• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1241-1244
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• 1996

This paper present a performance evaluation method for Timed Place Petri Nets modeled by Live-and-Bounded Circuits (LB-circuits) through a bottom-up approach. The method can handle the case for the nets having common resources(CR). The target system is divided into the sub-systems by disconnecting the common Transition-Transition-Path(TTP) or Place-Place-Path (PPP) between sub-systems. The common PPP pattern is classified into Parallel Common Resource (PCR) and Sequential Common Resource (SCR) in detail for handling common resources. We evaluate the performance of each divided sub-system, and calculate the sub-systems affect on the performance of the whole system. The facts are generalized as a theorem. The developed theorem are applied into the performance evaluation of an automated assembly system shown in an example. All the results are verified by simulation.

• International Journal of Naval Architecture and Ocean Engineering
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• 제11권1호
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• pp.606-623
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• 2019

The path following problem of a ship sailing in restricted waters under wind effect is investigated based on Robust $H_{\infty}$ Guaranteed Cost Control (RHGCC). To design the controller, the ship maneuvering motion is modeled as a linear uncertain system with norm-bounded time-varying parametric uncertainty. To counteract the bank and wind effects, the integral of path error is augmented to the original system. Based on the extended linear uncertain system, sufficient conditions for existence of the RHGCC are given. To obtain an optimal robust $H_{\infty}$ guaranteed cost control law, a convex optimization problem with Linear Matrix Inequality (LMI) constraints is formulated, which minimizes the guaranteed cost of the close-loop system and mitigates the effect of external disturbance on the performance output. Numerical simulations have confirmed the effectiveness and robustness of the proposed control strategy for the path following goal of a ship sailing in restricted waters under wind effect.

• ETRI Journal
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• 제42권4호
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• pp.575-584
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• 2020

Electromagnetic (EM) waves used to send signals under seawater are normally restricted to low frequencies (f) because of sudden exponential increases of attenuation (𝛼) at higher f. The mathematics of EM wave propagation in seawater demonstrate dependence on relative permeability (𝜇_r), relative permittivity (𝜀_r), conductivity (𝜎), and f of transmission. Estimation of 𝜀_r and 𝜎 based on the W. Ellison interpolation model was performed for averaged real-time data of temperature (T) and salinity (S) from 1955 to 2012 for all oceans with 41 088 latitude/longitude points and 101 depth points up to 5500 m. Estimation of parameters such as real and imaginary parts of 𝜀_r, 𝜀_r', 𝜀_r", 𝜎, loss tangent (tan 𝛿), propagation velocity (V_p), phase constant (𝛽), and α contributes to absorption loss (L_a) for seawater channels carried out by using normal distribution fit in the 3 GHz-40 GHz f range. We also estimated total path loss (L_PL) in seawater for given transmission power P_t and antenna (dipole) gain. MATLAB is the simulation tool used for analysis.

• 정보처리학회논문지A
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• 제17A권3호
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• pp.113-120
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• 2010

이븐 연결망은 고장허용 다중컴퓨터에 대한 하나의 모형으로 제안된 연결망으로, 간단한 라우팅 알고리즘, 최대고장허용도, 노드 중복 없는 경로와 같은 여러 가지 유용한 성질과 알고리즘들이 분석되었다. 기존에 발표된 라우팅 알고리즘과 노드 중복 없는 경로를 구성하는 알고리즘은 최적임이 증명되었다. 하지만 아직까지 이븐 연결망에서 에지 중복 없는 스패닝 트리를 구성하는 기법은 소개되지 않았다. 에지 중복 없는 스패닝 트리는 상호연결망의 고장허용도의 성능 향상과 효율적인 방송 기법을 분석하기 위해서 사용되는 매우 유용한 기법이다. 기존에 발표된 라우팅 알고리즘 또는 노드 중복 없는 경로를 구성하는 알고리즘은 라우팅 또는 노드 중복 없는 경로를 위한 알고리즘으로 에지 중복 없는 스패닝 트리를 구성하기 위해 적용될 수 없는 알고리즘이다. 본 논문에서는 이븐 연결망 $E_d$에서 에지 중복 없는 스패닝 트리를 구성하는 알고리즘을 제안한다.

• 로봇학회논문지
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• 제2권3호
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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.

• International Journal of Computer Science & Network Security
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• 제23권7호
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• pp.1-8
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• 2023

An Orthogonal Frequency Division Multiplexing (OFDM) based wireless communication system has drawn wide attention for its high transmission rate and high spectrum efficiency in not only radio but also Underwater Acoustic (UWA) applications. Because of the narrow sub-carrier spacing of OFDM, orthogonality between sub-carriers is easily affected by Doppler effect caused by the movement of transmitter or receiver. Previously, Doppler compensation signal processing algorithm for Desired propagation path was proposed. However, other Doppler shifts caused by delayed Undesired signal arriving from different directions cannot be perfectly compensated. Then Receiver Bit Error Rate (BER) is degraded by Inter-Carrier-Interference (ICI) caused in the case of Multi-path Doppler channel. To mitigate the ICI effect, a modified Delay and Doppler Profiler (mDDP), which estimates not only attenuation, relative delay and Doppler shift but also sampling clock shift of each multi-path component, is proposed. Based on the outputs of mDDP, an ICI canceling multi-tap equalizer is also proposed. Computer simulated performances of one-tap equalizer with the conventional Time domain linear interpolated Channel Transfer Function (CTF) estimator, multi-tap equalizer based on mDDP are compared. According to the simulation results, BER improvement has been observed. Especially, in the condition of 16QAM modulation, transmitting vessel speed of 6m/s, two-path multipath channel with direct path and ocean surface reflection path; more than one order of magnitude BER reduction has been observed at CNR=30dB.

• 지질공학
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• 제33권2호
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• pp.229-240
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• 2023

연약지반 개량공사 시 계측기를 설치하여 경제적이고 안전한 시공이 이루어지도록 관리한다. 데이터 분석 시 시간에 따른 침하량 데이터를 활용하여 전체적인 지반 침하 거동을 파악할 수 있지만, 계측지점 간 상호관련성을 분석하기에는 어려움이 있다. 따라서 계측지점 간의 상대적인 압밀침하 거동을 분석하기 위하여, 침하량과 속도를 가공하여 평균 침하량 차이 지수와 기울기 차이 지수로 정의한 후, 평균 침하량 차이 지수 - 기울기 차이 지수(AS_i,j-SDI_i,j) 좌표계에 도시하였다. 계측지점 간 상대적인 압밀침하 거동 분석결과 평균 침하량 차이 지수 - 기울기 차이 지수 좌표계에 나타낸 계측지점 간의 관계가 압밀이 완료됨에 따라 영역 1로 이동하였다. 관측점의 이동 경로를 해당 좌표계에 연속적으로 나타냄으로써 계측지점 간의 상대적인 압밀침하 거동관계를 분석하였으며, 이동경로 방향에 따라 두 계측지점의 압밀침하 거동관계가 안정한 상태인지 불안정한 상태인지 확인할 수 있었다.

• 대한수학회논문집
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• 제13권4호
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• pp.811-815
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• 1998

In this paper we define a sample path-valued conditional Yeh-Wiener integral for function F of the type E[F(x)$\mid$x(*,(equation omitted))=$\psi({\blacktriangle})]$, where $\psi$ is in C[0, (equation omitted)] and ${\blacktriangle}$ = (equation omitted) and evaluate a sample path-valued conditional Yeh-Wiener integral using the result obtained.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.92-94
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• 2005

Unmanned ground vehicles(UGVs) are expected to play a key role in the future army. These UGVs would be used for weapons platforms. logistics carriers, reconnaissance, surveillance, and target acquisition in the rough terrain. Most of path planning methodologies for UGVs offer an optimal or sub-optimal shortest-path in a 20 space. However, those methodologies do not consider increment and reduction effects of relative distance when a UGV climbs up or goes down in the slope of rough terrain. In this paper, we propose a novel path planning methodology using the modified distance transform algorithm. Our proposed path planning methodology employs two kinds of map. One is binary obstacle map. The other is the DEM. With these two maps, the modified distance transform algorithm in which distance between cells is increased or decreased by weighting function of slope is suggested. The proposed methodology is verified by various simulations on the randomly generated DEM and obstacle map.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.120.3-120
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• 2001

We propose a new method of path planning for cleaning robots. Path planning problem for cleaning robots is different from conventional path planning problems in which finding a collision-free trajectory from a start point to a goal point is focused. In the case of cleaning robots, however, a planned path should cover all area to be cleaned. To resolve this problem in a systematic way, we propose a method based on a graph model as follows: at first, partition a given map into proper regions, then transform a divided region to a vertex and a connectivity between regions to an edge of a graph. Finally, a region is divided into sub-regions so that the graph has a unary tree which is the simplest Hamilton path. The effectiveness of the proposed method is shown by computer simulation results.