• 제어로봇시스템학회논문지
• /
• 제6권3호
• /
• pp.317-328
• /
• 2000

This paper presents an effective approach to collision-free motion planning of a robot in the work-space including time-varying obstacles. The free arc is defined as a set composed of the configuration points of the robot satisfying collision-free motion constraint at each sampling time. We represent this free arc with respect to the new coordinate frame centered at the goal configuration and there for the collision-free path satisfying motion constraint is obtained by connecting the configuration points of the free arc at each sampling mined from the sequence of free arcs the optimality is determined by the performance index. Therefore the complicated collision-free motion planning problem of a robot is transformed to a simplified SUB_Optimal Collision Avoidance Problem(SOCAP). We analyze the completeness of the proposed approach and show that it is partly guaranteed using the backward motion. Computational complexity of our approach is analyzed theoretically and practical computation time is compared with that of the other method. Simulation results for two cally and practical computation time is compared with that of the other method. Simulation results for two SCARA robot manipulators are presented to verify the efficacy of the proposed method.

• 한국식품영양학회지
• /
• 제28권6호
• /
• pp.1011-1018
• /
• 2015

The effects of mixing speed (3, 6 and 10 speed) and time (2, 5 and 10 min) on the dynamic viscoelasticity of dough and the baking properties of gluten-free rice bread were investigated. The specific gravity of the dough was not affected by the mixing speed and time before and after fermentation. The elasticity (G') and viscosity (G") of the dough increased and the tan ${\delta}$ (G"/G') decreased with higher mixing speeds and longer mixing times. The specific volume of the gluten-free rice bread was affected by the mixing time in response surface methodology (RSM). The hardness of the gluten-free rice bread showed a decreasing trend as the specific volume for the gluten-free rice bread increased. The appearance of the gluten-free rice bread was symmetrical at high mixing speeds and long mixing times. Overall results indicated that the quality of gluten-free rice bread could be improved by controlling the mixing speeds and mixing times for the dough.

• 대한전자공학회논문지SP
• /
• 제49권4호
• /
• pp.111-119
• /
• 2012

Time Stretched Pulse (TSP)는 공간적으로 임펄스(Impulse)를 효율적으로 전달하고 분석하기 위해서 사용되어 진다. 하지만 발신기와 수신기의 전달함수를 포함시키지 않으면, 시간 영역에서의 분석은 직, 간접 신호의 중첩으로 공간의 자유음장 특성을 파악하기 불가능하다. 일반적으로 공간의 자유음장(Free Field)은 표준 ISO 3745 Annex A에 의해서 평가되고 있는데, 일정 주파수 간격의 1/3 옥타브 밴드 신호를 연속적으로 발신 및 수신하여 거리별 신호 감소를 역자승 법칙(Inverse Square Law)을 적용하여 판단하고 있다. 본 논문은 자유음장 분석에서 TSP 신호를 적용하여 일반적인 ISO 3745의 1/3 옥타브 밴드 신호와 비교하였다. 역자승 모델 값과의 차이점을 분석한 결과 TSP 신호 또한 1/3 옥타브 밴드 신호와 유사한 결과를 보이고 있으며, 측정 시간 및 확장성에 대해서는 우수하게 판단되었다. 본 실험에서는 ISO 3745에 의해서 제한된 주파수 범위에서 자유음장과 반자유음장(Hemi-free Field)을 검증 받은 무향실을 사용하였다.

• 대한기계학회논문집B
• /
• 제29권5호
• /
• pp.609-616
• /
• 2005

While the SIMPLE algorithm is most widely used for the simulations of flow phenomena that take place in the industrial equipments or the manufacturing processes, it is less adopted for the simulations of the free surface flow. Though the SIMPLE algorithm is free from the limitation of time step, the free surface behavior imposes the restriction on the time step. As a result, the explicit schemes are faster than the implicit scheme in terms of computation time when the same time step is applied to, since the implicit scheme includes the numerical method to solve the simultaneous equations in its procedure. If the computation time of SIMPLE algorithm can be reduced when it is applied to the unsteady free surface flow problems, the calculation can be carried out in the more stable way and, in the design process, the process variables can be controlled based on the more accurate data base. In this study, a modified SIMPLE algorithm is presented fur the free surface flow. The broken water column problem is adopted for the validation of the modified algorithm (MoSIMPLE) and for comparison to the conventional SIMPLE algorithm.

• 한국소음진동공학회논문집
• /
• 제12권4호
• /
• pp.272-279
• /
• 2002

The time-dependent frequency and energy of free vibration of the spagetti problem, that is the axially moving continuum with time-varying length, are investigated. Exact expressions for the natural frequency and time-varying vibration energy are derived by dealing with traveling waves. The vibration period increases with increasing length, but the free vibration energy decreases. When the string undergoes retraction, the vibration energy increases with time. The free response of the time-varying string is represented by superposing two traveling waves.

• 한국통신학회논문지
• /
• 제25권10B호
• /
• pp.1648-1664
• /
• 2000

This paper proposes a real-time dynamic storage allocation algorithm QSHF(quick-segregated-half-fit) that provides various memory allocation policies. that manages a free block list per each word size for memory requests of small size good(segregated)-fit policy that manages a free list per proper range size for medium size requests and half-fit policy that manages a free list per proper range size for medium size requests and half-fit policy that manages a free list per each power of 2 size for large size requests. The proposed algorithm has the time complexit O(1) and makes us able to easily estimate the worst case execution time(WCET). This paper also suggests two algorithm that finds the proper free list for the requested memory size in predictable time and if the found list is empty then finds next available non-empty free list in fixed time. In order to confirm efficiency of the proposed algorithm we simulated the memory utilization of each memory allocation policy. The simulation result showed that each policy guarantees the constant WCET regardless of memory size but they have trade-off between memory utilization and list management overhead.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2002년도 학술대회지
• /
• pp.381-384
• /
• 2002

The free surface flow problem has been one of the most interesting and challenging topic in the area of the naval ship hydrodynamics and ocean engineering field. The problem has been treated mainly in the scope of the potential theory and its governing equation is well known Laplace equation. But in general, the exact solution to the problem is very difficult to obtain because of the nonlinearlity of the free surface boundary condition. Thus the linearized free surface problem has been treated often in the past. But as the computational power increases, there is a growing trend to solve the fully nonlinear free surface problem numerically. In the present study, a time-dependent finite element method is developed to solve the problem. The initial-boundary problem is formulated and replaced by an equivalent variational formulation. Specifically, the computations are made for a highly nonlinear flow phenomena behind a transom stern ship and a vertical strut piercing the free surface.

• 소음진동
• /
• 제9권5호
• /
• pp.906-913
• /
• 1999

Time-dependent period and energy of free vibration of a string, whose length varies with time at a constant rate, are investigated by a traveling wave method. When the string length is increased, the vibration period increase, but the free vibration energy decrease with time. However, when the string undergoes retraction, the vibration energy increases with time. String tension together with non-zero instantaneous velocity at the moving boundary results in energy variation. Analytical solutions by the traveling wave method are compared with previous results using the perturbation method and Kotera's approach.

• 한국보육지원학회지
• /
• 제19권2호
• /
• pp.119-141
• /
• 2023

Objective: This study aimed to investigate Pre-service early childhood teachers' perceptions and roles regarding young children's free play time. Methods: The study utilized the photovoice method and involved 21 pre-service early childhood teachers who expressed interest in participating. Participants were enrolled in an infants teaching methodology class in B city. The study involved four virtual meetings conducted via untact teams, and the automatic recordings of these meetings were transcribed for analysis. Results: The results revealed that pre-service early childhood teachers recognized young children's free play time as a period to enjoy full freedom, develop as the main agent of their lives, and express their imagination. Furthermore, pre-service early childhood teachers perceived their roles during young children's free play time as a specialist infant observer, a connector between play and learning, and a versatile supporter. Conclusion/Implications: The findings suggest the need for a systematic curriculum to provide pre-service early childhood teachers with a balanced perspective and awareness of the meaning of free play and teacher roles. The study highlights the importance of expanding pre-practice courses for observation of play and field-oriented curriculum for incumbent teachers.

• 한국통신학회논문지
• /
• 제32권7B호
• /
• pp.455-462
• /
• 2007

IEEE802.15.4의 비경쟁기반 다중 접속 기법으로 적용된 GTS(Guaranteed Time Slot)의 성능 분석과 문제점 분석을 통해, 개선된 형태의 Cyclic Contention free Access(Cyclic-CFA) 기법을 제안한다. Cyclic-CFA 기법은 Polling 기법을 개선한 스케줄링 방식으로, 장치(device)들은 PAN 코디네이터(coordinator)로부터 부여받은 Sequence Number를 기반으로 순차적으로 데이터를 전송한다. 별도의 Polling 패킷(packet)이 없고 단일방향성(unidirectional)으로 동작하므로, 고전적인 Polling 기법의 오버헤드를 줄일 수 있어 보다 효율적으로 채널을 사용할 수 있다. 또한 GTS보다 많은 수의 장치가 비경쟁 데이터 전송 서비스를 받을 수 있으며, 서비스 지연 시간을 줄일 수 있다.