• 한국군사과학기술학회지
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• 제11권2호
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• pp.53-65
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• 2008

This paper proposes the qualitative method for planning the operation of multi-AUVs with environmental disturbances, which is considered to be a very difficult task. In this paper we use an extension collision map as a collision free motion planner. The tool was originally developed for the multiple ground vehicles with no internal/external disturbance. In order to apply the method to a water environment where there are tides and waves, and currents, we analyze the path deviation error of AUVs caused by external disturbances. And we calculate safety margin for the collision avoidance on the extension collision map. Finally, the simulation result proves that the suggested method in this paper make multi-AUVs navigate to the goal point effectively with no collision among them.

• 한국통신학회논문지
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• 제27권2C호
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• pp.131-142
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• 2002

ATM 네트워크에서 오류가 발생한 VP를 복원하기 위한 자가치료(Self-healing) 알고리즘을 제안한다. 자가 복구 알고리즘 중 가장 많이 사용되고 있는 백업 VP 방법을 응용하였다. 기존 알고리즘의 문제점으로는 백업 VP에 장애가 발생하였을때 장애를 복구 할 수 있는 경우가 발생한다. 이러한 문제점을 보완하기 위해서 클래스별로 QoS를 보장하는 백업 VP 설정 알고리즘을 제안한다. 제안된 알고리즘은 노드 쌍의 등급에 대한 분리 경로그룹인 알고리즘-1과 CASE별 별도의 백업 VP를 적용한 알고리즘-2로 나누어 제안하였으며 이 들을 모의 통신망을 통해 적용, 서비스의 복구 성능을 비교, 분석, 고찰 하였다.

• 한국항만학회지
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• 제14권3호
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• pp.291-301
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• 2000

T his paper presents the lateral and longitudinal control algorithm for the driving of a 4WS AGV(Automated Guided Vehicle). The control law to the lateral and longitudinal control of the AGV includes adaptive agin tuning ability, that is the controller gain of the gravity compensated PD controller can be changed on a real-time. The gain tuning law is derived from the Lyapunov direct method using the output error of the reference model and the actual model, And to show the performance of the presented lateral and longitudinal control algorithm, we simulate toe nonlinear AGV equations of the motion by deriving the Newton-Euler Method, The read path is from quay yard area to docking position in loading yard area. The quay yard area is where the quay crane loads the container to the AGV and the docking position is where the container is transferred to the gantry crane. The road types are constructed in a straight line and J-turn. When driving the straight line, the driving velocity is 6㎧ and the J-turn is 3㎧.

• 대한기계학회논문집A
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• 제29권2호
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• pp.311-317
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• 2005

NC controller parameters are fixed when the controller is combined with a machine. However, the characteristics of controller could be changed as it has being used by the machine or other environmental conditions. Ultimately, it results in tool positioning accuracy changing. The loading torque in servo motor also influences on the positioning accuracy. This study focus on a measuring and analysing method for verifying the angular positioning accuracy of NC servo motor. We used a high resolution A/D converter for acquiring analogue signal of rotary encoder in servo motor. Generating tool path by the combination of axial movements (X,Y,Z) is compared with the encoder signals with the servo motor torque. The current variation signal is also read from the servo motor power using a hall sensor and converted to the motor torque. The method of analysing proposed in this study will be used for determining the gains (tuning) of parameter in NC controller, when the controller is set up at a machine initially or the controller condition is changed during the work.

• ETRI Journal
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• 제32권2호
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• pp.273-280
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• 2010

The overall channel capacity of a multihop wireless path drops progressively over each hop due to the cascading effect of noise and interference. Hence, without optimal rate adaptation, the video quality is expected to degrade significantly at any client located at a far-edge of an ad-hoc network. To overcome this limitation, decoding and forwarding (DF), which fully decodes codewords at each intermediate node, can be employed to provide the best video quality. However, complexity and memory usage for DF are significantly high. Consequently, we propose syndrome-based partial decoding (SPD). In the SPD framework an intermediate node partially decodes a codeword and relays the packet along with its syndromes if the packet is corrupted. We demonstrate the efficacy of the proposed scheme by simulations using actual 802.11b wireless traces. The trace-driven simulations show that the proposed SPD framework, which reduces the overall processing requirements of intermediate nodes, provides reasonably high goodput when compared to simple forwarding and less complexity and memory requirements when compared to DF.

• 대한전자공학회논문지SD
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• 제41권2호
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• pp.67-75
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• 2004

본 논문은 인덕턴스 성분을 포함한 단일 도선 및 트리 구조 RLC 연결선의 버퍼 삽입 방법을 제시한다. 이를 위해 먼저 CMOS 버퍼가 구동하는 단일 RLC 도선에 대한 시간 지연의 대수식을 제시한다. 이 수식은 현재의 서브마이크로미터 공정을 위한 n-th power law 기반에서 유도되었으며, 다양한 RLC 부하를 가지고 실험해 본 결과, 실제 SPICE 시뮬레이션 결과에 비해 최대 9％ 오차를 갖는 것으로 나타났다. 본 논문은 이 지연 시간 수식을 바탕으로 단일 도선 RLC 연결선을 여러 개로 나누는 버퍼 삽입에 관한 수식과 RLC 트리 연결선의 시간 지연을 최적화하기 위해 삽입될 버퍼의 사이즈를 결정하는 알고리듬을 제시한다. 제시된 버퍼 삽입 알고리듬은 0.25㎛ CMOS 공정의 트리 연결선에 적용하였으며, HSPICE 결과를 이용하여 정확도를 검증하였다.

• Asian Journal of Business Environment
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• 제9권2호
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• pp.27-34
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• 2019

Purpose - From the advanced path of development and current situation, the development of enterprises plays a tremendous role in promoting national economic growth and raising the overall national strength. Therefore, this paper aims at examining the mutual effect between small & medium enterprises and economic growth. Research design, data, and methodology - In order to address the operating mutual effect between the small & medium enterprises and economic growth more clearly, this paper sets Alibaba Group and Hangzhou as an example. Meanwhile, the annual data from 2000 to 2017 will be employed, and an empirical analysis will be performed under the vector error correction model. Results - The findings display that the total revenue of Alibaba Group has a positive effect on economic growth in city of Hangzhou. However, the Granger Causality test implies that there is only a unidirectional causality between total revenue of Alibaba Group and economic growth in Hangzhou. More specifically, 1% increase in total revenue of Alibaba Group can result in 0.272% in economic growth of Hangzhou in the long run. Conclusions - In summary, for the long run, the local governments should promulgate a series of policies to assist the small & medium enterprises like Alibaba Group to improve the local economic growth as seen in the city of Hangzhou.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1904-1909
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• 1991

Software linear and exponential acceleration/deceleration algorithms for control of machine axes of motion in industrial robots and CNC machine tools are proposed. Typical hardware systems used to accelerate and decelerate axes of motion are mathematically analyzed. Discrete-time state equations are derived from the mathematical analyses for the development of software acceleration/deceleration algorithms. Synchronous control method of multiple axes of motion in industrial robots and CNC machine tools is shown to be easily obtained on the basis of the proposed acceleration/deceleration algorithms. The path error analyses are carried out for the case where the software linear and exponential acceleration/deceleration algorithms are applied to a circular interpolator. A motion control system based on a floating point digital signal processor (DSP) TMS 320C30 is developed in order to implement the proposed algorithms. Experimental results demonstrate that the developed algorithms and the motion control system are available for control of multiple axes and nonlinear motion composed of a combination of lines and circles which industrial robots and CNC machine tools require.

• 대한의용생체공학회:의공학회지
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• 제19권1호
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• pp.9-18
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• 1998

본 논문은 초음파 의용 영상에서 인체내의 매질의 초음파 속도의 불균일에 의한 focusing의 저하에 대하여 논하였다. simulation환경으로, 인체 내의 매질 중 속도 값이 가장 큰 차이가 나는 지방(fat)을 일정한 두께로 모델링하였다. 그리고 초음파 빔의 굴절에 의한 진행경로의 변화와 속도차이에 따른 시간지연에 의한 해상도 저하를 구하였다. 그리고 이를 보상하는 방법으로, 보상에 계산량이 많이 필요한 굴절을 무시하고, 속도차에 의한 시간지연만 보상하는 방법을 제안하였다. 제안한 방법을 적용할 경우 현재의 실시간 디지털 focusing 시스템에서 쉽게 구현 가능하다.

• 한국건설관리학회논문집
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• 제4권2호
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• pp.91-98
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• 2003

국내 건축설계 프로젝트에서는 협력업체간의 커뮤니케이션이 원활치 못하여 건축 부위 설계 시 성능 및 비용을 만족하는 적절한 설계대안 생성이 어려울 뿐 아니라, 설계단계에서부터 시공단견1에 이르기까지 다양한 원인으로 발생되는 설계변경에 적절히 대응하지 못하고 있다. 따라서 분야별 설계도서의 불일치로 인한 시공 품질 저하 등의 문제가 발생되고 있다. 이에 따라 본 연구에서는 건축설계단계에서 합리적인 건축설계대안 생성을 위한 협력설계 의사결정 지원시스템 구축방법의 개념을 제시하였다.