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Robust Time-Optimal Control for Coarse/Fine Dual-Stage Systems

  • Kwon, Sang-Joo;Chung, Wan-Kyun;Youngil Youm
    • 제어로봇시스템학회:학술대회논문집
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    • 1999.10a
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    • pp.317-320
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    • 1999
  • A robust end time optimal conかof strategy for dual-stage servo system is presented. The time optimal trajectory for a mass-damper system is determined and given os a reference input to the servo system. The feedback controller is constructed so that the fine stage tracks the coarse stage errors and robustly designed as the“perturbation compensated sliding mode control(PCSMC)”law, a combination of slid-ing mode controller(SMC) and perturbation observer(PO). In addition, a null motion controller which regulates the fine stage at its neutral position is designed based on the“dynamic consistency”So, the overall dual-stage servo system exhibits the robust and time-optimal performance. The inherent merit and performance of the dual-stage system will be shown.

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A Formulation of the Differential Equation on the Equations of Motion and Dynamic Analysis for the Constrained Multibody Systems (구속된 다물체 시스템에 대한 운동 방정식의 미분 방정식화 및 동역학 해석)

  • 이동찬;이상호;한창수
    • Transactions of the Korean Society of Automotive Engineers
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    • v.5 no.1
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    • pp.154-161
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    • 1997
  • This paper presents the method to eliminate the constraint reaction in the Lagrange multiplier form equation of motion by using a generalized coordinate driveder from the velocity constraint equation. This method introduces a matrix method by considering the m dimensional space spanned by the rows of the constraint jacobian matrix. The orthogonal vectors defining the constraint manifold are projected to null vectors by the tangential vectors defined on the constraint manifold. Therefore the orthogonal projection matrix is defined by the tangential vectors. For correcting the generalized position coordinate, the optimization problem is formulated. And this correction process is analyzed by the quasi Newton method. Finally this method is verified through 3 dimensional vehicle model.

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Magnetic Properties of YBCO Superconducting Bulk

  • Lee, Sang-Heon
    • Transactions on Electrical and Electronic Materials
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    • v.6 no.2
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    • pp.67-69
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    • 2005
  • Magnetic properties of a field cooled YBaCuO superconductor beneath the toroidal permanent magnet was examined by means of improved magneto-balancing method at 77 K. Magnetic flux measurements of a toroidal magnet revealed a concave shaped field distribution with a single minimum and a null field along the axis of the torus at the point where the field reversed. The observed values of both the suspension position and the force exerted upon the superconductor specimen were in good agreement with those calculated from the magnetization curve of the specimen and the intensity of the magnetic field of the used permanent magnet.

Mandibular changes during initial alignment with SmartClip self-ligating and conventional brackets: A single-center prospective randomized controlled clinical trial

  • Celikoglu, Mevlut;Bayram, Mehmet;Nur, Metin;Kilkis, Dogan
    • The korean journal of orthodontics
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    • v.45 no.2
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    • pp.89-94
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    • 2015
  • Objective: To test the null hypothesis that SmartClip self-ligating brackets are more effective than conventional brackets for initial mandibular alignment and identify influential factors. Methods: Fifty patients were randomly allocated to two equal treatment groups by using an online randomization program: self-ligating group (SmartClip brackets) and conventional group (Gemini brackets). The archwire sequence was standardized. Changes in anterior irregularity index, intercanine width, and intermolar width were assessed on plaster models at 8th and 16th weeks. Changes in incisor position and inclination were assessed on lateral cephalometric radiographs at 16 weeks. Intragroup and intergroup comparisons were performed with paired t-test and Student's t-test, respectively. Multiple linear regression was performed to identify variables affecting improvement in anterior ambiguity. Results: Data of 46 patients were analyzed; those missing an appointment (n = 2) or showing bracket breakage (n = 2) were excluded. Incisor inclination (p < 0.05), intercanine width (p < 0.05), and intermolar width (p > 0.05) increased at 8 and 16 weeks in both the groups; no significant intergroup differences were noted (p > 0.05). Initial anterior irregularity index and intercanine width change were significantly associated with improvement in anterior irregularity (p < 0.001). Conclusions: The null hypothesis was rejected. Bracket type has little effect on improvement in anterior ambiguity during initial mandibular alignment.

Clinical predictors of potentially impacted canines in low-risk patients: A retrospective study in mixed dentition

  • Sergio Estelita Barros;Bianca Heck;Kelly Chiqueto;Eduardo Ferreira
    • The korean journal of orthodontics
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    • v.53 no.2
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    • pp.106-115
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    • 2023
  • Objective: To evaluate the null hypothesis that there is no difference in a set of clinical predictors of potentially impacted canines between low-risk patients with and without displaced canines. Methods: The normal canine position group consisted of 30 patients with 60 normally erupting canines ranked in sector I (age, 9.30 ± 0.94 years). The displaced canine group comprised 30 patients with 41 potentially impacted canines ranked in sectors II to IV (age, 9.46 ± 0.78 years). Maxillary lateral incisor crown angulation, inclination, rotation, width, height, and shape, as well as palatal depth, arch length, width, and perimeter composed a set of clinical predictors, which were evaluated on digital dental casts. Statistical analyses consisted of group comparisons and variable correlations (p < 0.05). Results: There was a significant association between sex and mesially displaced canines. Unilateral canine displacement was more prevalent than bilateral displacement. The crown of the maxillary lateral incisors was significantly angulated more mesially and rotated mesiolabially in low-risk patients with displaced canines, who also had a shallower palate and shorter anterior dental arch length. Lateral incisor crown angulation and rotation, as well as palatal depth and arch length, were significantly correlated with the canine displacement severity. Conclusions: The null hypothesis was rejected. Maxillary lateral incisor angulation inconsistent with the "ugly duckling" stage as well as a shallow palate and short arch length are clinical predictors that can significantly contribute to the early screening of ectopic canines in low-risk patients.

A Study on Comparison of Response Time using Open API of Daishin Securities Co. and eBestInvestment and Securities Co.

  • Ryu, Gui Yeol
    • International journal of advanced smart convergence
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    • v.11 no.1
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    • pp.11-18
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    • 2022
  • Securities and investment services have and use large data. Investors started to invest through their own analysis methods. There are 22 major securities and investment companies in Korea and only 6 companies support open API. Python is effective for requesting and receiving, analyzing text data from open API. Daishin Securities Co. is the only open API that officially supports Python, and eBest Investment & Securities Co. unofficially supports Python. There are two important differences between CYBOS plus of Daishin Securities Co. and xingAPI of eBest Investment & Securities Co. First, we must log in to CYBOS plus to access the server of Daishin Securities Co. And the python program does not require a logon. However, to receive data using xingAPI, users log on in an individual Python program. Second, CYBOS plus receives data in a Request/Reply method, and zingAPI receives data through events. It can be thought that these points will show a difference in response time. Response time is important to users who use open APIs. Data were measured from August 5, 2021, to February 3, 2022. For each measurement, 15 repeated measurements were taken to obtain 420 measurements. To increase the accuracy of the study, both APIs were measured alternately under same conditions. A paired t-test was performed to test the hypothesis that the null hypothesis is there was no difference in means. The p-value is 0.2961, we do not reject null hypothesis. Therefore, we can see that there is no significant difference between means. From the boxplot, we can see that the distribution of the response time of eBest is more spread out than that of Cybos, and the position of the center is slightly lower. CYBOS plus has no restrictions on Python programming, but xingAPI has some limits because it indirectly supports Python programming. For example, there is a limit to receiving more than one current price.

An English Tough-construction Resolution: A Minimalist Account

  • Hong, Sung-Shim
    • Language and Information
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    • v.13 no.1
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    • pp.127-143
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    • 2009
  • Tough-construction is, undoubtedly, one of the most puzzling syntactic problems in the history of transformational grammar. Various approaches have been proposed including Deletion approaches (Akmajian, 1972; Lasnik and Fiengo, 1974) and movement approaches. Among the movement approaches, Chomsky (1977; 1981) argues for movement of null Operator, and Hornstein (2001) argues for a two-step movement equipped with Sideward movement. Most recently, Schueler (2004) and Hartman (2009) each have also argued for a kind of movement approach. With the development of the Minimalist syntax (Chomsky, 1995; Chomsky, 2000; Chomsky, 2001), tough-construction, an age old problem in the description of grammar, turns into another round toward to a more satisfactory answer. By examining the most recent competing analyses of tough-constructions, this paper defends and extends Schueler's (2004) analysis, rather than Hartman's (2009) two step movement approach. Furthermore, this paper proposes that tough-subject originates from the intermediate CP internal Spec-TopicP position rather than from the iterated CP layer (Authier, 1992). This approach has more descriptive power than it was originally argued for in Schueler (2004) and is a step closer toward Minimalism insofar as the conception of government is no longer utilized.

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Low sidelobe digital doppler filter bank synthesis algorithm for coherent pulse doppler radar (Coherent 레이다 신호처리를 위한 저부엽 도플러 필터 뱅크 합성 알고리즘)

  • 김태형;허경무
    • The Journal of Korean Institute of Communications and Information Sciences
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    • v.21 no.3
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    • pp.612-621
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    • 1996
  • In this paper, we propose the low sidelobe digital FIR doppler filter bank synthesis algorithm through the Gradient Descent method and it can be practially appliable to coherent pulse doppler radar signal processing. This algorithm shows the appropriate calculation of tap coefficients or zeros for FIR transversal fiter which has been employed in radar signal processor. The span of the filters in the filter bank be selected at the desired position the designer want to locate, and the lower sidelobe level that has equal ripple property is achieved than one for which the conventional weithtedwindow is used. Especially, when we implemented filter zeros as design parameters it is possible to make null filter gain at zero frequency intensionally that would be very efficient for the eliminatio of ground clutter. For the example of 10 tap filter synthesis, when filter coefficients or zeros are selected as design parameters the corresponding sidelobelevel is reducedto -70db or -100db respectively and it has good convergent characteristics to the desired sidelobe reference value. The accuracy ofapproach to the reference value and the speed of convergence that show the performance measure of this algorithm are tuned out with some superiority and the fact that the bandwidth of filter appears small with respect to one which is made by conventional weighted window method is convinced. Since the filter which is synthesized by this algorithm can remove the clutter without loss of target signal it strongly contributes performance improvement with which detection capability would be concerned.

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Linguistic Description and Theory

  • Nakajima, Heizo
    • Korean Journal of English Language and Linguistics
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    • v.1 no.3
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    • pp.349-368
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    • 2001
  • We have brought up several distinct types of English clausal constructions, and have been lead to the descriptive generalization in (14),repeated here as (33): (33) Reduced clauses cannot occur in non-complement positions. The generalization in (33) refers to two theory-internal notions, reduced clauses and non-complement positions. Both notions are concerned with the composition of syntactic structures to be defined by X-bar theory. Without these theoretical notions, it would be difficult to describe in a general form the fact that certain types of complement clauses-namely, null-that clauses, if-clauses, Acc-ing gerund, ECM complement clauses, and Raising complement clauses-cannot occur in particular syntactic positions. Instead, one would have to describe this fact for each clause type, in such a way that null-that clauses cannot occur in such and such positions, and if-clauses cannot occur in such and such positions, and Acc-ing gerund cannot occur in such and such positions, and so on, although the positions in which they cannot occur are totally the same. Given the terminology of X-bar theory, however, it has turned out that these types of complement clauses are all reduced clauses, and the positions where they cannot occur are all non-complement positions. Then, the generalization has obtained that reduced clauses cannot occur in non-complement positions. It is a theoretical issue, and differs depending upon theories, how to explain why such a descriptive generalization holds at all. Hopefully, the demonstration here provides a piece of evidence showing that a theory or a particular theoretical nation plays an important role in the description of linguistic facts. Moreover, I have made a crucial prediction on the basis of the well-accepted theoretical assumption the ECM complement clauses and Raising complement clauses are reduced clauses; namely, the prediction that these types of clauses cannot occur in non-complement position. The prediction based upon the theoretical assumption is actually borne out, as illustrated earlier. The illustration of the prediction, I hope, shows that a theory or a particular theoretical assumption, coupled with another theoretical assumption, allows us to make some interesting predictions. Predictions serve to widen a range of linguistic facts to be described. A theory plays a crucial part in finding out interesting facts as well as in describing them in some general forms. Finally, let me state a few words as to the recent generative theory in connection with linguistic description. The recent generative theory is getting more and more abstract. I think it is moving toward a good direction as cognitive science. It will contribute, among others, to the inquiry into what is knowledge that is very specific to language faculty, and into how it interacts with other cognitive faculties. However, I am suspicious about how much the abstract generative theory will contribute to the description of linguistic facts in a particular language. While generative theory is claimed to aim both for descriptive adequacy and for explanatory adequacy, the recent generative theory is likely to put much more weight on explanatory adequacy. In my view, a less abstract theory is enough, or even more useful, for the purpose of linguistic description. Of course, how abstract theory one should adopt as a framework differs depending upon what aspect of language one attempts to describe. What I would like to emphasize here is that linguistic theory does not conflicts with linguistic description, and a linguistic theory with an appropriate degree of abstractness serves as a tool for finding out new interesting facts, as well as for describing them in some general, elegant forms.

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Recent Progress in Biotechnology-based Gene Manipulating Systems to Produce Knock-In/Out Mouse Models

  • Lee, Woon Kyu;Park, Joong Jean;Cha, Seok Ho;Yun, Cheol-Heui
    • Asian-Australasian Journal of Animal Sciences
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    • v.21 no.5
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    • pp.745-753
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    • 2008
  • Gene-manipulated mice were discovered for the first time about a quarter century ago. Since then, numerous sophisticated technologies have been developed and applied to answer key questions about the fundamental roles of the genes of interest. Functional genomics can be characterized into gain-of-function and loss-of-function, which are called transgenic and knock-out studies, respectively. To make transgenic mice, the most widely used technique is the microinjection of transgene-containing vectors into the embryonic pronucleus. However, there are critical drawbacks: namely position effects, integration of unknown copies of a foreign gene, and instability of the foreign DNA within the host genome. To overcome these problems, the ROSA26 locus was used for the knock-in site of a transgene. Usage of this locus is discussed for the gain of function study as well as for several brilliant approaches such as conditional/inducible transgenic system, reproducible/inducible knockdown system, specific cell ablation by Cre-mediated expression of DTA, Cre-ERTM mice as a useful tool for temporal gene regulation, MORE mice as a germ line delete and site specific recombinase system. Techniques to make null mutant mice include complicated steps: vector design and construction, colony selection of embryonic stem (ES) cells, production of chimera mice, confirmation of germ line transmission, and so forth. It is tedious and labor intensive work and difficult to approach. Thus, it is not readily accessible by most researchers. In order to overcome such limitations, technical breakthroughs such as reporter knock-in and gene knock-out system, production of homozygous mutant ES cells from a single targeting vector, and production of mutant mice from tetraploid embryos are developed. With these upcoming progresses, it is important to consider how we could develop these systems further and expand to other animal models such as pigs and monkeys that have more physiological similarities to humans.