• 대한산업공학회지
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• 제22권4호
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• pp.579-588
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• 1996

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for an articulated robot. First, the configuration of the robot is built by a set of robot joint angles derived from robot inverse kinematics. The joint space, that is made of the joint angle set, forms a Configuration space (Cspcce). Obstacles in the robot workcell are also transformed into the Cobstacles using slice projection method. Actually the Cobstacles means the configurations of the robot causing collision with obstacles. Secondly, a connected graph, a kind of roadmap, is constructed by the free configurations in the Cspace, where the free configurations are randomly sampled from a free Cspace immune from the collision. Thirdly, robot paths are optimally determinant in the connected graph. A path searching algorithm based on $A^*$ is employed in determining the paths. Finally, the whole procedures for the CFPP method are shown for a proper articulated robot as an illustrative example.

• 한국생활과학회지
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• 제13권2호
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• pp.225-235
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• 2004

The purpose of this study was to evaluate and to analyze the spatial composition by block plan of the free elderly facility and to provide basic information for building up the detail architectural guidelines. The results of the study were as follows: Elderly welfare law needed to control the poor physical environments of the free elderly facility such as the residential space for more than 4 individuals. The facility of single building type should strengthen the informal support networks through the dispersion of public spaces or should encourage moving of the residents through the outdoor space, especially in rural area. On the other hand, the linking type needed to focus on the administrative spaces on the first floor for the managerial convenience, and to group and disperse the public/recreational spaces to decrease the unnecessary moving of the residents and staffs. The passageway linking building to building should directly connect each administrative space or public space so that elderly used them without any inconvenience. In the dispersion type, which is suited to rural area, the lounge, dining hall, and the place for the staff on duty should be located in the same as the residence building for the convenience and the safety of the elderly residents.

• Archives of Reconstructive Microsurgery
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• 제10권2호
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• pp.137-142
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• 2001

This study evaluated the results of reconstructions of thumb web space in the patients with adduction contracture of thumb. Between February 1990 and April 2000, 28 patients with thumb web space adduction contracture were treated with various reconstruction methods. We divided the patients according to the severity; mild$(41^{\circ}{\sim}80^{\circ})$, moderate$(21^{\circ}{\sim}40^{\circ})$, severe$(20^{\circ}less)$ contracture. The number of patients with mild contracture was 5, moderate; 12, severe; 11. We performed Z-plasty in 15, free flap in 8, local flap in 3, abdominal flap in 1 and scar release only in 1 case. The mean follow-up period was 5.7 years, ranged from 1.5 to 11.2 years. The results of web reconstruction were evaulated by thumb web space angle. There were excellent in 9, good in 16, fair in 3 cases. Z-plasty was performed in the 5 cases with mild contracture, and all the results were excellent. Especially, free flap was performed in the 6 cases with severe contracture, and all the results were good or excellent. in the reconstruction of thumb web space contracture, we recommend Z-plasty for a mild contracture, and free flap for large soft tissue defect created by release of a severe contracture.

• 한국해안·해양공학회논문집
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• 제36권2호
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• pp.70-79
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• 2024

본 연구에서는 3차원 공간에서 바닥의 움직임에 따른 선형파의 생성을 모의할 수 있는 스펙트럼 법을 소개한다. 지배방정식은 선형의 동역학적 및 운동학적 자유수면 경계조건이며, 두 식은 Fourier 공간에서 해석된다. 해석된 속도포텐셜 및 자유수면변위는 연속방정식과 운동학적 바닥경계조건을 항상 만족해야 한다. 수치해석에서 시간 적분은 4차 Runge-Kutta 법을 이용하여 해석하였다. Fourier 공간에서 해석한 결과는 Fourier 역변환을 통해 실제 공간에서의 속도포텐셜과 자유수면변위로 표현된다. 본 수치모델을 이용하여 다양한 형상의 바닥이 규칙적으로 움직이는 경우 생성되는 규칙파에 대해 모의하였다. 또한 바닥의 움직임을 이용하여 비스듬히 전파하는 규칙파의 생성도 모의하였다. 수치모델의 결과는 해석해와 비교하였으며, 거의 일치하는 결과를 보였다.

• 설비공학논문집
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• 제14권3호
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• pp.206-213
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• 2002

In this paper, the flow characteristics of an axial fan spraying isothermal compact jet in a confined space were investigated by the experimental methods, the numerical method, and the free jet theory According to the results, the numerical result and the experimental result are agreed well qualitatively and different quantitatively within $\pm1.0%$ for the centerline velocity, the entrainment ratio, and the maximum throw. However, the free jet theory can reasonably predict the centerline velocity except the entrainment ratio and the maximum throw. In other words, the entrainment ratio and the maximum throw by 1.he free jet theory are hard to estimate the characteristics of jet because of restriction of c confined space.

• Journal of the Optical Society of Korea
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• 제19권1호
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• pp.45-54
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• 2015

In this study, a novel parallel wavefront correction system architecture is proposed, and a model-based tabu search (MBTS) algorithm is introduced for this new system to compensate wavefront aberration caused by atmospheric turbulence in a free-space optical (FSO) communication system. The algorithm flowchart is presented, and a simple hypothetical design for the parallel correction system with multiple adaptive optical (AO) subsystems is given. The simulated performance of MBTS for an AO-FSO system is analyzed. The results indicate that the proposed algorithm offers better performance in wavefront aberration compensation, coupling efficiency, and convergence speed than a stochastic parallel gradient descent (SPGD) algorithm.

• 전자공학회논문지A
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• 제29A권10호
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• pp.8-16
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• 1992

Despite recent advances in electrical switch architectures, the practical switch performance is limited by both the technological and physical constraints of electrical device and wiring. Though an optical switch can have good features, optical devices are of poor quality. Therefore, we propose and study the switching architecture based on free-space optical interconnections and electrical logic devices. And an exchanging method using packets with a parallel form is introduced to solves the blocking problem of the switch that resulted from switching packets with a serial form. The free-space optical interconnections overcome the defects of electrical switch, such as, the complex connections of the wires. The proposed and demonstrated switch is nonblocking, simple and high performable. Other attractive features of the proposed switch include the guarantee of first-in first-out packet sequence. In this thesis, we also discuss the performance of proposed switch and show the experimental results of the 4$\times$4 switch.

• Journal of the Optical Society of Korea
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• 제20권4호
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• pp.451-463
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• 2016

The misalignment errors and fluctuations in irradiance due to atmospheric turbulence can severely degrade the performance of free-space optical (FSO) systems. In this paper, we investigate the asymptotic bit error rate (BER) performance and diversity orders of FSO links using parallel transmit-diversity schemes. The BER expressions of FSO links with the switch-and-examine transmit (SET), switch-and-examine transmit with post-selection (SETps), dual-branch transmit laser selection (Dual-TLS), and group transmit laser selection (Group-TLS) schemes are derived, based on an approximate channel model. Then numerical simulations for these four schemes in the region of high average signal-to-noise ratio (SNR) are presented under different channel conditions. The results show that the four transmit-diversity schemes can reduce system complexity and overcome the limitation of peak power, without much BER deterioration.

• Journal of the Optical Society of Korea
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• 제20권1호
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• pp.13-21
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• 2016

Since the direct-gradient (DG) method uses the Shack-Hartmann wave front sensor (SH-WFS), based on the phase-conjugation principle, for atmospheric compensation in free-space optical (FSO) communication, it cannot effectively correct high-order aberrations. While the stochastic parallel gradient descent (SPGD) can compensate the distorted wave front, it requires more calculations, which is sometimes undesirable for an FSO system. A hybrid compensation (HC) method is proposed by properly using the DG method and SPGD algorithm to improve the performance of FSO communication. Simulations show that this method can well compensate wave-front aberrations and upgrade the coupling efficiency with few computations, preferable correction results, and rapid convergence rate.

• 한국ITS학회 논문지
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• 제10권5호
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• pp.87-92
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• 2011

본 논문에서는 800 ~ 900 MHz 주파수 대역에서 러시아 PNG 지역에 오쿠무라-하타 모델을 적용하여 경로 손실식을 구하였다. 기존의 경로 손실 모델을 이용하여 러시아 PNG 지역의 새로운 경로 손실 특성식을 구하기 위해서, 최소 자승 평균 기법을 적용하여 기존 모델에 대한 수정치를 구하였다. 자유 공간 및 하타 모델과 측정치의 수정치가 28, 13 dB 임을 알 수 있었으며, 이 값을 적용하여 러시아 PNG 지역에 맞는 새로운 경로손실 모델을 제시하였다.