• 로봇학회논문지
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• 제2권4호
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• pp.327-333
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• 2007

We propose a navigation algorithm using image-based visual servoing utilizing a fixed camera. We define the mobile robot navigation problem as an unconstrained optimization problem to minimize the image error between the goal position and the position of a mobile robot. The residual function which is the image error between the position of a mobile robot and the goal position is generally large for this navigation problem. So, this navigation problem can be considered as the nonlinear least squares problem for the large residual case. For large residual, we propose a method to find the second-order term using the secant approximation method. The performance was evaluated using the simulation.

• 한국도서관정보학회지
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• 제45권2호
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• pp.205-234
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• 2014

이 연구는 우리나라 학교도서관 비정규직 인력 문제에 대해 구조적인 관점으로 살펴보고 정리하였다. 비정규적 인력이 확대된 배경과 계기를 살펴보고 비정규직 인력의 직무상 주요 문제점들을 검토하였다. 그리고 비정규직 인력 문제의 표면과 이면의 내용과 구조를 체계적으로 탐구하여 문제의 성격과 내적 갈등 양상을 확인하였다. 이를 바탕으로 현재 제안되거나 진행되고 있는 비정규직 인력 문제의 해결 방안에 대해 점검하고 문제 해결을 위해 요청되는 기본적인 자세를 제안하였다.

• Journal of health informatics and statistics
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• 제42권2호
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• pp.192-198
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• 2017

Objectives: This study was designed to construct and test the structural equation model for the alcohol-related problem of alcohol use disorders. Methods: Data were collected by structured self-questionnaires from 229 male subjects who received > 8 (greater than 8) score on Alcohol Use Disorder Identification Test (AUDIT). The Data were analyzed by SPSS 21.0 and AMOS 21.0. Results: The model fit indices for the modified hypothetical model showed Q = 2.50, GFI = 0.90, and CFI = 0.94. As a result, Life position, parent's drinking problem, and alcohol expectancy had significantly direct effect on alcohol-related problem. Alcohol expectancy also had mediator effect between life position and alcohol-related problem. Conclusions: Consequently, the more positive life position, the less alcohol-related problem occurred. It is necessary to change their life position, which is individual factor, to prevent or reduce the alcohol related problem of alcohol use disorders.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1858-1862
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• 2005

Stepping motor normally operates without feedback and may loss the synchronization. This problem can be prevented by using positional feedback. This paper introduces one method for closed loop control of stepping motor and a method for combining full-step control and micro-step control. This combination controlling apparatus can perform position control with high accuracy in a high speed, so that it will not suffer from vibration (or hunting) problem when stopping motor. Controlling apparatus contains a position counter block for detecting rotor position of stepping motor, a driving block for supplying current to windings of stepping motor, a control block for comparing output signal of position counter block with command position (desired position) and outputting current command signal based on deviation between current position and command position of rotor. To output current command signal, the control block refers to a sine wave data table. This table contains value of duty cycle of Pulse Width Modulation signal. As the second object of this paper, the process of building this data table is also presented.

• 대한산업공학회지
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• 제37권3호
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• pp.171-179
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• 2011

In this paper, we deal with the vehicle routing problem that could establish operational plan of military engineer for survivability support of artillery position construction. We propose VRPTW(vehicle routing problem with time-window) model of special form that considered service level to reflect the characteristics of military operations rather than the logic of economic efficiencies in the objective function. Furthermore we suggest modified particle swarm optimization algorithm for service based vehicle routing problem solution that can be possible to search in complicated and uncertain area and control relation softly between global and local search.

• 한국정밀공학회지
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• 제12권6호
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• pp.80-86
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• 1995

A method of eliminating the branch problem in driving crank center point plane for 3 position synthesis of 4 bar mechanism is introduced. By studying various transformation characteristics from the circle point plane into the center poi t plane, the curves in the center point plane transformed from the filemon line in circle point plane are analytically obtained, which will seperate the whole center point plane into many sub-areas for the selec- tion of the center point of the driving crank. And a simple method to identify which of the sub-areas will cause the branch problem is also presented. The method will allow the selection of the center point of driving crank without the branch problem.

• 대한기계학회논문집
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• 제17권6호
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• pp.1389-1403
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• 1993

본 논문에서는 초기 변형소재가 이미 결정된 상태에서 제품의 최적 성형 방향 을 구하는 방법을 기술하였다. 초기 변형소재는 블랭크 호울더 곡면에 의해 변형된 중간 단면들에서의 형상을 에너지 최소화 개념을 적용하여 스플라인 곡선으로 나타내 고 이것들로 부터 곡선망을 구성한 후 최종적으로 양방향 스키닝기법(bi-directional skinning technique)에 의해 구현 하였다.

• 전자공학회논문지SC
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• 제49권4호
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• pp.69-77
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• 2012

본 논문에서는 스텝모터(step motor)에 대한 PLL(phase locked loop) 타입의 위치제어 방법을 제안한다. 제안된 제어 방법은 기존의 개루프(open loop) 위치제어 방법의 주요 문제점인 급 가, 감속 시의 탈조 현상을 발생시키지 않으며 정지마찰력 때문에 발생되는 정상상태 위치오차를 완전히 없애준다. 또한 고속에서 더 큰 토크를 발생하여 구동 가능한 속도제어 범위가 더 크며 진동과 소음도 줄여준다. 제안된 제어기의 성능을 확인하기 위해 시뮬링크(Simulink)를 이용하여 스텝모터에 대해 시뮬레이션 한 결과를 제시한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.1-6
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• 1992

A principle of "orthogonalization" is proposed as an extended notion of hybrid (force and position) control for robot manipulators under geometric endpoint constraints. The principle realizes the hybrid control in a strict sense by letting position and velocity feedback signals be orthogonal in joint space to the contact force vector whose components are exerted at corresponding joints. This orthogonalization is executed via a projection matrix computed in real-time from a gradient of the equation of the surface in joint coordinates and hence both projected position and velocity feedback signals become perpendicular to the force vector that is normal to the surface at the contact point in joint space. To show the important role of the principle in control of robot manipulators, three basic problems are analyzed, the first is a hybrid trajectory tracking problem by means of a "modified hybrid computed torque method", the second is a model-based adaptive control problem for robot manipulators under geometric endpoint constraints, and the third is an iterative learning control problem. It is shown that the passivity of residual error dynamics of robots follows from the orthogonalization principle and it plays a crucial role in convergence properties of both positional and force error signals.force error signals.

• 한국생산제조학회지
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• 제20권2호
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• pp.139-144
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• 2011

This paper presents a boundary element application to determine the optimal impressed current densities at defect position on the pipe line. In this protection paint, enough current must be impressed to lower the potential distribution on the metal surface to the critical values. The optimal impressed current densities are determined in order to minimize the power supply for protection. This inverse problem was formulated by employing the boundary element method. Since the system of linear equations obtained was ill-conditioned, including singular value decomposition, conjugate gradient method were applied and the accuracies of these estimation. Several numerical examples are presented to demonstrate the practical applicability of the proposed method.