• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.621-626
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• 1989

An efficient algorithm for planning near-optimum trajectory of manipulators is proposed. The algorithm is divided into two stages. The first one is the optimization of time trajectory with given spatial path. And the second one is the optimization of the spatial path itself. To consider the second problem, the manipulator dynamics is represented using the path parameter "s", then a differential equation corresponding to the dynamics is solved as two point boundary value problem. In this procedure, the gradient method is used to calculate improved input torques.t torques.

• 한국정밀공학회지
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• 제13권9호
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• pp.62-69
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• 1996

Interpolator is a very important element in NC machines in that it controls tool path and speed. In this paper, studied were extensive interpolation characteristics of reference pulse method among various interpolation and pulse generation methods. Specifically, processing speed and path error of DDA, SPD and SFG methods were compared and analyzed against line, circle and elipse. As a result, in the point of processing speed, SPD method was found to be the best for line interpolation, SFG method for circle and ellipse, and DDA method was found to be the slowest for all paths. In the point of path error, DDA method was found to have the biggest error for all kinds of paths.

• Current Optics and Photonics
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• 제3권1호
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• pp.16-21
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• 2019

We present a broad-bandwidth comb-spacing-swept source (CSWS) based on a differential polarization delay line (DPDL) for interferometric three-dimensional (3D) imaging. The comb spacing of the CSWS is repeatedly swept by the tunable DPDL in the multiwavelength source to provide depth-scanning optical coherence tomography (OCT). As the polarization differential delay of the DPDL is tuned from 5 to 15 ps, the comb spacing along the wavelength continuously varies from 1.6 to 0.53 nm, respectively. The wavelength range of various semiconductor optical amplifiers and the cavity feedback ratio of the tunable fiber coupler are experimentally selected to obtain optimal conditions for a broader 3-dB bandwidth of the multiwavelength spectrum and thus provide a higher axial resolution of $35{\mu}m$ in interferometric OCT imaging. The proposed CSWS-OCT has a simple imaging interferometer configuration without reference-path scanning and a simple imaging process without the complex Fourier transform. 3D surface images of a via-hole structure on a printed circuit board and the top surface of a coin were acquired.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 추계학술대회 논문집 학회본부 B
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• pp.500-502
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• 1999

This thesis deals with study and implementation of a cross-coupling controller which can enhance the path-tracking performance of optically guided AGV(Automated Guided Vehicle). The AGV in this thesis is differential drive type and has front-side and rear-side optical sensors, which can identify the guiding path. When AGV from the path due to the inevitable error and the deviation must be corrected. It has been shown that compensation only the first term can lead to undesirable oscillatory results and even instability but compensating only the second term leads to a steady state offset error. Cross-coupling control directly minimizes the error by coordinating the motion of the two drive wheels. The cross-coupling controller is analyzed to evaluate its performance. The cross-coupling controller enhances transient performance of the controller is demonstrated by simulation and is compared with that of individual loop controller.

• 한국지진공학회논문집
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• 제9권6호
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• pp.53-58
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• 2005

본 연구에서는 지진하중을 받는 교량의 거동을 확률밀도함수를 통하여 분석할 수 있는 기법을 개발하였다. 확률밀도함수의 전개는 추계론적 이론을 이용한 반해석적 방법을 통하여 구하였으며, 반해석적 방법은 교량운동방정식으로부터 상응하는 Fokker-Planck equation을 구한 후, path-integral solution을 유도하여 이를 수치적으로 해석함으로써 구할 수 있다. 교량거동의 확률밀도 함수전개로부터 교량거동의 확률적 특성을 파악하고 확률밀도함수의 범위로부터 교량응답거동의 포락선을 얻을 수 있으며 이를 이용하여 최대응답의 범위를 결정할 수 있다는 것을 밝혔다.

• 한국과학교육학회지
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• 제33권5호
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• pp.981-994
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• 2013

이 연구는 학생들의 생태 태도에 관한 두 가지 가설적 모델을 통계적으로 검증하였다. 첫 번째 연구 모델은 생물의 심미적인 관점이 부정적 관점으로 이어지는 경로에서 인식과 친숙함의 매개 효과이다. 두 번째 연구 모델은 인간적 관점에서 지배적 관점으로 이어지는 두 가지 차별적인 경로이다. 이 연구를 위하여 고등학교 1학년 학생 104명이 참여하였다. 상관관계, 편상관관계, 경로분석을 활용하여 모델의 적합도를 확인하였다. 연구 결과는 생물에 대한 인지와 친숙함이 심미적인 관점과 부정적 관점을 조절하고 있음을 보여주고 있다. 심미적인 관점에서 발생하는 학생들의 선입견이 학습으로 조절될 수 있음을 보여주고 있다. 두 번째, 인간적 관점과 지배적 관점 경로에서 생태-자연적 관점 경로와 과학-이용적 관점 경로는 독립적이다. 과학-이용적 관점은 지배적 관점에 정적인 영향력이 있다. 학생들의 자연에 대한 지배적 관점을 줄이기 위해서는 생태-자연적 관점을 이해할 필요가 있을 것이다.

• ETRI Journal
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• 제40권3호
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• pp.347-354
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• 2018

Using various offset times to separate differential services is the most common form of service differentiation in optical burst switching networks. In this approach, a larger offset time is given to a higher priority burst, but it causes this burst to have a longer delay. One solution to this problem is to adjust the burst assembly time so that the buffering delay of the higher priority burst is always shorter than that of the lower priority burst. However, this adjustment causes another problem, called delay unfairness, for bursts with differential priorities that share the same path to their destination. This article proposes a new solution for delay fairness using the burst assembly.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.113.3-113
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• 2001

In this paper, we have designed the VHDL module of DS/SS QPSK wireless modem processor for digital data communication. The spread spectrum method is used for modern processor, because this method guarantees good frequency efficiency and higher security. Also, it guarantees good performance in digital communication system under multi-path interferences. The differential encoder and decoder are used for simple circuit composition in the signal detection. For the synchronization of receiver, matched filter and power detector are used. And the IF modulation/demodulation of QPSK method is used in the digital level. The transmitter of VHDL modem processor consists of differential encoder, PN code generator, and QPSK ...

• 한국군사과학기술학회지
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• 제14권2호
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• pp.161-166
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• 2011

The passive open-path Fourier-Transform-Infrared system was implemented for the toxic gas monitoring. Noise Equivalent Differential Temperature(NEDT) was investigated as a system performance evaluation figure and analyzed numerically with the designed parameters. Calculated NEDT was compared with the experimental value in the wavelength region of $700{\sim}1400cm^{-1}^$. The minimum detectable gas concentration was estimated from the obtained NEDT at the absorption wavelength of $SF_6$.

• Journal of applied mathematics & informatics
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• 제23권1_2호
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• pp.243-256
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• 2007

This paper deals with determining the sufficient conditions of minimum for the class of problems in which the necessary conditions of optimum are satisfied in the strengthened form Legendre-Clebsch. To this paper, we shall use the sweep method which analysis the conditions of existence of the conjugated points on the optimal trajectory. The study we have done evaluates the command variation on the neighboring optimal trajectory. The sufficient conditions of minimum are obtained by imposing the positivity of the second variation. The results that this method offers are applied to the problem o the orbital rendez-vous for the linear case of the equations of movement.