• 의정연구
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• 제26권1호
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• pp.5-32
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• 2020

본 논문은 경로의존성과 정치적 역학관계의 제약에도 불구하고 2019년 12월 연동형 비례대표제를 내용으로 하는 선거제도 개혁이 어떻게 가능했는지를 설명하고자 한다. 이 연구는 거부권행사자 이론을 당파성이론의 관점에서 부분적으로 수정한 이론틀을 적용하였다. 수정된 거부권행사자 이론에 기반하면, 정책변동의 가능성은 협조적 거부권행사자가 경쟁적 거부권행사자보다 많을수록, 거부권행사자 간 입장의 일치성이 높을수록, 그리고 협조적 거부권행사자의 내적 응집성이 강하고 경쟁적 거부권행사자들의 내적 응집성이 약할수록 커진다. 선거제도 개혁 과정의 분석결과에 따르면 2019년 선거제도 개혁에서 협조적 거부권행사자의 수의 측면에 있어서는 정책변동의 가능성이 높았다. 하지만 거부권행사자들 간의 일치성 및 거부권행사자의 응집성의 측면에서는 정책변동의 가능성은 상당히 낮았다. 따라서 선거법 개정은 실질적으로 강한 거부권행사에 좌초할 가능성이 높았다고 할 수 있다. 하지만 불리한 조건에서도 선거법 개정이 타결될 수 있었던 것은 높은 협조적 거부권행사자의 수에 기인하는 것으로 볼 수 있다.

• 대한기계학회논문집A
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• 제25권12호
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• pp.2078-2090
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• 2001

This paper deals with a precise position synchronous control by a cooperative control method of two axes rotating systems. First, the system's dynamics including motor drives described by a motor circuit equation and Newton's kinetic formulation about rotating system. Next, based on conventional PID(Proportional, Integral, Derivative) control law, current and speed controller are designed very simply to follow up reference speed correctly under some disturbances. Also, position synchronous controller designed to minimize position errors according to integration of speed errors between two motors. Then, the proposed control enables the distributed drives by a software control algorithm to behave in a way as if they are mechanically hard coupled in axes. Further, the stabilities and robustness or the proposed system are investigated. Finally, the proposed system presented here is shown to be more precise position synchronous motion than conventional systems through some simulations and experiments.

• International Journal of Automotive Technology
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• 제3권4호
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• pp.147-155
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• 2002

Mechatronic subsystems are more and more developed in automotive industries. To enhance the local controls performances, a cooperative control between ABS and Suspension systems is proposed. The respective controls are first designed separately with their dedicated models. Then a hybrid hierarchical architecture is developed. The advantage of this architecture is discussed through vehicle performance with simulation results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.85.3-85
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• 2002

In this study, we tried to investigate the impedance characteristic of human arm in a cooperative task. Human arm was moved in a desired trajectory. The motion was actuated by a 1 degree-of-freedom robot system. As the muscle is mechanically analogous to a spring-damper system, a second-order equation was considered as the model for arm dynamics. In the model, inertia, stiffness and damping factor were considered. The impedance parameter was estimated from the position and torque data obtained from the experiment and based on the "Estimation of Parametric Model". It was found that the inertia is almost constant over the operational time. The damping factor and stiffness were high...

• 대한수학회지
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• 제61권3호
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• pp.565-602
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• 2024

We study the collective behaviors of two second-order nonlinear consensus models with a bonding force, namely the Kuramoto model and the Cucker-Smale model with inter-particle bonding force. The proposed models contain feedback control terms which induce collision avoidance and emergent consensus dynamics in a suitable framework. Through the cooperative interplays between feedback controls, initial state configuration tends to an ordered configuration asymptotically under suitable frameworks which are formulated in terms of system parameters and initial configurations. For a two-particle system on the real line, we show that the relative state tends to the preassigned value asymptotically, and we also provide several numerical examples to analyze the possible nonlinear dynamics of the proposed models, and compare them with analytical results.

• 한국해안해양공학회:학술대회논문집
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• 한국해안해양공학회 2000년도 한국해안해양공학발표논문집 Proceedings of Coastal and Ocean Engineering in Korea
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• pp.182-187
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• 2000

Laboratory for Coastal and Ocean Dynamics Studies at Sungkyunkwan University and Department of Physical Oceanography, Institute of Oceanology, Chinese Academy of Sciences has been working on cooperative studies on ocean circulation. (omitted)

• 한국환경생태학회:학술대회논문집
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• 한국환경생태학회 2005년도 임시총회 및 학술논문발표회
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• pp.53-55
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• 2005

• 항공우주시스템공학회지
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• 제18권2호
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• pp.1-11
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• 2024

정보공유 기반의 네트워크 협업 유도탄에 대한 상대 충돌 각 유도기법을 불확실성과 외란이 존재하는 시스템에 적용했다. 협업 유도탄 시스템은 전이 축소 방향성 비순환 그래프로 표현되며, 그 구조에 따라 유도된 중앙집권형 및 분산형 유도기법을 소개했다. 또한, 소개된 유도기법을 유도탄의 통신 구조와 시스템 잡음 유무에 따라 비교하여 그 관계를 분석했다. 상대 충돌 각 제어 임무에서 분산형 정보공유 유도기법의 효과를 분석하기 위해 시스템 동역학에 잡음이 포함된 다수의 유도탄이 불확실성이 포함된 예상 요격 위치에 유도되는 상황을 가정하였다. 다양한 임무 환경에 대해 몬테카를로 시뮬레이션을 수행하였으며, 이를 통해 정보공유의 유무와 구조가 시스템에 미치는 영향을 분석했다.

• Bulletin of the Korean Chemical Society
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• 제17권11호
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• pp.1045-1052
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• 1996

The effects of G-T mismatches on thermal stability, the base-pair lifetime and the global structure of a d(GCGTGCGC)2 duplex were studied by using 1H NMR, UV and CD spectroscopy. The existence of G-T mismatches was found to cause a noticeable change in the chemical environment of imino protons associated with significant decrease in the base-pair lifetime at the mismatched site as well as in thermal stability of the duplex itself. The melting transition of d(GCGTGCGC)2 was not cooperative at all at 100 mM or lower concentration of NaCl, but became cooperative at 500 mM or higher NaCl concentration. The melting temperature (Tm) of this duplex was 32℃ at 500 mM concentration of NaCl, which is much lower than that of d(GCGCGCGC)2 at the same NaCl concentration. This suggests that the decrease in stability may be ascribed to the decrease in the base-pair lifetime and the deviation from the normal structure due to the G-T mismatches. Adding berenil to d(GCGTGCGC)2 caused no observable change in the global structure but the large decrease in the base-pair lifetime and the stability of the duplex.

• 한국산업융합학회 논문집
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• 제22권2호
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• pp.137-146
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• 2019

This study proposed a new technique to control of mobile robot based on voice command for (Human-Robot Cooperative operation in manufacturing precess). High performance voice recognition and control system was designed In this paper for smart factory. robust voice recognition is essential for a robot to communicate with people. One of the main problems with voice recognition robots is that robots inevitably effects real environment including with noises. The noise is captured with strong power by the microphones, because the noise sources are closed to the microphones. The signal-to-noise ratio of input voice becomes quite low. However, it is possible to estimate the noise by using information on the robot's own motions and postures, because a type of motion/gesture produces almost the same pattern of noise every time it is performed. In this paper, we describe an robust voice recognition system which can robustly recognize voice by adults and students in noisy environments. It is illustrated by experiments the voice recognition performance of mobile robot placed in a real noisy environment.