• 전기학회논문지P
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• 제51권1호
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• pp.45-51
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• 2002

In this paper are presented dynamic modeling and path-tracking of differential drive wheeled-mobile robots(WMRs) having the limited drive-torques. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to induce the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling method. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

• 대한교통학회지
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• 제21권2호
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• pp.95-105
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• 2003

확률적 통행배정모형은 확정적 모형이 갖는 여러 경직된 가정들을 완화시킬 수 있다는 점에서 많은 연구자들의 연구대상이 되어왔으나, 확률개념이 모형에 내포됨에 따라 풀기가 쉽지 않다는 한계를 갖고 있다. 또한 현재까지 제시된 모형들도 교통망부하(Network loading) 단계에서 대안경로수를 제한함으로서 교통량에 종속적인 통행비용이 변하는 경우. 이를 선택대안의 변화로 반영하지 못하는 문제점과 확률적 사용자균형해를 구하는 단계에서 휴리스틱하게 접근하는 문제점들을 갖고 있다. 본 연구에서는 이들 확률적 통행배정모형의 문제점들을 해결할 수 있는 새로운 모형과 이를 풀기 위한 알고리듬을 제시하는데 목적이 있다. 제시되는 모형들은 로짓모형을 기반으로 개발되며 Wardrop의 확률적 균형상태를 도출하게 된다. 풀이 알고리듬은 링크가 아닌 경로를 기반으로 구축되는데, 모든 경로를 열거해야 하는 어려움이 있지만. 선택경로를 제한함으로서 발생되는 문제를 피할 수 있으며, 초기에 한번만 모든 경로를 열거해놓으면 이를 계속 사용하기 때문에 계산시간도 줄일 수 있다. 또한 본 연구에서 제시되는 수리최소화모형은 목적함수를 직접 평가(evaluation)하기 때문에 수렴해에 신속히 수렴하며, Sheffi(1985)가 제시한 동등 수리모형(equivalent mathematical program)보다 이해하기 쉽다는 장점이 있다. 제시된 모형을 평가하기 위하여 예제 교통망을 이용하며, 각 모형들의 장단점을 분석하였다.

• 대한교통학회지
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• 제25권4호
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• pp.99-108
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• 2007

본 연구에서는 가변수요를 고려한 확률적 사용자균형 통행배정모형을 제시한다. 교통망에서 수요와 공급간의 균형을 가정할 경우, 통행비용의 함수인 가변수요는 통행저항함수(공급함수)와 함께 균형상태로 수렴하며, 이때 확률적 통행배정모형은 통행자들간의 경로인지 통행비용이 동일해지는 확률적 사용자균형상태에 도달하게 된다. 본 연구에서 제시하는 확률적 사용자균형모형은 기존 연구들과는 달리 동적체계(dynamic system)를 기초로 개발된다. 동적체계는 시간의 흐름에 따라 하나의 상태가 다음 상태로 변화하는 과정을 표현하는 수리적인 방법으로 시간의 변화에 따라 그 상태가 변하는 여러 분야에 적용이 가능한데, 주로 제어공학(control engineering)분야에서 활용되어 왔다. 동적 체계의 개념을 도입하면, 기존 모형들과는 달리 쉽게 모형화(formulation)할 수 있으며 풀이과정(solution algorithm)도 간단하다는 장점이 있다. 본 연구에서도 동적체계를 이용하여 확률적 사용자균형 통행배정(user equilibrium traffic assignment)모형을 제시하고 제시된 모형이 안정적인 해(stable solution)로 수렴한다는 것을 Lyapunov함수를 통하여 증명한다. 또한, 예제 교통망을 통하여 여러가지 의미있는 결과를 도출한다.

• 한국농림기상학회지
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• 제4권2호
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• pp.103-113
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• 2002

Calibration experiments were executed to document pertinent calibration methods for open-path infrared gas analyzer (OP-2) in field operations and to quantify their performance characteristics in continuous long-term flux measurements. Based on our results, we concluded: (1) flow rate of 2.0 L min$^{-1}$ can be used for calibration instead of the recommended 0.5 L min$^{-1}$ . Such faster flow rate brings the sampled air in the calibration hood at equilibrium within 5 min for $CO_2$ and 10 min for $H_2O$; (2) after reaching equilibrium, two-minute average sampling for related variables per each concentration may be sufficient; (3) use of four concentration is needed to derive the nonlinear calibration equation for water vapor with 1% uncertainty of flux measurement; and (4) the resultant calibration interval for OP-2 for both $CO_2$ and $H_2O$ is approximately one month.

• Structural Engineering and Mechanics
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• 제11권2호
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• pp.199-210
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• 2001

Axially compressed circular cylinders repeat symmetry-breaking bifurcation in the postbuckling region. There exist stable equilibria with all symmetry broken in the buckled configuration, and the minimum postbuckling strength is attained at the deep bottom of closely spaced equilibrium branches. The load level corresponding to such postbuckling stable solutions is usually much lower than the initial buckling load and may serve as a strength limit in shell stability design. The primary concern in the present paper is to compute these possible postbuckling stable solutions at the deep bottom of the postbuckling region. Two computational approaches are used for this purpose. One is the application of individual procedures in computational bifurcation theory. Path-tracing, pinpointing bifurcation points and (local) branch-switching are all applied to follow carefully the postbuckling branches with the decreasing load in order to attain the target at the bottom of the postbuckling region. The buckled shell configuration loses its symmetry stepwise after each (local) branch-switching procedure. The other is to introduce the idea of path jumping (namely, generalized global branch-switching) with static imperfection. The static response of the cylinder under two-parameter loading is computed to enable a direct access to postbuckling equilibria from the prebuckling state. In the numerical example of an elastic perfect circular cylinder, stable postbuckling solutions are computed in these two approaches. It is demonstrated that a direct path jump from the undeformed state to postbuckling stable equilibria is possible for an appropriate choice of static perturbations.

• 대한정형도수물리치료학회지
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• 제13권1호
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• pp.1-9
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• 2007

Purpose: The purpose of this study was to evaluate the The Influence of contract-relax exercise of PNF on Equilibrium Ability. Methods: The subjects were consisted of thirty patients (14 females and 16 males). They were from 20 to 42 years old and the mean age was 25.03. All subjects were randomly assigned to two groups: contract-relax exercise of proprioceptive neuromuscular facilitation(PNF) group (n=15), control group (n=15). Contract-relax exercise group received contract-relax exercise for about 10 minutes along with therapeutic massage for about 15 minutes, 3 times per week during 4 weeks period. However, control group did not receive intervention during the same 4 weeks. The Balance performance monitor(BPM) was used to measure equilibrium ability. All measurements of each subjects were measured at pre-experiment, after 2 weeks, and post-experiment. Results: The results of this study were summarized below : 1. The sway area of contract-relax exercise group was significantly reduced according to within treatment period(p<.05), most significantly reduced between pre-test and post-test(p<.05). Contract-relax exercise group significantly more reduced than control group(p<.05). 2. The sway path length of contract-relax exercise group was significantly reduced according to within treatment period(p<.05), most significantly reduced between pre-test and post-test(p<.05). Contract-relax exercise group significantly more reduced than control group(p<.05). Conclusion : Contract-relax exercise applied with therapeutic massage can increased equilibrium ability. Additional randomized controlled trials to more fully investigate treatment effects and factors that may mediate these effects are needed.

• Management Science and Financial Engineering
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• 제15권1호
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• pp.51-69
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• 2009

A network model and a Genetic Algorithm (GA) is proposed to solve the simultaneous estimation of the trip distribution and traffic assignment from traffic counts in the congested networks in a logit-based Stochastic User Equilibrium (SUE). The model is formulated as a problem of minimizing a non-linear objective function with the linear constraints. In the model, the flow-conservation constraints are utilized to restrict the solution space and to force the link flows become consistent to the traffic counts. The objective of the model is to minimize the discrepancies between two sets of link flows. One is the set of link flows satisfying the constraints of flow-conservation, trip production from origin, trip attraction to destination and traffic counts at observed links. The other is the set of link flows those are estimated through the trip distribution and traffic assignment using the path flow estimator in the logit-based SUE. In the proposed GA, a chromosome is defined as a real vector representing a set of Origin-Destination Matrix (ODM), link flows and route-choice dispersion coefficient. Each chromosome is evaluated by the corresponding discrepancies. The population of the chromosome is evolved by the concurrent simplex crossover and random mutation. To maintain the feasibility of solutions, a bounded vector shipment technique is used during the crossover and mutation.

• 사회경제평론
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• 제38호
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• pp.51-83
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• 2012

다수의 상품이 생산되는 경제에서 스라파(Sraffa) 균형가격 조건과 균제성장 및 상품시장 균형 조건이 성립하는 경우를 생각하자. 이 모형에서 임금율 결정식과 투자함수를 동시에 부여하면 전체 경제는 과잉결정 되며 균형이 존재하지 않는다. 본 연구는 이 과잉결정 현상을 불균형 상태로 해석하고, 불균형상태에서 실현되는 임금율과 자본축적률이 각각의 동학식을 따라 결정되는 것으로 해석한다. 그리고 이 해석의 유효성을 주장하기 위하여 전체 경제에 대한 단순한 동학모형을 구축하고, 임금율과 자본축적률의 동학경로를 분석한다. 본 연구의 동학모형은 로카-볼테라 식체계의 구성조건을 만족하며, 따라서 전체 경제의 성장경로는 내생적으로 순환변동하는 경로를 따라 결정된다.

• 드라이브 ㆍ 컨트롤
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• 제15권4호
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• pp.11-16
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• 2018

Pilot operated control valve for $CO_2$ refrigerant is a valve that can perform various functions according to the user's intention by replacing pilot units, widely used for flow rate, pressure, and temperature control of refrigeration and air conditioning systems. In addition, $CO_2$ refrigerant, that requires high pressure and low critical temperature, can be installed and used in all positions of the refrigeration system, regardless of high or low pressure. In this paper, response characteristics are modeled and analyzed based on behavior of the main piston of the pilot-operated control valve. Although various factors influence operation of the main piston, this paper analyzes the effect of equilibrium pressure depending on valve installation position and application, and inlet and outlet orifice size of the load pressure feedback chamber to determine feedback characteristics of the main piston. As a result, it was possible to quantitatively analyze the effect of change in equilibrium and load pressure feedback chamber flow path size on the change in main piston dynamic and static characteristics.

• 한국경영과학회지
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• 제34권1호
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• pp.61-83
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• 2009

This study developed a variable demand traffic assignment model by stable dynamics. Stable dynamics, suggested by Nesterov and do Palma[19], is a new model which describes and provides a stable state of congestion in urban transportation networks. In comparison with the user equilibrium model, which is based on the arc travel time function in analyzing transportation networks, stable dynamics requires few parameters and is coincident with intuitions and observations on congestion. It is therefore expected to be a useful analysis tool for transportation planners. In this study, we generalize the stable dynamics into the model with variable demands. We suggest a three stage optimization model. In the first stage, we introduce critical travel times and dummy links and determine variable demands and link flows by applying an optimization problem to an extended network with the dummy links. Then we determine link travel times and path flows in the following stages. We present a numerical example of the application of the model to a given network.