• The Transactions of the Korean Institute of Electrical Engineers P
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• v.51 no.1
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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.

• Journal of Korean Society of Transportation
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• v.21 no.2
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• pp.95-105
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• 2003

Because the basic assumptions of deterministic user equilibrium assignment that all network users have perfect information of network condition and determine their routes without errors are known to be unrealistic, several stochastic assignment models have been proposed to relax this assumption. However. it is not easy to solve such stochastic assignment models due to the probability distribution they assume. Also. in order to avoid all path enumeration they restrict the number of feasible path set, thereby they can not preciously explain the travel behavior when the travel cost is varied in a network loading step. Another problem of the stochastic assignment models is stemmed from that they use heuristic approach in attaining optimal moving size, due to the difficulty for evaluation of their objective function. This paper presents a logit-based stochastic assignment model and its solution algorithm to cope with the problems above. We also provide a stochastic user equilibrium condition of the model. The model is based on path where all feasible paths are enumerated in advance. This kind of method needs a more computing demand for running the model compared to the link-based one. However, there are same advantages. It could describe the travel behavior more exactly, and too much computing time does not require than we expect, because we calculate the path set only one time in initial step Two numerical examples are also given in order to assess the model and to compare it with other methods.

• Journal of Korean Society of Transportation
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• v.25 no.4
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• pp.99-108
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• 2007

This paper presents an elastic demand stochastic user equilibrium traffic assignment that could not be easily tackled. The elastic demand coupled with a travel performance function is known to converge to a supply-demand equilibrium, where a stochastic user equilibrium (SUE) is obtained. SUE is the state in which all equivalent path costs are equal, and thus no user can reduce his perceived travel cost. The elastic demand SUE traffic assignment can be formulated based on a dynamic system, which is a means of describing how one state develops into another state over the course of time. Traditionally it has been used for control engineering, but it is also useful for transportation problems in that it can describe time-variant traffic movements. Through the Lyapunov Function Theorem, the author proves that the model has a stable solution and confirms it with a numerical example.

• Korean Journal of Agricultural and Forest Meteorology
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• v.4 no.2
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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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• v.11 no.2
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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.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.13 no.1
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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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• v.15 no.1
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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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• no.38
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• pp.51-83
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• 2012

Consider an n goods production economy. Assume the equilibrium condition of Sraffa's price system, a balanced growth condition and the goods market clearing conditions. If both equations are given to determine a real wage rate and investment, the economic system is over-determined. It suggests that there exists no long-period equilibrium to satisfy both labor market and goods market conditions. This paper interprets this situation of over-determinacy as a disequilibrium state, and attempts to solve it through disequilibrium dynamics. It constructs a model of accumulation and real wage rates consistent with Lotka-Volterra system, and shows that the overall growth path fluctuates endogenously around a resting point of long-period disequilibrium.

• Journal of Drive and Control
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• v.15 no.4
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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.

• Journal of the Korean Operations Research and Management Science Society
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• v.34 no.1
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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.