• Advances in robotics research
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• 제1권1호
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• pp.41-59
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• 2014

This paper deals with the problem of steering a group of mobile robots along a reference path while maintaining a desired geometric formation. To solve this problem, the overall formation is decomposed into numerous geometric patterns composed of pairs of robots, and the state of the geometric patterns is defined. A control algorithm for the problem is proposed based on the Nash equilibrium strategies incorporating receding horizon control (RHC), also known as model predictive control (MPC). Each robot calculates a control input over a finite prediction horizon and transmits this control input to its neighbor. Considering the motion of the other robots in the prediction horizon, each robot calculates the optimal control strategy to achieve its goals: tracking a reference path and maintaining a desired formation. The performance of the proposed algorithm is validated using numerical simulations.

• 한국의류학회지
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• 제40권1호
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• pp.148-157
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• 2016

In this study, the notion of payment intention price was introduced and examined in relation with self-image congruence, clothing preference and two types of reference price: expected price and fair price. One hundred samples of female collegiate students participated in the group survey and responded to the instrument including variables of clothing image evaluation, clothing preference, reference price, payment intention price toward a one-piece dress as the stimulus, and ideal self-image perception. Descriptive statistics, correlations, and regressions were applied on data analysis. The results were as follow. Payment intention price was determined by clothing preference and fair price, and the explaining power of fair price was greater than clothing preference. One confirmatory path was observed that self-image congruence effects clothing preference, and then clothing preference effects payment intention price. The other confirmatory path was from expected price to fair price and fair price to payment intention price.

• Structural Engineering and Mechanics
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• 제12권6호
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• pp.685-698
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• 2001

In this paper, a general method for the automatic search for Strut-and-Tie (S&T) models representative of possible resistant mechanisms in reinforced concrete elements is proposed. The representativeness criterion here adopted is inspired to the principle of minimum strain energy and requires the consistency of the model with a reference stress field. In particular, a highly indeterminate pin-jointed framework of a given layout is generated within the assigned geometry of the concrete element and an optimum truss is found by the minimisation of a suitable objective function. Such a function allows us to search the optimum truss according to a reference stress field deduced through a F.E.A. and assumed as representative of the given continuum. The theoretical principles and the mathematical formulation of the method are firstly explained; the search for a S&T model suitable for the design of a deep beam shows the method capability in handling the reference stress path. Finally, since the analysis may consider the structure as linear-elastic or cracked and non-linear in both the component materials, it is shown how the proposed procedure allows us to verify the possibilities of activation of the design model, oriented to the serviceability condition and deduced in the linear elastic field, by following the evolution of the resistant mechanisms in the cracked non-linear field up to the structural failure.

• 전기학회논문지P
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• 제60권3호
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• pp.126-132
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• 2011

A conventional LDO(Low Dropout Regulator) uses one OPAMP and one signal path. This means that OPAMP's DC Gain and Bandwidth can't optimize simultaneously within usable power. This also appears that regulation property and settling time of LDO can't improve at the same time. Based on this idea, a proposed LDO uses two OPAMP and has two signal path. To improve regulation property, OPAMP where is used in the path which qualities DC gain on a large scale, bandwidth designed narrowly. To improve settling time, OPAMP where is used in the path which qualities DC gain small, bandwidth designed widely. A designed LDO used 0.5um 1P2M process and provided 200mA of output current. A line regulation and load regulation is 12.6mV/V, 0.25mV/mA, respectively. And measured settling time is 1.5us in 5V supply voltage.

• Ocean and Polar Research
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• 제36권4호
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• pp.465-473
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• 2014

This paper proposes a formation control method by which multi-mining robots maintain a specified formation and follow a path. To secure the path tracking performance, a pure-pursuit algorithm is considered for each individual robot, and to minimize the deviation from the reference path, speed reduction in the steering motion is added. For the formation, in which two robots are parallel in a lateral direction, the robots track the specified path at a constant distance. In this way, the Leader-Follower method is adopted and the following robot knows the position and heading angle of the leader robot. Through the experimental test using two ground vehicle models, the performance is verified.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.396-399
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• 2002

A roughing process is the one of most important shoe manufacturing processes. Especially, it is indispensable to manufacture the leather shoes such as dress shoes, safety shoes, golf shoes, etc. The roughing process relies greatly on the operator's skill and experience. Therefore, the automation of roughing process is necessary to establish the improvement of productivity. We are trying to develop the Automatic Roughing Machine controlled by NC. As pre-study to do this, we need to measure the roughing path for NC, because there is no study on this pan and no reference about this. In this study, we proposed the 3-Dimensional Scanner System to measure the roughing path with new concept. The developed 3-D scanner System generates the roughing path using the 3 images obtained from 3 CCD cameras. The experimental results show that the proposed system can measure accurately the roughing path.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.901-902
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• 2013

• 대한치과의사협회지
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• 제11권2호
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• pp.134-138
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• 1973

The author measured and analyzed the condyle path inclinations of 25 normal Korean adults roentgeno-cephalometrically and following conclusions were obtained. In protrusive movement of mandible, the angle of condyle pation inclination in relation to 1) occlusal plane is 19.86±8.25, 2) Frankfort Horizontal plane is 28.32±8.56, 3) Camper line is 12.22±4.06, 4) Nasion-sella line is 36.80±8.54.

• 한국음향학회지
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• 제3권1호
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• pp.25-35
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• 1984

This paper analysis the Dynamic Time Warping algorithms for time normalization of speech pattern and discusses the Dynamic Programming algorithm for spoken Korean isolated digits recognition. In the DP matching, feature vectors of the reference and test pattern are consisted of first three formant frequencies extracted by power spectrum density estimation algorithm of the ARMA model. The major differences in the various DTW algorithms include the global path constrains, the local continuity constraints on the path, and the distance weighting/normalization used to give the overall minimum distance. The performance criterias to evaluate these DP algorithms are memory requirement, speed of implementation, and recognition accuracy.

• 해양환경안전학회지
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• 제27권5호
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• pp.557-565
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• 2021

경로추종 제어는 대양에서 선박의 자율운항을 위한 가장 기본적인 연구 중에 하나로 여겨진다. 본 연구는 선수미방향, 횡방향 및 회두방향으로 외력이 작용하는 경로추종 제어를 다룬다. 가상의 선박에서 발생하는 항로를 자선이 추종하는 문제를 해결하기 위해서 유도 원리와 백스테핑 기법을 활용하였다. 경로추종 제어에서 가장 중요한 기술 중에 하나는 오차 동역학에 관한 것으로서, 이 개념은 선박의 자동 충돌 회피 및 자동 접안 제어 등과 같은 연구 영역에서도 활용이 가능하다. 유도 원리와 오차 변수의 알고리즘은 수치 시뮬레이션을 통해 증명하였다. 그 결과, 회두각의 오차를 제외한 대부분의 오차 변수는 제어기를 통하여 제로 값으로 수렴하였다. 기존에 근거리 통항선박의 간섭력을 고려한 안전통항거리의 값보다 두 선박 간의 경로추종 제어의 트래킹 오차의 값이 더 작은 점이 가장 흥미로운 결과 중에 하나로 여겨진다. 또한 프로펠러, 핀이나 러더와 같은 엑츄에이터의 손상을 줄이기 위해서는 수렴의 성능과 선박의 안전을 절충하여 적합한 제어 파라미터를 결정할 필요가 있다.