• 대한전기학회논문지
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• 제41권7호
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• pp.809-822
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• 1992

A mathematical approach to solving the time-varying obstacle avoidance problem is pursued. The mathematical formulation of the problem is given in robot joint space(JS). View-time concept is used to deal with time-varying obstacles. The view-time is the period in which a time-varying obstacles. The view-time is the period in which a time-varying obstacle is viewed and approximated by an equivalent stationary obstacle. The equivalent stationary obstacle is the volume swept by the time-varying obstacle for the view-time. The swept volume is transformed into the JS obstacle that is the set of JS robot configurations causing the collision between the robot and the swept volume. In JS, the path avoiding the JS obstacle is planned, and a trajectory satisfying the constraints on robot motion planning is planned along the path. This method is applied to the collision-free motion planning of two SCARA robots, and the simulation results are given.

• 제어로봇시스템학회논문지
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• 제4권1호
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• pp.1-9
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• 1998

This paper is focussed on the problem of robustly stabilizing a transformable linear time-varying system. The considered system is a class of state feedback transformable linear systems. First, the real linear time-varying system is transformed into the linear time invariant system composed with the time-invariant linear part and the time-varying uncertainty part. Second, the solution to a quadratic stabilization problem in the transformed linear system is give via' Lyapunov methods. Then this solution is used to construct a stabilizing linear control law for the real linear time-varying system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.264-267
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• 1988

One of the major reasons of Adaptive Control is to control time varying systems. In this paper new adaptive algorithms are suggested for a class of linear time varying systems that satisfy certain assumptions. These algorithms consist of three modules, modeling, parameter estimation and control. The key feature of this paper is that power series of time varying parameters are used for estimation.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2007년도 학술대회 1부
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• pp.982-987
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• 2007

The necessity of data compression scheme for volume data has been increased because of the increase of data capacity and the amount of network uses. Now we have various kinds of compression schemes, and we can choose one of them depending on the data types, application fields, the preferences, etc. However, the capacity of data which is produced by application scientists has been excessively increased, and the format of most scientific data is 3D volume. For 2D image or 3D moving pictures, many kinds of standards are established and widely used, but for 3D volume data, specially time-varying volume data, it is very difficult to find any applicable compression schemes. In this paper, we present a compression scheme for encoding time-varying volume data. This scheme is aimed to encoding time-varying volume data for visualization. This scheme uses MPEG's I- and P-frame concept for raising compression ratio. Also, it transforms volume data using Daubechies D4 filter before encoding, so that the image quality is better than other wavelet-based compression schemes. This encoding scheme encodes time-varying volume data composed of single precision floating-point data. In addition, this scheme provides the random reconstruction accessibility for an unit, and can be used for compressing large time-varying volume data using correlation between frames while preserving image qualities.

• Earthquakes and Structures
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• 제19권4호
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• pp.287-301
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• 2020

Fragility as one of the most effective methods to evaluate seismic performance, which is greatly affected by damage index. Taking a multi span continuous rigid frame offshore bridge as an example. Based on fragility and reliability theory, considering coupling effect of time-varying durability damage of materials and time-varying attenuation effect of damage index to analyze seismic performance of offshore bridges. Results show that IDA curve considering time-varying damage index is obviously below that without considering; area enclosed by IDA of 1# pier and X-axis under No.1 earthquake considering this effect is 96% of that without considering. Area enclosed by damage index of 1# pier and X-axis under serious damage with considering time-varying damage index is 90% of that without considering in service period. Time-varying damage index has a greater impact on short pier when ground motion intensity is small, while it has a great impact on high pier when the intensity is large. The area enclosed by fragility of bridge system and X-axis under complete destruction considering time-varying damage index is 165% of that without considering when reach designed service life. Therefore, time-varying attenuation effect of damage index has a great impact on seismic performance of bridge in service period.

• Smart Structures and Systems
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• 제15권1호
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• pp.119-133
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• 2015

This paper proposed a structural time-varying damage detection method by using synchrosqueezing wavelet transform. The instantaneous frequencies of a structure with time-varying damage are first extracted using the synchrosqueezing wavelet transform. Since the proposed synchrosqueezing wavelet transform is invertible, thus each individual component can be reconstructed and the modal participation factor ratio can be extracted based on the amplitude of the analytical signals of the reconstructed individual components. Then, the new time-varying damage index is defined based on the extracted instantaneous frequencies and modal participation factor ratio. Both free and forced vibrations of a classical Duffing nonlinear system and a simply supported beam structure with abrupt and linear time-varying damage are simulated. The proposed synchrosqueezing wavelet transform method can successfully extract the instantaneous frequencies of the damaged structures under free vibration or vibration due to earthquake excitation. The results also show that the defined time-varying damage index can effectively track structural time-varying damage.

• 한국항행학회논문지
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• 제20권5호
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• pp.475-481
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• 2016

본 논문에서는 상태변수에 시변 지연시간이 있는 선형 이산 구간 시변 시스템의 안정조건을 새롭게 제안한다. 고려한 시스템은 지연 없는 상태변수에 대한 시스템 행렬과 지연 상태변수에 대한 시스템 행렬이 시변 구간 행렬로 표현되며, 지연시간도 구간에 대하여 시변인 특성을 갖는다. 제안된 안정조건은 리아프노프 안정 이론을 이용하여 유도되며, 매우 간단한 부등식의 형태로 표현된다. 본 논문에서는 기존의 시불변 구간 행렬의 안정성 문제를 시변 구간 행렬의 안정성 문제로 확장하고, 기존에 발표된 결과를 포함하는 강력한 안정조건이 유도된다. 이 안정조건의 유도과정에서는 복잡한 선형행렬부등식 혹은 리아프노프 방정식의 상한 해 한계를 구하지 않아도 된다. 또한, 기존의 결과들과의 비교를 통하여 제안된 안정조건이 많은 기존 안정 조건들을 포함할 수 있음을 보인다. 기존 수치예제를 일반적인 형태로 확장하였고 이에 대하여 새로운 안정조건의 확장성과 효용성을 확인한다.

• Journal of Advanced Marine Engineering and Technology
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• 제28권4호
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• pp.603-610
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• 2004

Time delays are included in most of actual systems, and some of which are shown as time varying. To analyze the time varying time delay system in the time domain. a useful delay module to express the function as a tool is much helpful to get corresponding outputs under given conditions. A method is proposed here to design the algorithm of time delay module for simulation or control purposes, including the problems of initializing and reallocating data in buffer. After classifying the time varying time delay into the distributed mode and lumped mode, an object to describe delay module is configured and tested under the defined input signal and given time delay variation. The simulation results show that the output of module matches reasonably with the case of real system.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 춘계학술대회 논문집
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• pp.841-848
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• 2008

This paper examined dynamic characteristics of high speed trains using a time varying frequency transform. Fourier transform based methods are frequently used for the calculation of the dynamic characteristics of trains in the frequency domain, but they cannot represent the time-varying characteristics. Therefore it is necessary to examine their characteristics using a time-varying frequency transform. For the examination, the non-stationary vibration of wheelset, bogie, and carbody are measured using accelerometers and stored in a data aquisition system. They are processed with localization of the data by modulating with a window function, and Fourier transform is taken to each localized data, called the short-time Fourier transform. From the processed results, time varying auto-spectral density, cross-spectral density, frequency response, and coherence functions have been calculated. From the analysis, it is confirmed that the time varying frequency transform is a useful method for analyzing the dynamic characteristics of high speed trains.

• 대한전기학회논문지:전력기술부문A
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• 제54권6호
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• pp.315-322
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• 2005

In this article, 1 would like to explore the estimation method of time-varying voltage sags in large industrial systems considering the short circuit contributions of rotating machines. For the power distribution system of KEPCO(Korea Electric Power Corporation), the magnitude of initial symmetrical short circuit current is generally not changed. However, in industrial systems which contain a number of rotating machines, the magnitude of voltage sag is generally changed from the initial to the clearing time of a fault due to the decreasing contribution of rotating machines for a fault current. The time-varying characteristics of voltage sags can be calculated using a short circuit analysis that is considered the time-varying fault currents. For this, the prediction formulations of time-varying voltage sags are proposed using a foreign standard. The proposed method contains the consideration of generator and motor effects. For the test of proposed formulations, a simple system of industrial consumer is used for the comparison conventional and proposed estimation method of voltage sag characteristics.