• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.557-560
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• 2005

This paper considers a global asymptotic output tracking problem with a prescribed constant reference signal for a class of single-input and single output-output nonlinear systems. It is shown that under some mild conditions on such a system there is a smooth output feedback achieving global asymptotic output tracking and such a smooth output controller is explicitly constructed by a new design method proposed. The usefulness of our result is illustrated by a numerical example.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.1102-1107
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• 1992

Existing CAD systems do nto provide the advanced function for systematic checking of design and drafting errors in mechanical drawings. This paper describes a method for sytematic checking of global parts in mechanical drawings. The checking items are deficiency and redundancy of dimensions, input-errors in dimension figures and symbols, etc. Checking for deficiency and redundancy of global dimensions has been performed applying Graph Theory. This system has been applied to several examples and we have confirmed the feasibility of this checing method.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2012년도 춘계학술발표대회
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• pp.1213-1214
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• 2012

Global variables can be read or modified by any part of the program, making it difficult to remember or reason about every possible use. Sometime it has tight couplings between some of other variables, and couplings between variables and functions. The main focus of this paper is to use call graph and the control flow analysis to design a model from where we generate the test cases for testing global variables.

• 제어로봇시스템학회논문지
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• 제15권3호
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• pp.293-299
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• 2009

This paper discusses an autonomous navigation system for urban environments. For the localization of the robot, EKF (Extended Kalman Filter) algorithm is used with odometry, angle sensor, and DGPS (Differential Global Positioning System) measurement. Especially in an urban environment, DGPS is often blocked by buildings and trees and the resulting inaccurate positioning prevents the robot from safe and reliable navigation. In addition to the global information from DGPS, the local information of the curb on the roadway is used to track a route when the global DGPS information is inaccurate. For this purpose, curb detection algorithm is developed and implemented in the developed navigation algorithm. Four different types of navigation strategies are developed and they are switched to adapt to different localization conditions according to the availability of DGPS and the existence of the curbs on the roadway. The experimental results show that the designed switching strategy improves the navigation performance adapting to the environment conditions.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2004년도 하계종합학술대회 논문집(1)
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• pp.183-186
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• 2004

The proposed system in this paper utilizes the SIP and self-defined control protocol to provide global wireless communication over the data link of Orbcomm system. Main processor board connected to Orbcomm communication subscriber is designed to interface with digital I/O and AD/DA convertor for various application of control and .measurement. Hardware system implemented in this paper also includes the function of real-time clock and position report using GPS receiver The experimental result of the proposed global wireless communication system is evaluated via real-time experiments, and we have confirmed it works well according to the protocol designed in this paper.

• 한국통신학회논문지
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• 제29권5B호
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• pp.491-497
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• 2004

본 논문에서는, 인터넷 백본 네트워크상에서 악성의 네트워크 공격 트래픽을 고립시킴으로서 네트워크 인프라를 보호하기 위한 트래픽 제어 방법을 제안한다. 제안된 방법은 개별 플로우 또는 개별 패킷들에 기반을 둔 기존의 방법들과 달리 제안된 공격 탐지 및 제어 방법은 집합된 트래픽 수준에서 운영되므로 계산의 복잡성을 현저히 줄일 수 있으므로 네트워크 공격에 대한 전역 인프라 구축에 활용 가능하다. 실험 결과는 제안된 방법에 의한 트래픽 제어가 네트워크 공격이 이루어질 시 정상 트래픽과 네트워크 자원들을 적절히 보호할 수 있음을 보여준다.

• 한국환경과학회지
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• 제20권6호
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• pp.755-765
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• 2011

Nitrous oxide ($N_2O$) is one of six greenhouse gases listed up in the Kyoto Protocol, and it effects a strong global warming because of its much greater global warming potential (GWP), by 310 times over a 100-year time horizon, than $CO_2$. Although such $N_2O$ emissions from both natural and anthropogenic sources occur, the latter can be controlled using suitable abatement technologies, depending on them, to reduce $N_2O$ below acceptable or feasible levels. This paper has extensively reviewed the anthropogenic $N_2O$ emission sources and their related compositions, and the state-of-the-art non-catalytic and catalytic technologies of the emissions controls available currently to representative, large $N_2O$ emission sources, such as adipic acid production plants. Challengeable approaches to this source are discussed to promote establishment of advanced $N_2O$ emission control technologies.

• 융합신호처리학회논문지
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• 제7권1호
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• pp.38-44
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• 2006

The omnidirectional mobility of a mobile robot may lose significance in motion control, unless the isotropy characteristics of the mechanism is maintained well. This paper investigates the local and global isotropy of an omnidirectional mobile robot with three caster wheels. All possible actuations with different number and combination of rotating and steering joints are considered. First, the kinematic model based on velocity decomposition and the algebraic conditions for the local isotropy are obtained. Second, the geometric conditions for the local isotropy are derived and all isotropic configurations are fully identified. Third, the global isotropy index is examined to determine the optimal parameters in terms of actuation set, characteristic length, and steering link length.

• 약학회지
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• 제32권1호
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• pp.70-79
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• 1988

The effect of Ginseng on global myocardial ischemia and reperfusion was examined in isolated perfused rat hearts. The Ginseng ethanol extract (100mg/kg/day) was administered orally for 10 days. The rat hearts were removed and perfused at 75cm $H_{2}O$ by the Langendorff method. After 25 min. of global ischemia, the hearts were reperfused. The myocardial contents of adenosine 5'-triphosphate, creatine phosphate, and calcium were assayed. There no differences in ATP levels in all group of normal and Ginseng-treated hearts. Both in non-ischemic and ischemic heart, Ginseng increased significantly tissue creatine phosphate levels compared with control. Whereas, in ischemic-reperfused heart, there was no significant difference. In the control groups, myocardial calcium contents in the ischemic hearts were decreased compared with the non-ischemic hearts. But, in the Ginseng-treated groups, the calcium contents in the ischemic herts were not changed with the nonischemic hearts. Therefore, Ginseng appears to exert its protective effect against ischemic heart condition, not against ischemic-reperfused heart condition, by regulating energy metabolism and maintaing cellular function.

• 제어로봇시스템학회논문지
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• 제22권1호
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• pp.46-52
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• 2016

We propose a new type of semi-global matching (SGM) in order to solve a streaking problem arising from conventional SGM. Conventional SGM imposes a penalty to a pixel when the disparity of the pixel differs from that of the previous pixel along a scan path, and thus, disparity changes are not easily allowed, causing the streaking effect. The road surface is an appropriate target for such an effect, because the colors of the surfaces are very similar, and the image pixels corresponding to the surfaces show disparities that change very smoothly along the viewing direction. In contrast to conventional SGM, the new type of SGM imposes penalties depending on the disparity gradients, and thus, the streaking effect is controlled. The experimental results show the effectiveness of the proposed SGM method.