• 대한전기학회논문지:시스템및제어부문D
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• 제49권1호
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• pp.33-40
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• 2000

In this paper, an integrated method for the path planning and motion control of wheeled mobile robots using a hybrid system model and control is presented. The hybrid model including the continuous dynamics and discrete dynamics with the continuous and discrete state vector is derived for a two wheel driven mobile robot. The architecture of the hybrid control system for real time path planning and following is designed which has the 3-layered hierarchical structure : the discrete event system using the digital automata as the higher process, the continuous state system for the wheel velocity controls as the lower process, and the interface system as the interaction process between the continuous system as the low level and the discrete event system as the high level. The reference motion commands for autonomous navigation are generated by the abstracted motion in the discrete event system. The motion control tasks including the feasible path planning and autonomous motion control with various initial conditions are investigated as the applications by the simulation studies.

• 융합보안논문지
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• 제23권1호
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• pp.3-8
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• 2023

다중 도메인 광 전송망은 기본적으로 상호 운용되지 않으며 전체 망차원의 통합 오케스트레이션 메커니즘과 경로 제공 메커니즘이 필요하다. 더불어 망의 생존성 보장은 중요한 쟁점 중의 하나이다. MPLS-TP(Multi-Protocol Label Switching-Transport Profile)에서는 다양한 보호·복구 방안을 표준으로 정의하고 있으나 보호·복구 경로를 계산·선정하는 방안에 대해서는 언급하고 있지 않다. 따라서 광회선패킷 통합망 차원에서 보호·복구 충돌을 최소화하여 통합망 전 영역에 걸쳐 신속한 보호·복구가 가능한 경로를 계산·설정하는 알고리즘이 필요하다. 본 논문에서는 다중링-메시 토폴로지 형태로 구성된 T-SDN 망에서 신속한 보호·복구가 가능한 경로를 계산·설정하는 알고리즘을 제안하였다.

• 한국정보과학회논문지:데이타베이스
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• 제32권6호
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• pp.641-649
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• 2005

오늘날 인터넷의 발달과 함께 XML이 많이 사용됨에 따라, XML 저장소와 질의 처리에 관한 연구가 활발하게 이뤄지고 있다. XML에서는 경로 질의를 사용하는데, 이러한 경로 질의를 효과적으로 처리하기 위하여 여러 가지 색인 기법들이 연구되었다. 최근에는 구조 조인 기법이 각광을 받고 있다. 구조 조인 기법은 엘리먼트들의 포함 관계를 살펴 질의를 처리한다. 특히 문서 전체에 대한 탐색을 하지 않고 해당하는 엘리먼트들의 역색인 리스트만을 비교하여 질의 처리를 수행하는 장점을 갖는다. 하지만 구조 조인 기법은 실제 질의 결과에 포함되지 않는 불필요한 엘리먼트들도 탐색해야 하는 비효율성을 가진다. 따라서 본 논문에서는 구조 조인 기법의 성능을 개선하는 레벨 구조 조인 기법을 제안한다. 제안하는 기법은 경로 질의 내 엘리먼트 사이의 관계 정보와 XML 문서 내의 엘리먼트들의 레벨 분포 정보를 이용한다. 이를 통해 구조 조인을 수행할 때, 비교되는 역색인 리스트 내의 모든 엘리먼트들이 아닌, 특정 레벨에 해당하는 엘리먼트들만을 이용하여 비교를 수행함으로써 질의 처리의 속도를 향상시킬 수 있다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제7권3호
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• pp.490-508
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• 2013

One of the most important scalability issues facing the current Internet is the rapidly increasing rate of BGP updates (BGP churn), to which route flap and path exploration are the two major contributors. Current countermeasures would either cause severe reachability loss or delay BGP convergence, and are becoming less attractive for the rising concern about routing convergence as the prevalence of Internet-based real time applications. Based on the observation that highly active prefixes usually repeatedly explore very few as-paths during path exploration, we propose a router-level mechanism, Path Exploration Aggregation (PEA), to scale BGP without either causing prefix unreachable or slowing routing convergence. PEA performs aggregation on the transient paths explored by a highly active prefix, and propagates the aggregated path instead to reduce the updates caused by as-path changes. Moreover, in order to avoid the use of unstable routes, PEA purposely prolongs the aggregated path via as-path prepending to make it less preferred in the perspective of downstream routers. With the BGP traces obtained from RouteViews and RIPE-RIS projects, PEA can reduce BGP updates by up to 63.1%, shorten path exploration duration by up to 53.3%, and accelerate the convergence 7.39 seconds on average per routing event.

• 대한간호학회지
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• 제15권2호
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• pp.5-15
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• 1985

This study was conducted for the purpose of fin-ding out the variance explaining the medical facilities utilization behavior, which is defined adaptation behavior Process by focal, contextual, residual stimuli in Roy's Adaptation Model. What kinds of characteristics can explain adaptation behavior in Roy's Model? And which is the relative importance of input variables? For this analysis, stepwise multiple regression and path analysis was used. The data come from the 1981 Baseline Household Interview Survey in remote rural area. The findings of the analysis can be summarized as follows: First, Total variance of independant variables for adaptation behavior, that is medical facilities utilization including clinic, drug store, health center, herb medicine was shown 16.2 percent. The most important variable which explain the dependent variable was the occurance of illness with the Ra of value 0.112. The illness symptom, living level, regular care source was shown important variables with relatively high the R²value and significant beta coefficient. Second, in the path analysis of variables which is selected important variables, the occurance of illness was shown variable which has the highest direct effect which 0.297 path coefficient. Also the education level of household was shown variable which has the highest indirect effect through living level and the occurance of illness in causal model. Third, This analysis suggests that the occurance of illness belonging focal stimuli are more influenced than others. To sum up, It is seem to the occurance of illness, illness symptom belonging focal stimuli have high explanation ability through direct effect, education level of household among contextual stimuli have explanation ability through indirect effect.

• 대한인간공학회지
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• 제25권3호
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• pp.1-15
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• 2006

Loss of postural balance can possibly lead to increased risk of slips and falls in work places. Present study was performed to investigate the effects of noisy environments on postural stability during standing. It is known that a sound is characterized by the frequency and pressure level of the sound. Therefore, effects of the frequency and pressure level on postural stability were of primary concern. Ten male subjects participated in the experiment. Subject's center of pressure(COP) position was collected on a force plate while they were exposed to different frequency and pressure levels of the sound. Measured COP was then converted into the length of postural sway path in both anterior-posterior(AP) and medio-lateral(ML) axis. Results showed that the length of sway path in AP axis was significantly affected by the frequency of sound. The length of sway path was lowest at frequency level of 2000Hz and increased below and above this frequency range. The sound pressure level, however, did not significantly affect the postural sway length in both AP and ML axis. The results imply that industrial workers in noisy environments should be aware that their abilities of postural balance can be disturbed significantly.

• 대한전자공학회논문지SD
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• 제46권9호
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• pp.49-57
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• 2009

본 연구에서는 상위 수준 합성에서 시간 제약과 하드웨어 제약을 동시에 고려하여 에너지 소모를 최소로 줄이는 다중 전압스케줄링 방법을 개발하였다. 기존의 다중 전압 스케줄링에서는 임계 경로에 있는 연산에 대해 높은 전압을 할당하고, 임계 경로에 있지 않은 연산에 대해서는 낮은 전압을 할당하는 방법을 주로 사용하였다. 우리는 다중 전압 리스트 스케줄링을 기반으로 simulated annealing기법을 적용하여 임계 경로상의 연산인지와 관계없이 자유롭게 여러 전압을 할당하여 최적화함으로서 저전력 스케줄링 결과를 얻을 수 있었다. 계산 시간 제한에 여유가 있을 때에는 전반적으로 낮은 전압을 사용하여 에너지 소모를 더욱 낮출 수 있다. 그리고 후처리 과정을 통해 추가의 에너지 감소를 얻을 수 있었다. 경우에 따라, 전압 level shifter 수를 줄일 필요가 있으므로 비용 함수에 가중치를 줄 수 있도록 하였다. 예를 들어, level shifter 에너지 소모에 6배의 가중치를 주면, 전압 level shifter 수는 약 24%, shifter 에너지 소모는 약 20% 정도 감소한다. 이를 이용하여 전체 에너지 소모와 level shifter 사용횟수의 tradeoff가 가능하다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.398-402
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• 1996

This paper addresses the design and the gait control of quadruped walking robot. First, we concern the mechanical and electronical(control system) hardware of walking robot, and the second is the results of experiments. The walking robot is the most suitable form to substitute fot human being. So walking robot is worthy of research. The quadruped walking robot and control system is the simplest type of walking robot, therefore we designed a small seale robot for realization of static gait. The robot is designed commpactly and its legs are constructed parallel link type and able to move freely in space. Control system consists of one upper level controller and four lower level controllers. The upper level controller plans the walking path and commands the low level controllers to follow the planned path. The main function of low level cotrollers is control of motors. Total number of motors is twealve and they operate four legs. And robot is ordered to walk and realize static wave gait.

• 국제학술발표논문집
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• The 4th International Conference on Construction Engineering and Project Management Organized by the University of New South Wales
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• pp.445-452
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• 2011

The schedule hierarchy in construction project is generally composed of three levels. The highest level is a milestone schedule and represented by Bar Chart format. The middle level is an integrated project schedule (IPS) and represented by CPM (Critical Path Method) format. The lowest level is a detail working schedule and usually represented by Bar Chart. The traditional scheduling techniques such as ADM (Arrow Diagramming Method) or PDM (Precedence Diagramming Method) cannot represent all kinds of schedule within schedule hierarchy as identical schedule format. However, the BDM (Beeline Diagramming Method) technique can represent all kinds of schedule within schedule hierarchy as identical CPM format. This paper describes the basic concept, principle, interpretation methods, and schedule computation methods of the BDM as a new networking technique that can represent all kinds of overlapping relationships between activities, and then presents an example of representing three level's schedules within schedule hierarchy by the BDM technique.

• Restorative Dentistry and Endodontics
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• 제40권2호
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• pp.123-127
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• 2015

Objectives: Glide path preparation is recommended to reduce torsional failure of nickel-titanium (NiTi) rotary instruments and to prevent root canal transportation. This study evaluated whether the repetitive insertions of G-files to the working length maintain the apical size as well as provide sufficient lumen as a glide path for subsequent instrumentation. Materials and Methods: The G-file system (Micro-Mega) composed of G1 and G2 files for glide path preparation was used with the J-shaped, simulated resin canals. After inserting a G1 file twice, a G2 file was inserted to the working length 1, 4, 7, or 10 times for four each experimental group, respectively (n = 10). Then the canals were cleaned by copious irrigation, and lubricated with a separating gel medium. Canal replicas were made using silicone impression material, and the diameter of the replicas was measured at working length (D0) and 1 mm level (D1) under a scanning electron microscope. Data was analysed by one-way ANOVA and post-hoc tests (p = 0.05). Results: The diameter at D0 level did not show any significant difference between the 1, 2, 4, and 10 times of repetitive pecking insertions of G2 files at working length. However, 10 times of pecking motion with G2 file resulted in significantly larger canal diameter at D1 (p < 0.05). Conclusions: Under the limitations of this study, the repetitive insertion of a G2 file up to 10 times at working length created an adequate lumen for subsequent apical shaping with other rotary files bigger than International Organization for Standardization (ISO) size 20, without apical transportation at D0 level.