple-Input Single-Output (MISO) system with delayed and statistical CSIT. A new transmit strategy which precodes signals in all transmit slots is proposed in this paper, denoted as all time-slots precoding Alternative MAT (AAMAT). There is a common procedure in conventional delayed-CSIT based schemes, which is retransmitting the overheard interferences. Since the retransmitting signal is intended to both users, all previous schemes tend to use only one antenna. We however figure out an improvement in spectral efficiency could be realized if all antennas can be utilized. In this paper, we detail the design of the procoder which enabling all antennas and also we compute a lower bound of the ergodic sum-rate in an ideal condition. In addition, simulation results demonstrate the superiority of our proposed scheme.

• Journal of Yeungnam Medical Science
• /
• v.35 no.1
• /
• pp.135-139
• /
• 2018

There has been a significant increase in the number of multiple pregnancies that are associated with a high risk of preterm delivery among Korean women. However, to date, delayed-interval delivery in women with multiple pregnancy is rare. We report a case of delayed-interval delivery performed 128 days after the vaginal delivery of the first fetus in a dichorionic diamniotic twin pregnancy. The patient presented with vaginal leakage of amniotic fluid at 16 weeks of gestation and was diagnosed with a preterm premature rupture of membranes. Three days later, the first twin was delivered, but the neonate died soon after. The second twin remained in utero, and we decided to retain the fetus in utero to reduce the morbidity and mortality associated with a preterm birth. The patient was managed with antibiotics and tocolytics. Cervical cerclage was not performed. The second twin was delivered vaginally at 34 weeks and 5 days of gestation, 128 days after the delivery of the first-born fetus. This neonate was healthy and showed normal development during the 1-year follow-up period. Based on our experience with this case, we propose that delayed-interval delivery may improve perinatal survival and decrease morbidity in the second neonate in highly selected cases.