• International Journal of Control, Automation, and Systems
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• 제6권3호
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• pp.401-412
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• 2008

This paper discusses a design methodology of cooperative path planning for dynamical multi-agent systems with spatial and temporal constraints. The cooperative behavior of the multi-agent systems is specified in terms of the objective function in an optimization formulation. The path of achieving cooperative tasks is then generated by the optimization formulation constructed based on a differential flatness approach. Three scenarios of multi-agent tasking are proposed at the cooperative task planning framework. Given agent dynamics, both spatial and temporal constraints are considered in the path planning. The path planning algorithm first finds trajectory curves in a lower-dimensional space and then parameterizes the curves by a set of B-spline representations. The coefficients of the B-spline curves are further solved by a sequential quadratic programming solver to achieve the optimization objective and satisfy these constraints. Finally, several illustrative examples of cooperative path/task planning are presented.

• Smart Structures and Systems
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• 제18권3호
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• pp.601-623
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• 2016

Precast concrete elements are widely used in the construction of buildings and civil infrastructures as they provide higher construction quality and requires less construction time. However, any abnormalities in precast concrete surfaces such as non-flatness or distortion, can influence the erection of the elements as well as the functional performance of the connections between elements. Thus, it is important to undertake surface flatness and distortion inspection (SFDI) on precast concrete elements before their delivery to the construction sites. The traditional methods of SFDI which are conducted manually or by contact-type devices are, however, time-consuming, labor-intensive and error-prone. To tackle these problems, this study proposes techniques for SFDI of precast concrete elements using laser scanning technology. The proposed techniques estimate the $F_F$ number to evaluate the surface flatness, and estimate three different measurements, warping, bowing, and differential elevation between adjacent elements, to evaluate the surface distortion. The proposed techniques were validated by experiments on four small scale test specimens manufactured by a 3D printer. The measured surface flatness and distortion from the laser scanned data were compared to the actual ones, which were obtained from the designed surface geometries of the specimens. The validation experiments show that the proposed techniques can evaluate the surface flatness and distortion effectively and accurately. Furthermore, scanning experiments on two actual precast concrete bridge deck panels were conducted and the proposed techniques were successfully applied to the scanned data of the panels.

• 대한수학회논문집
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• 제11권2호
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• pp.407-413
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• 1996

The $(\alpha, \beta)$-metric is a Finsler metric which is constructed from a Riemannian metric $\alpha$ and a differential 1-form $\Beta$; it has been sometimes treat in theoretical physics. In particular, the projective flatness of Finsler space with a metric $L^2 = 2\alpha\beta$ is considered in detail.

• Applied Science and Convergence Technology
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• 제25권2호
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• pp.25-27
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• 2016

The surface flatness of metal meshes in a deflector of particle beam mass spectrometer (PBMS) required ideally flat, and this can specify the particle trajectories which goes through the detector. In this research, charged particle current was measured using the different surface roughness deflectors. NaCl particles were generated monodispersed in its size by using differential mobility analyzer and the whole processes were followed the way calibrating PBMS. The results indicate that the mesh surface morphology in the deflector can affect to the particle size and the concentration errors, and sensitivity of PBMS.

• 대한수학회보
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• 제40권4호
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• pp.649-661
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• 2003

The ($\alpha,\;\beta$)-metric is a Finsler metric which is constructed from a Riemannian metric $\alpha$ and a differential 1-form $\beta$. In this paper, we discuss the projective flatness of Finsler spaces with certain ($\alpha,\;\beta$)-metrics ([5]) in a locally Minkowski space.

• 센서학회지
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• 제23권5호
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• pp.326-331
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• 2014

In this study, a MEMS microphone that uses $Si_3N_4$ as the vibration membrane was produced for application as an auditory device using a sound visualization technique (sound visualization) for the hearing impaired. Two sheets of 6-inch silicon wafer were each fabricated into a vibration membrane and back plate, after which, wafer bonding was performed. A certain amount of charge was created between the bonded vibration membrane and the back plate electrodes, and a MEMS microphone that functioned through the capacitive method that uses change in such charge was fabricated. In order to evaluate the characteristics of the prepared MEMS microphone, the frequency flatness, frequency response, properties of phase between samples, and directivity according to the direction of sound source were analyzed. The MEMS microphone showed excellent flatness per frequency in the audio frequency (100 Hz-10 kHz) and a high response of at least -42 dB (sound pressure level). Further, a stable differential phase between the samples of within -3 dB was observed between 100 Hz-6 kHz. In particular, excellent omnidirectional properties were demonstrated in the frequency range of 125 Hz-4 kHz.

• ETRI Journal
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• 제29권4호
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• pp.421-429
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• 2007

This paper presents a direct-conversion CMOS transceiver for fully digital DS-UWB systems. The transceiver includes all of the radio building blocks, such as a T/R switch, a low noise amplifier, an I/Q demodulator, a low pass filter, a variable gain amplifier as a receiver, the same receiver blocks as a transmitter including a phase-locked loop (PLL), and a voltage controlled oscillator (VCO). A single-ended-to-differential converter is implemented in the down-conversion mixer and a differential-to-single-ended converter is implemented in the driver amplifier stage. The chip is fabricated on a 9.0 $mm^2$ die using standard 0.18 ${\mu}m$ CMOS technology and a 64-pin MicroLead Frame package. Experimental results show the total current consumption is 143 mA including the PLL and VCO. The chip has a 3.5 dB receiver gain flatness at the 660 MHz bandwidth. These results indicate that the architecture and circuits are adaptable to the implementation of a wideband, low-power, and high-speed wireless personal area network.

• Journal of electromagnetic engineering and science
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• 제8권3호
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• pp.91-95
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• 2008

This paper presents a direct-conversion I/Q up-mixer block, which supports $3{\sim}5$ GHz ultra-wideband(UWB) applications. It consists of a VI converter, a double-balanced mixer, a RF amplifier, and a differential-to-single signal converter. To achieve wideband characteristics over $3{\sim}5$ GHz frequency range, the double-balanced mixer adopts a shunt-peaking load. The proposed RF amplifier can suppress unwanted common-mode input signals with high linearity. The proposed direct-conversion I/Q up-mixer block is implemented using $0.18-{\mu}m$ CMOS technology. The measured results for three channels show a power gain of $-2{\sim}-9$ dB with a gain flatness of 1dB, a maximum output power level of $-7{\sim}-14.5$ dBm, and a output return loss of more than - 8.8 dB. The current consumption of the fabricated chip is 25.2 mA from a 1.8 V power supply.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.335-335
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• 2000

Applications such as unmanned aerial vehicles (UAVs), autonomous underwater vehicles (AUVs) and the time varying nature of their navigation, guidance and control systems motivate an integrated approach to trajectory general ion and trajectory tracking for autonomous vehicles. In this paper, an experimental testbed was designed for studying this integrated trajectory control approach. In this paper we apply the separating approach to an autonomous nonlinear vehicle system. A new linear matrix inequality based H$_{\infty}$ control technique for periodic time-varying systems is applied to the role of trajectory tracking. Trajectory general ion is accomplished by exploit ing the differential flatness property of the vehicle system; this at lows product ion of desired feasible nominal or reference trajectories from certain ″flat'system outputs. Simulation and experimental results are presented showing stable tracking of a periodic circular trajectory.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 B
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• pp.647-649
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• 1998

This paper describes a robust stabilization of single input nonlinear systems with parametric uncertainty. We first investigate differential flatness of the nominal nonlinear systems. If a single input system is differentially flat, it possesses a flat output. And we define coordinate transformation functions via successively differentiating the flat output, and we also consider the robust fictitious controls at every differentiation of the flat output. In the new coordinates the nonlinear system is transformed into the Brunovsky normal form with matched uncertainty. With a robust control based on the Lyapunov method, the robust stabilization is achieved.