• ICROS
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• v.5 no.4
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• pp.29-41
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• 1999

• Proceedings of the Korea Society for Simulation Conference
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• 1994.06a
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• pp.0.1-0
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• 1994

• Proceedings of the KIEE Conference
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• 1981.07a
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• pp.142-145
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• 1981

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.9
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• pp.774-782
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• 2001

In this paper, we propose a new approach to the autonomous and high-speed indoor navigation of wheeled mobile robots using hybrid system controller. The hierarchical structure of hybrid system presented consists of high-level reasoning process and the low-level motion control process and the environmental interaction. In a discrete event system, the discrete states are defined by the user-defined constraints and the reference motion commands are specified in the abstracted motions. The hybrid control system applied for the nonholonomic mobile robots can combine the motion planning and autonomous navigation with obstacle avoidance in the indoor navigation problem. For the evaluation of the proposed algorithm, the algorithm is implemented to the two-wheel driven mobile robot system. The experimental results show that the hybrid system approach is an effective method for the autonomous navigation in indoor environments.

• Proceedings of the Korean Society of Computational and Applied Mathematics Conference
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• 2003.09a
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• pp.1-1
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• 2003

In this talk, a reduced-order modeling methodology based on centroidal Voronoi tessellations (CVT's)is introduced. CVT's are special Voronoi tessellations for which the generators of the Voronoi diagram are also the centers of mass (means) of the corresponding Voronoi cells. The discrete data sets, CVT's are closely related to the h-means clustering techniques. Even with the use of good mesh generators, discretization schemes, and solution algorithms, the computational simulation of complex, turbulent, or chaotic systems still remains a formidable endeavor. For example, typical finite element codes may require many thousands of degrees of freedom for the accurate simulation of fluid flows. The situation is even worse for optimization problems for which multiple solutions of the complex state system are usually required or in feedback control problems for which real-time solutions of the complex state system are needed. There hava been many studies devoted to the development, testing, and use of reduced-order models for complex systems such as unsteady fluid flows. The types of reduced-ordered models that we study are those attempt to determine accurate approximate solutions of a complex system using very few degrees of freedom. To do so, such models have to use basis functions that are in some way intimately connected to the problem being approximated. Once a very low-dimensional reduced basis has been determined, one can employ it to solve the complex system by applying, e.g., a Galerkin method. In general, reduced bases are globally supported so that the discrete systems are dense; however, if the reduced basis is of very low dimension, one does not care about the lack of sparsity in the discrete system. A discussion of reduced-ordering modeling for complex systems such as fluid flows is given to provide a context for the application of reduced-order bases. Then, detailed descriptions of CVT-based reduced-order bases and how they can be constructed of complex systems are given. Subsequently, some concrete incompressible flow examples are used to illustrate the construction and use of CVT-based reduced-order bases. The CVT-based reduced-order modeling methodology is shown to be effective for these examples and is also shown to be inexpensive to apply compared to other reduced-order methods.

• Journal of Advanced Navigation Technology
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• v.23 no.6
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• pp.577-583
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• 2019

A dynamic system is called positive if any trajectory of the system starting from non-negative initial states remains forever non-negative for non-negative controls. In this paper, we consider the new stability condition for the positive time-varying linear discrete interval systems with time-varying delay and unstructured uncertainty. The delay time is considered as time-varying within certain interval having minimum and maximum values and the system is subjected to nonlinear unstructured uncertainty which only gives information on uncertainty magnitude. The proposed stability condition is an improvement of the previous results which can be applied only to time-invariant systems or had no consideration of uncertainty, and they can be expressed in the form of a very simple inequality. The stability conditions are derived using the Lyapunov stability theory and have many advantages over previous results using the upper solution bound of the Lyapunov equation. Through numerical example, the proposed stability conditions are proven to be effective and can include the existing results.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.12 no.1
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• pp.1-6
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• 2012

In this paper, the performance comparison of the TR-UWB System using Wavelet Pulse, DPSS pulse, and second Gaussian pulse in multi-user environment is analyzed. The data signal and the reference signal is sent with some time intervals in TR-UWB system. At this time the two signals are through the same channel. In the receiver the reference signal is used as a template. This advantage results in demodulation without channel estimation and low complexity of it. However the conventional TR-UWB system based on a Gaussian signal in a multi-user environment has the disadvantage of poor performance due to the interferences between the users. To overcome this disadvantage, DPSS (Discrete Prolate Shperoidal Sequence) is used to reduce the interferences between the users. We propose the system with multiresolution function of orthogonal wavelet reducing the interferences, which has a better performance in multi-user environment when they are sent in transmission side.

• Journal of the Korea Society for Simulation
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• v.20 no.3
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• pp.89-100
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• 2011

The MAGLEV (Magnetically Levitated Vehicle) system, which is under commercialization as a new transportation system in Korea, is operated by means of unmanned automatic control system. Therefore the plan of train operation should be carefully established and validated in advance. In general, when making the train operation plan, the statistically predicted traffic data is used. However, traffic wave can occur when real train service is operated, and the demand-driven simulation technology is required to review train operation plans and service qualities considering traffic wave. This paper presents a method and model to simulate the MAGLEV's operation considering continuous demand changes. For this purpose, we employed the discrete event model which is suitable for modeling the behavior of railway passenger transportation, and modeled the system hierarchically using DEVS (Discrete Event System Specification) formalism. In addition, through the implementation and experiment using DEVSim++ simulation environment, we tested the feasibility of the proposed model and it is also verified that our demand-driven simulation technology could be used for the prior review of the train operation plans and strategies.

• Journal of the Korean Society of Propulsion Engineers
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• v.22 no.6
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• pp.84-93
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• 2018

Three-dimensional (3D) numerical simulations have been carried out to study how coolant injection conditions influence the cooling efficiency and projectile ejection performance in a mixture-gas ejection system (or gas-steam launch system). The 3D single-phase computational model was verified using a 1D model constructed with reference to the previous research and then a two-phase flow computation simulating coolant injection on to hot gas was performed using a DPM (Discrete Phase Model). As a result of varying the coolant flow rate and number of injection holes, cooling efficiency was improved when the number of injection holes were increased. In addition, the change of the coalescence frequency and spatial distribution of coolant droplets caused by the injection condition variation resulted in a change of the droplet diameter, affecting the evaporation rate of coolant. The evaporation was found to be a critical factor in the design optimization of the ejection system by suppressing the pressure drop while the temperature decreases inside the breech.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.25 no.3
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• pp.137-142
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• 1989

A pole assignment problem in a specified region is solved using a bilinear transformation method. It is well known that the problem designing discrete-time system or vice versa is called redesign problem, But there is not so much study that is cyclic type of design, i.e. from continuous system to discrete system and from the latter to the former system. In this paper, the cyclic type of design for the continuous-time system is proposed using the bilinear transformation. In the view of a pole assignment method with poles in a specified region, it will be possible to design a regulator or a servo system considering damping ratio, stability degree and band with which are resulted to the characteristics of the closed-loop system.