• Journal of the Korean Society for Precision Engineering
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• v.19 no.5
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• pp.118-125
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• 2002

The previous kinematic analysis of wheeled mobile robots(WMRs) is performed in an ad-hoc manner, while those of the robot manipulators are done in a consistent way using the coordinate system assignment and the homogeneous transformation matrix. This paper shows why the method for the robot manipulators cannot be used directly to the WMRs and proposes the method for the WMRs, which contains modeling the wheel with the Sheth-Uicker notation and the homogeneous transformation. The proposed method enable us to model the velocity kinematics of the WMRs in a consistent way. As an implementation of the proposed method, the Jacobian matrices were obtained for conventional steered wheel and non-steered wheel respectively and the forward and inverse velocity kinematic solutions were calculated fur a tricycle typed WMR. We hope that our proposed method comes to hold an equivalent roles for WMRs, as that of the manipulators does for the robot manipulators.

• Journal of Mechanical Science and Technology
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• v.19 no.9
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• pp.1720-1730
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• 2005

Automatic guided vehicle in the factory has an important role to advance the flexible manufacturing system. In this paper, we propose a novel object-transportation control algorithm of cooperative AGV systems to apply decentralized control to multiple AGV systems. Each AGV system is under nonholonomic constraints and conveys a common object-transportation in a horizontal plain. Moreover it is shown that cooperative robot systems ensure stability and the velocities of augmented systems convergence to a scaled multiple of each desired velocity field for cooperative AGV systems. Finally, the application of proposed virtual passivity-based decentralized control algorithm via system augmentation is applied to trace a circle. Finally, the simulation and experimental results for the object-transportation by two AGV systems illustrates the validity of the proposed virtual-passivity decentralized control algorithm.

• 한국지구물리탐사학회:학술대회논문집
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• 2006.06a
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• pp.209-210
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• 2006

The Bismarck Sea represent a unique region in the equatorial western Pacific where one can explore the relationship between tectonic and magmatic processes associated with back-arc opening. The sea, located north of Papua New Guinea and just south of the equator, formed during the final stages of a long, complex geological development of the Melanesian Borderland. The development resulted from the Cenozoic convergence between the Australian and Pacific- Caroline Plates and the opening of back-arc basins. At present, the Bismarck Sea straddles two oppositely facing trenches, the inactive Manus trench and the active New Britain trench, and covers two basins, the New Guinea Basin (NGB) to the west and the Manus Basin (MB) to the east. The two basins are separated by the shallow Willaumez-Manus Rise (WMR), which trends roughly from WNW to ESE. The origin of these major structural units and their relationship with the presentday zone of major seismicity along the Bismarck Sea Seismic Lineation (BSSL) remains unclear and is the main focus of our study.

• IEMEK Journal of Embedded Systems and Applications
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• v.10 no.2
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• pp.65-71
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• 2015

It has been known that GMM (Gaussian Mixture Model) based speaker identification systems using ML (Maximum Likelihood) and WMR (Weighting Model Rank) demonstrate very high performances. However, such systems are not so effective under practical environments, in terms of real time processing, because of their high calculation costs. In this paper, we propose a new speaker-pruning algorithm that effectively reduces the calculation cost. In this algorithm, we select 20% of speaker models having higher likelihood with a part of input speech and apply MWMR (Modified Weighted Model Rank) to these selected speaker models to find out identified speaker. To verify the effectiveness of the proposed algorithm, we performed speaker identification experiments using TIMIT database. The proposed method shows more than 60% improvement of reduced processing time than the conventional GMM based system with no pruning, while maintaining the recognition accuracy.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2424-2426
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• 2002

This paper proposes an adaptive control method of partially known system and shows its application result to control for two-wheeled WMR. The controlled system is stable in the sense of Lyapunov stability. To design a tracking controller for welding path reference, an error configuration is defined and the controller is designed to drive the error to zero as fast as desired. Moments of inertia of system are considered to be unknown system parameters. Their values are estimated using update laws in adaptive control scheme. The effectiveness of the proposed controller is shown through simulation results.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2497-2499
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• 2002

This raper proposes a simple robust nonlinear controller design method based on Lyapunov stability for tracking reference welding trajectory and velocity of a three wheel welding mobile robot (WMR). Control law is obtained from Lyapunov control function to ensure asymptotical stability of the system. The effectiveness of the proposed controller is shown through simulation results.

• Journal of Electrical Engineering and Technology
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• v.11 no.4
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• pp.1012-1019
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• 2016

A robust control intended for a nonholonomic mobile robot is considered to guarantee good tracking a desired trajectory. The main drawbacks of the mobile robot model are the existence of nonholonomic constraints, uncertain system parameters and un-modeled dynamics. in order to overcome these drawbacks, we propose a robust control based on Lyapunov theory associated with sliding-mode control, this solution shows good robustness with respect to parameter variations, measurement errors, noise and guarantees position and velocity tracking. The global asymptotic stability of the overall system is proven theoretically. The simulation results largely confirm the effectiveness of the proposed control.

• Journal of the Korean Institute of Intelligent Systems
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• v.10 no.2
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• pp.138-145
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• 2000

A identification algorithm that finds optimal fuzzy membership functions and rule base to fuzzy model isproposed and a fuzzy controller is designed to get more accurate position and velocity control of wheeled mobile robot. This procedure that is composed of three steps has its own unique process at each step. The elements of output term set are increased at first step and then the rule base is varied according to increase of the elements. The adjusted system is in competition with system which doesn't include any increased elements. The adjusted system will be removed if the system lost. Otherwise, the control system is replaced with the adjusted system. After finished regulation of output term set and rule base, searching for input membership functions is processed with constraints and fine tuning of output membership functions is done.

• The Journal of Information Technology
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• v.4 no.2
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• pp.117-127
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• 2001

A self-structured neural network algorithm that finds optimal fuzzy membership functions and nile base to fuzzy model is proposed and a fuzzy-neural network controller is designed to get more accurate position and velocity control of wheeled mobile robot. This procedure that is composed of three steps has its own unique process at each step. The elements of output term set are increased at first step and then the rule base Is varied according to increase of the elements. The adjusted controller is in competition with controller which doesn't include any increased elements. The adjusted controller will be removed if the control-law lost. Otherwise, the controller is replaced with the adjusted system. After finished regulation of output term set and rule base, searching for input membership functions is processed with constraints and fine tuning of output membership functions is done.

• The Plant Pathology Journal
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• v.34 no.3
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• pp.182-190
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• 2018

Powdery mildew caused by the obligate biotrophic fungus Podosphaera xanthii poses a serious threat to melon (Cucumis melo L.) production worldwide. Frequent occurrences of the disease in different regions of South Korea hints at the potential existence of several races which need to be identified. The races of five isolates collected from different powdery mildew affected regions were identified based on the pathogenicity tests of these isolates on eight known differential melon cultigens namely, SCNU1154, PMR 45, WMR 29, PMR 5, MR-1, PI124112, Edisto 47 and PI414723. None of the isolates have shown same disease responses to those of the known races tested in this study and in previous reports on these identical differential melon cultigens. This indicates that the tested uncharacterized isolates are new races. Among the isolates, the isolates from Hadong, Buyeo, Yeongam and Gokseong have shown same pathogenicity indicating the possibility of these isolates being one new race, for which we propose the name 'race KN1'. The isolate of Janghueng have also shown unique disease response in the tested differential melon cultigens and hence, we identified it as another new race with a proposed name 'race KN2'. Report of these new races will be helpful in taking effective control measures in prevalent regions and for future breeding programs aimed at developing varieties that are resistant to these race(s).