• 제목/요약/키워드: Null Characteristics

검색결과 89건 처리시간 0.028초

여유자유도 로봇의 동적특성을 고려한 최적 제어에 관한 연구 (A Study on the Optimal Control Considering Dynamic Characteristics of Redundant Manipulators)

  • 이보현;이기성
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2001년도 합동 추계학술대회 논문집 정보 및 제어부문
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    • pp.103-106
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    • 2001
  • A new control method for a redundant manipulator is developed using a local optimal torque and null space joint velocity. By solving the dynamic control equations of the system, the local optimal torque is obtained. If only the local optimal torque is used for controlling the robot there is a possibility that the system is unstable. To eliminate the characteristics of instability during the movements, the control law with a null space concept is used. The new method is applied to the 3-DOF planar manipulator. The simulation results show the effectiveness of the proposed algorithm.

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변동 배유 오리피스를 갖는 노즐/볼형 서보밸브의 성능 개선 (Performance Improvement of a Nozzle/Ball Type Servovalve with Variant Drain Orifice)

  • 남윤주;박명관
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 2006년도 춘계학술대회 논문집
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    • pp.255-256
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    • 2006
  • This paper presents the performance improvement of a Nozzle/Ball type servovalve with variant drain orifice. First of all, the configuration of the novel servovalve is proposed. Then, the static characteristics are investigated under blocked load condition, and its dynamic characteristics are analyzed by using the linearized flow-pressure relationship. Finally, the performance at the null condition of the proposed servovalve is numerically evaluated through the comparison study with the convention at counterparts.

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영위법을 이용한 미소중량 측정 장치의 기구설계 (Mechanism Design of the Micro Weighing Device by Using Null Balance Method)

  • 최인묵;우삼용;김부식;김수현
    • 대한기계학회논문집A
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    • 제27권1호
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    • pp.183-193
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    • 2003
  • Micro-weighing device by using null balance method is being essential part in fields of high-technology industries such as precision semiconductor industry, precision chemistry, biotechnology and genetics etc. Also, requirements for high resolution and for large measurement range increase more and more. The performance of the micro-weighing device can be determined by the mechanism design and analysis. The analytical design method has been proposed for the performance improvement such as resolution, measurement range and fast response. The 2-stage displacement amplification is designed to overcome the limit of conventional force transmitting lever. The parallel spring is designed for the measurement result independent of the input force position variation. Also, the natural frequency of mechanism is analyzed for the fast response. After each analysis, optimal design has been carried out. To verify the analysis and design result, characteristics experiments had been carried out after construction. Finally, the system had been controlled.

배관 압력을 이용한 서보밸브 정적 특성에 관한 실험적 연구 (An Experimental Study on Static Characteristics of Servo Valves using Transmission Line Pressures)

  • 김성동;주별진;윤소남
    • 드라이브 ㆍ 컨트롤
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    • 제13권2호
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    • pp.42-50
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    • 2016
  • The conventional technique to measure the hysteresis and the null of servo valves is defined in ISO 10770-1 and based on load flow signal of the servo valve. A new technique based on the transmission line pressures is suggested in this study. The new measuring method was verified through a series of experiments. No hysteresis was observed between the spool displacement and the transmission line pressures, load pressure or each chamber pressure. Some hysteresis was observed between valve input and pressures, which was found to be the same as those of load flow and spool displacement for the valve input. By using the chamber pressures, the hysteresis and the null are easier to measure than the load pressure or differential pressure between those two chamber pressures because the chamber pressures showed sharp edges.

CYP1A1 (Ile462Val), CYP1B1 (Ala119Ser and Val432Leu), GSTM1 (null), and GSTT1 (null) Polymorphisms and Bladder Cancer Risk in a Turkish Population

  • Berber, Ufuk;Yilmaz, Ismail;Yilmaz, Omer;Haholu, Aptullah;Kucukodaci, Zafer;Ates, Ferhat;Demirel, Dilaver
    • Asian Pacific Journal of Cancer Prevention
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    • 제14권6호
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    • pp.3925-3929
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    • 2013
  • We aimed to investigate bladder cancer risk with reference to polymorphic variants of cytochrome p450 (CYP) 1A1, CYP1B1, glutathione S-transferase (GST) M1, and GSTT1 genes in a case control study. Polymorphisms were examined in 114 bladder cancer patients and 114 age and sex-matched cancer-free subjects. Genotypes were determined using allele specific PCR for CYP1A1 and CYP1B1 genes, and by multiplex PCR and melting curve analysis for GSTM1 and GSTT1 genes. Our results revealed a statistically significant increased bladder cancer risk for GSTT1 null genotype carriers with an odds ratio of 3.06 (95% confidence interval=1.39-6.74, p=0.006). Differences of CYP1A1, CYP1B1 and GSTM1 genotype frequencies were not statistically significant between patients and controls. However, the specific combination of GSTM1 null, GSTT1 null, and CYP1B1 codon 119 risk allele carriers and specific combination of GSTM1 present, GSTT1 null, and CYP1B1 432 risk allele carriers exhibited increased cancer risk in the combined analysis. We did not observe any association between different genotype groups and prognostic tumor characteristics of bladder cancer. Our results indicate that inherited absence of GSTT1 gene may be associated with bladder cancer susceptibility, and specific combinations of GSTM1, GSTT1 and CYP1B1 gene polymorphisms may modify bladder cancer risk in the Turkish population, without any association being observed for CYP1A1 gene polymorphism and bladder cancer risk.

ㄷ자형 Back Plate를 가진 중계국안테나의 설계에 관한 연구 (A Study on Design for Relay Station Antennas with U-shaped Back Plate Structure)

  • 민경식;임정남;김동일;정세모;이돈신
    • 한국정보통신학회논문지
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    • 제2권4호
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    • pp.643-652
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    • 1998
  • 이동통신용 중계안테나는 현재 약 -20 dB의 후방부엽이 존재한다. 이는 인접한 안테나에 전파감쇠 및 장애를 일으키고 있어 후방부엽을 억제시키는 것이 절실히 요구되고 있다. 본 논문에서는 기존의 Back Plate 구조를 새롭게 변형하여 후방부엽의 발생을 억압시키고, -30 dB이하의 Null Point의 각도를 넓히고자 한다. 새로운 구조의 Back Plate는 리플렉터안테나의 원리를 이용하여 ㄷ자 형태로 만들었다. Back Plate구조의 설계를 위해 범용 소프트웨어 툴인 NEC Win Pro를 사용하였다. 각 파라미터에 대한 계산으로부터 $\pm180^\circ$에서 -48.48 dB 의 후방부엽을 갖는 중계국안테나를 설계하였으며, 또한 다이폴의 길이, 다이폴 사이의 간격 및 Back Plate 크기 등의 조정으로부터 -30 dB이하에서 64$^{\circ}$의 Null Point 각도를 가지는 안테나를 설계하였다.

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A Study on Unbiased Methods in Constructing Classification Trees

  • Lee, Yoon-Mo;Song, Moon Sup
    • Communications for Statistical Applications and Methods
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    • 제9권3호
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    • pp.809-824
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    • 2002
  • we propose two methods which separate the variable selection step and the split-point selection step. We call these two algorithms as CHITES method and F&CHITES method. They adapted some of the best characteristics of CART, CHAID, and QUEST. In the first step the variable, which is most significant to predict the target class values, is selected. In the second step, the exhaustive search method is applied to find the splitting point based on the selected variable in the first step. We compared the proposed methods, CART, and QUEST in terms of variable selection bias and power, error rates, and training times. The proposed methods are not only unbiased in the null case, but also powerful for selecting correct variables in non-null cases.

축이동 그레고리안 이중 반사경 안테나의 해석 (Analysis of Axially Displaced Ellipse Gregorian Dual Reflector Antennas)

  • 임성빈;최경국;최학근
    • 한국전자파학회논문지
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    • 제14권11호
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    • pp.1161-1169
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    • 2003
  • 본 논문에서는 그레고리안 이중 반사경 안테나의 특별한 형태인 축이동 그레고리안 이중 반사경 안테나 (Axially Displaced Ellipse Gregorian Dual Reflector Antennas)를 해석하였다. 안테나 해석시 기하광학적 방법으로 개구면 전계분포를 구하였으며, far-field 복사특성을 해석하기 위해 개구분포법을 이용하였다. 해석결과로서 부반사경과 주반사경의 크기와 edge taper에 따른 안테나 효율, HPBW(Half Power Beam Width), FNBW(First Null Beam Width), FSL(First Sidelobe Level)을 도출하여 데이터로 제시하였다. 본 논문에서 도출된 결과로부터 ADE 반사경 안테나는 기존의 이중 반사경 안테나와 다른 복사특성을 갖는다는 것을 확인할 수 있었다.

Utility of Integrated Analysis of Pharmacogenomics and Pharmacometabolomics in Early Phase Clinical Trial: A Case Study of a New Molecular Entity

  • Oh, Jaeseong;Yi, Sojeong;Gu, Namyi;Shin, Dongseong;Yu, Kyung-Sang;Yoon, Seo Hyun;Cho, Joo-Youn;Jang, In-Jin
    • Genomics & Informatics
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    • 제16권3호
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    • pp.52-58
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    • 2018
  • In this report, we present a case study of how pharmacogenomics and pharmacometabolomics can be useful to characterize safety and pharmacokinetic profiles in early phase new drug development clinical trials. During conducting a first-in-human trial for a new molecular entity, we were able to determine the mechanism of dichotomized variability in plasma drug concentrations, which appeared closely related to adverse drug reactions (ADRs) through integrated omics analysis. The pharmacogenomics screening was performed from whole blood samples using the Affymetrix DMET (Drug-Metabolizing Enzymes and Transporters) Plus microarray, and confirmation of genetic variants was performed using real-time polymerase chain reaction. Metabolomics profiling was performed from plasma samples using liquid chromatography coupled with quadrupole time-of-flight mass spectrometry. A GSTM1 null polymorphism was identified in pharmacogenomics test and the drug concentrations was higher in GSTM1 null subjects than GSTM1 functional subjects. The apparent drug clearance was 13-fold lower in GSTM1 null subjects than GSTM1 functional subjects (p < 0.001). By metabolomics analysis, we identified that the study drug was metabolized by cysteinylglycine conjugation in GSTM functional subjects but those not in GSTM1 null subjects. The incidence rate and the severity of ADRs were higher in the GSTM1 null subjects than the GSTM1 functional subjects. Through the integrated omics analysis, we could understand the mechanism of inter-individual variability in drug exposure and in adverse response. In conclusion, integrated multi-omics analysis can be useful for elucidating the various characteristics of new drug candidates in early phase clinical trials.

Memory Organization for a Fuzzy Controller.

  • Jee, K.D.S.;Poluzzi, R.;Russo, B.
    • 한국지능시스템학회:학술대회논문집
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    • 한국퍼지및지능시스템학회 1993년도 Fifth International Fuzzy Systems Association World Congress 93
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    • pp.1041-1043
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    • 1993
  • Fuzzy logic based Control Theory has gained much interest in the industrial world, thanks to its ability to formalize and solve in a very natural way many problems that are very difficult to quantify at an analytical level. This paper shows a solution for treating membership function inside hardware circuits. The proposed hardware structure optimizes the memoried size by using particular form of the vectorial representation. The process of memorizing fuzzy sets, i.e. their membership function, has always been one of the more problematic issues for the hardware implementation, due to the quite large memory space that is needed. To simplify such an implementation, it is commonly [1,2,8,9,10,11] used to limit the membership functions either to those having triangular or trapezoidal shape, or pre-definite shape. These kinds of functions are able to cover a large spectrum of applications with a limited usage of memory, since they can be memorized by specifying very few parameters ( ight, base, critical points, etc.). This however results in a loss of computational power due to computation on the medium points. A solution to this problem is obtained by discretizing the universe of discourse U, i.e. by fixing a finite number of points and memorizing the value of the membership functions on such points [3,10,14,15]. Such a solution provides a satisfying computational speed, a very high precision of definitions and gives the users the opportunity to choose membership functions of any shape. However, a significant memory waste can as well be registered. It is indeed possible that for each of the given fuzzy sets many elements of the universe of discourse have a membership value equal to zero. It has also been noticed that almost in all cases common points among fuzzy sets, i.e. points with non null membership values are very few. More specifically, in many applications, for each element u of U, there exists at most three fuzzy sets for which the membership value is ot null [3,5,6,7,12,13]. Our proposal is based on such hypotheses. Moreover, we use a technique that even though it does not restrict the shapes of membership functions, it reduces strongly the computational time for the membership values and optimizes the function memorization. In figure 1 it is represented a term set whose characteristics are common for fuzzy controllers and to which we will refer in the following. The above term set has a universe of discourse with 128 elements (so to have a good resolution), 8 fuzzy sets that describe the term set, 32 levels of discretization for the membership values. Clearly, the number of bits necessary for the given specifications are 5 for 32 truth levels, 3 for 8 membership functions and 7 for 128 levels of resolution. The memory depth is given by the dimension of the universe of the discourse (128 in our case) and it will be represented by the memory rows. The length of a world of memory is defined by: Length = nem (dm(m)+dm(fm) Where: fm is the maximum number of non null values in every element of the universe of the discourse, dm(m) is the dimension of the values of the membership function m, dm(fm) is the dimension of the word to represent the index of the highest membership function. In our case then Length=24. The memory dimension is therefore 128*24 bits. If we had chosen to memorize all values of the membership functions we would have needed to memorize on each memory row the membership value of each element. Fuzzy sets word dimension is 8*5 bits. Therefore, the dimension of the memory would have been 128*40 bits. Coherently with our hypothesis, in fig. 1 each element of universe of the discourse has a non null membership value on at most three fuzzy sets. Focusing on the elements 32,64,96 of the universe of discourse, they will be memorized as follows: The computation of the rule weights is done by comparing those bits that represent the index of the membership function, with the word of the program memor . The output bus of the Program Memory (μCOD), is given as input a comparator (Combinatory Net). If the index is equal to the bus value then one of the non null weight derives from the rule and it is produced as output, otherwise the output is zero (fig. 2). It is clear, that the memory dimension of the antecedent is in this way reduced since only non null values are memorized. Moreover, the time performance of the system is equivalent to the performance of a system using vectorial memorization of all weights. The dimensioning of the word is influenced by some parameters of the input variable. The most important parameter is the maximum number membership functions (nfm) having a non null value in each element of the universe of discourse. From our study in the field of fuzzy system, we see that typically nfm 3 and there are at most 16 membership function. At any rate, such a value can be increased up to the physical dimensional limit of the antecedent memory. A less important role n the optimization process of the word dimension is played by the number of membership functions defined for each linguistic term. The table below shows the request word dimension as a function of such parameters and compares our proposed method with the method of vectorial memorization[10]. Summing up, the characteristics of our method are: Users are not restricted to membership functions with specific shapes. The number of the fuzzy sets and the resolution of the vertical axis have a very small influence in increasing memory space. Weight computations are done by combinatorial network and therefore the time performance of the system is equivalent to the one of the vectorial method. The number of non null membership values on any element of the universe of discourse is limited. Such a constraint is usually non very restrictive since many controllers obtain a good precision with only three non null weights. The method here briefly described has been adopted by our group in the design of an optimized version of the coprocessor described in [10].

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