• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.239-244
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• 2010

This paper is to present map building of mobile robot using RFID (Radio Frequency Identification) technology and ultrasonic sensor. For mobile robot to perform map building, the mobile robot needs its localization and accurate driving in space. In this reason, firstly, kinematic modeling of mobile robot under non-holonomic constrains is introduced. Secondly, based on this modeling, a tracking controller is designed for tracking a given path based on backstepping method using Lyapunov function. The Lyapunov function is also introduced for proving the stability of the designed tracking controller. Thirdly, 2D map building is performed by RFID system, mobile robot system and ultrasonic sensors. The RFID mobile robot system is composed of DC motor, encoder, ultra sonic sensor, digital compass, RFID receiver and RFID antenna. Finally, the path tracking simulation results and map building experimental results are presented to show the effectiveness of the designed controller.

• Food Science of Animal Resources
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• v.42 no.4
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• pp.639-654
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• 2022

The current study investigated the effects of the most suitable modified atmosphere packaging (MAP) on the physicochemical, microbiological, and sensory properties of fermented dry sausages during 45 days of refrigeration (4℃) storage period. Treatments were vacuum-packed (control), 25% CO₂/75% N₂ (MAP1), 50% CO₂/50% N₂ (MAP2), 70% CO₂/30% N₂ (MAP3), and 100% CO₂ (MAP4). All MAP samples regardless of their CO₂ composition significantly (p<0.05) decreased in pH, a_w, total plate count, and lactic acid bacteria count values as compared to the vacuum-package during storage. The Enterobacteriaceae count in all MAP packaging was significantly (p<0.05) lower than the vacuum-packed samples and counts in MAP3 and MAP4 samples were markedly (p<0.05) lower than all other treatments in prolonged storage of 15 and 45 days. Based on the thiobarbituric acid reactive substance content at day 15 and 30 storage time, treatments are ranked as follows: Vacuum-packed>MAP1>MAP2>MAP3>MAP4. The a^* of MAP4 was higher than all other treatments. In the final storage days, no variation was exhibited (p>0.05) among treatments in lactic acid aroma and sourness, and MAP2 samples had the lowest (p<0.05) overall acceptability. The use of MAPs with an increase in the CO₂ from MAP1 to MAP4 samples can help in better microbial inhibition than vacuum package, and 70% CO₂/30% N₂ (MAP3) and 100% CO₂ (MAP4) were effective to maintain several quality parameters (a_w, pH, microbial inhibition, stability against lipid oxidation, and instrumental color traits) and extend the shelf life of dry fermented sausage.

• Journal of the Chungcheong Mathematical Society
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• v.11 no.1
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• pp.73-85
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• 1998

This paper deals with the topological stability of continuous maps. First, the notion of local expansion is given and we show that local expansions of compact metric spaces have the shadowing property. Also, we prove that if a continuous surjective map f is a local homeomorphism and local expansion, then f is topologically stable in the class of continuous surjective maps. Finally, we find homeomorphisms which are not topologically stable.

• Kyungpook Mathematical Journal
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• v.49 no.4
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• pp.691-700
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• 2009

We use the fixed alternative theorem to establish Hyers-Ulam-Rassias stability of the quadratic functional equation where functions map a linear space into a complete quasi p-normed space. Moreover, we will show that the continuity behavior of an approximately quadratic mapping, which is controlled by a suitable continuous function, implies the continuity of a unique quadratic function, which is a good approximation to the mapping. We also give a few applications of our results in some special cases.

• The Journal of Korea Robotics Society
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• v.2 no.3
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• pp.275-281
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• 2007

This paper presents a motion planning strategy for legged robots using locomotion primitives in the complex 3D environments. First, we define configuration, motion primitives and locomotion primitives for legged robots. A hierarchical motion planning method based on a combination of 2.5 dimensional maps of the 3D workspace is proposed. A global navigation map is obtained using 2.5 dimensional maps such as an obstacle height map, a passage map, and a gradient map of obstacles to distinguish obstacles. A high-level path planner finds a global path from a 2D navigation map. A mid-level planner creates sub-goals that help the legged robot efficiently cope with various obstacles using only a small set of locomotion primitives that are useful for stable navigation of the robot. A local obstacle map that describes the edge or border of the obstacles is used to find the sub-goals along the global path. A low-level planner searches for a feasible sequence of locomotion primitives between sub-goals. We use heuristic algorithm in local motion planner. The proposed planning method is verified by both locomotion and soccer experiments on a small biped robot in a cluttered environment. Experiment results show an improvement in motion stability.

• Journal of Electrical Engineering and Technology
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• v.8 no.3
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• pp.393-401
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• 2013

This paper deals with the operation strategy of the Cheju AC network included MIHVDC system (Multi-Infeed HVDC system). In case that where several HVDC systems are located in the vicinity of each other, there are interactions between the different HVDC systems in such network configurations. The interactions which could be generated in multi-infeed HVDC are voltage stability, power stability and inertia stability, to analyze such systems in a systematic way to ensure that there are no risks of adverse interactions is very important. The developed method until now to analyze MIHVDC interaction is extended from MAP(Maximum Available Power) method for analyzing the power stability of the single-infeed HVDC system, this method is to solve the eigenstructure using the identified factors influencing the interactions. Finally, the algorithms which are introduced in this paper, to determine the operation strategy are applied to Cheju island network which is supplied by two HVDCs.

• Journal of KSNVE
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• v.9 no.1
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• pp.196-205
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• 1999

The existence. bifurcation. and the orbital stability of periodic motions, which is called nonlinear normal mode, in a nonlinear dual mass Hamiltonian system. which has 6th order homogeneous polynomial as a nonlinear term. are studied in this paper. By direct integration of the equations of motion. Poincare Map. which is a mapping of a phase trajectory onto 2 dimensional surface in 4 dimensional phase space. is obtained. And via the Birkhoff-Gustavson canonical transformation, the analytic expression of the invariant curves in the Poincare Map is derived for small value of energy. It is found that the nonlinear system. which is considered in this paper. has 2 or 4 nonlinear normal modes depending on the value of nonlinear parameter. The Poincare Map clearly shows that the bifurcation modes are stable while the mode from which they bifurcated out changes from stable to unstable.

• Journal of the Korea Society of Computer and Information
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• v.20 no.8
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• pp.1-6
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• 2015

The MapReduce Program of Hadoop Distributed File System operates on any unspecified nodes due to distributed-parallel process and block replicate for data stability. Since it is difficult to guarantee the cache locality when a Solid State Drive is used as a cache in hadoop, cache hit-rate is decreased. In this paper, we suggest a method to improve cache hit rate by pre-loading the input data of the MapReduce onto the SSD cache. To perform this method, we estimated the blocks that are used on each node by using capacity scheduler and block metadata. Eventually we could increase the performance of SSD cache by loading the blocks onto SSD cache before the Map Task run.

• The Bulletin of The Korean Astronomical Society
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• v.40 no.1
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• pp.82.1-82.1
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• 2015

We investigate the long-term spatial drift of the center and the temporal variation of the shutter delay time map of Y4KCam mounted on the CTIO 1.0m telescope. We have collected shutter delay time maps for over 7 years as a part of long-term survey program. We find that the center of the shutter delay time map can drift up to $450{\mu}m$ on the CCD. This effect can result in a small amount of error unless the proper shutter delay time correction, but it does not appear to cause any significant problems in photometric measurements. We obtain the mean value of the shutter delay time of $69.1{\pm}0.9$ msec and find no temporal variation of the shutter delay time of Y4KCam for over 7 years, indicative of the mechanical stability of the shutter. We suggest that using a master shutter delay time correction frame would be sufficient to achieve high precision photometry and this does not add up errors more than ~ 2.5 mmag across the CCD frame with exposure times longer than 1 sec.

• Journal of the Korean Mathematical Society
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• v.36 no.2
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• pp.403-419
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• 1999

We introduce a Hamiltonian system which consists of two balls in the vertical line colliding elastically with each other and the floor. Wojtkowski proved that for the system of two linear balls with a linear potential (with gravity), there is a periodic orbit which becomes linearly stable if m1