• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.119-122
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• 1996

The recently proposed control method using a Lyapunov-like function can give global asymptotic stability to a system with mismatched uncertainties if the uncertainties are bounded by a known function and the uncontrolled system is locally and asymptotically stable. In this paper, we modify the method so that it can be applied to a system not satisfying the latter condition without deteriorating qualitative performance. The assured stability in this case is uniform ultimate boundedness which is as useful as global asymptotic stability in the sense that it is global and the bound can be taken arbitrarily small. By the proposed control law we can deal with both matched and mismatched uncertain systems. The above facts conclude that Lyapunov-like control method is superior to any other Lyapunov direct methods in its applicability to uncertain systems.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.811-814
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• 1997

In this paper, the torque optimization of a kinematically redundant manipulator for minimizing the torque demands is discussed. The minimum torque solution based on a local optimization has been known to encounter the instability problem and then the global torque optimization was suggested as one of the alternatives. Herein, by adopting the infinity-norm rather than the 2-norm for the magnitude of torques, we are to propose a new cost function more advantageous to the avoidance of torque limits. By the way, a solution to the global torque optimization formulated with the new cost function can not be obtained by the previous methods due to their difficulties such as inability to treat discontinuous cost functions and various constraints on the joint variables. Thus, to overcome those deficiencies, we are developing a new approach using the dynamic programming. The effectiveness of the proposed method is shown through simulation examples for a 3-link planar redundant manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1286-1290
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• 2004

This paper proposes a Distributed Autonomous Robotic System (DARS) based on an Artificial Immune Network (AIN) and a Classifier System (CS). The behaviors of robots in the system are divided into global behaviors and local behaviors. The global behaviors are actions to search tasks in environment. These actions are composed of two types: aggregation and dispersion. AIN decides one between these two actions, which robot should select and act on in the global. The local behaviors are actions to execute searched tasks. The robots learn the cooperative actions in these behaviors by the CS in the local. The relation between global and local increases the performance of system. Also, the proposed system is more adaptive than the existing system at the viewpoint that the robots learn and adapt the changing of tasks.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.857-862
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• 2004

This paper analyzes properties of the recently developed nonlinear optimization method, Dynamic Encoding Algorithm for Searches (DEAS) [1]. DEAS locates local minima with binary strings (or binary matrices for multi-dimensional problems) by iterating the two operators; bisectional search (BSS) and unidirectional search (UDS). BSS increases binary strings by one digit (i.e., zero or one), while UDS performs increment or decrement to binary strings with no change of string length. Owing to these search routines, DEAS retains the optimization capability that combines the special features of several conventional optimization methods. In this paper, a special feature of BSS and UDS in DEAS is analyzed. In addition, a effective global search strategy is established by using information of DEAS. Effectiveness of the proposed global search strategy is validated through the well-known benchmark functions.

• International Journal of Internet, Broadcasting and Communication
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• 제12권4호
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• pp.122-127
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• 2020

After the THAAD crisis, Goyang city's Global Medical Service performance is showing a sharp decline compared to other cities and provinces. In particular, the contraction of participants who can create policy outcomes such as Medical Institutions and Attracting companies has emerged as the biggest problem. Therefore, Goyang City wanted to derive effective marketing policies and establish marketing policies according to their priorities in order to prevent the deaths of the future patient visitor market as well as performance. In order to examine such policy needs more closely, this paper reviewed the Global Medical Service policies of Goyang City based on AHP analysis, and derived a ranking of 28 major policies and preferred policies for each participant. In the future, Goyang City is expected to derive major policy effects by applying the results of this study to the establishment of marketing policies through customized policies for each medical institution type and Patient attraction company.

• Asian Pacific Journal of Cancer Prevention
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• 제13권2호
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• pp.407-409
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• 2012

The ACTION (Asean CosTs In ONcology) Study will be one of the largest observational studies of the burden of cancer ever conducted in Asia. The study will involve 10,000 newly diagnosed patients with cancer and will be carried out across eight low- and middle income countries within the ASEAN region (Indonesia, Thailand, Malaysia, Cambodia, Myanmar, Viet Nam, Laos and the Philippines). Patients will be interviewed three times over 12 months to assess their health, use of health care services, out of pocket costs related to their illness, social and quality of life issues. The project is a collaboration between the George Institute for Global Health, the ASEAN Foundation and Roche. The aim of the study is to assess the health and socioeconomic impact of cancer on patients in ASEAN communities, and the factors that may impact on these outcomes.

• KIEAE Journal
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• 제1권2호
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• pp.37-45
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• 2001

As the global environmental crisis has been emerged as an important problem threatening the survival of the mankind, the environmental problems are recognized as a great issue governing the destiny of the whole mankind as well as a national problem. Therefore, more active attitude playing a leading role of global and local environmental preservation is required, escaping from conventional passive position for the minimization of economic damages according to global environment regulations. This study evaluates the 150 university students' consciousnesses and attitudes of the seriousness, major policies and issues of environmental pollutions, extracts their consciousness of environment and practicable tasks for the 21st century and is to give the basic reference materials of environmental policy development.

• 대한수학회보
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• 제52권4호
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• pp.1327-1338
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• 2015

In this paper, we introduce and study the w-weak global dimension w-w.gl.dim(R) of a commutative ring R. As an application, it is shown that an integral domain R is a $Pr\ddot{u}fer$ v-multiplication domain if and only if w-w.gl.dim(R) ${\leq}1$. We also show that there is a large class of domains in which Hilbert's syzygy Theorem for the w-weak global dimension does not hold. Namely, we prove that if R is an integral domain (but not a field) for which the polynomial ring R[x] is w-coherent, then w-w.gl.dim(R[x]) = w-w.gl.dim(R).

• Journal of applied mathematics & informatics
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• 제29권5_6호
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• pp.1097-1115
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• 2011

We consider the global stability of a general tuberculosis model with two differential infectivity, n classes of latent individuals and mass action incidence. This system exhibits the traditional threshold behavior. There is always a globally asymptotically stable equilibrium state. Depending on the value of the basic reproduction ratio $\mathcal{R}_0$, this state can be either endemic ($\mathcal{R}_0$ > 1), or infection-free ($\mathcal{R}_0{\leq}1$). The global stability of this model is derived through the use of Lyapunov stability theory and LaSalle's invariant set theorem. Both the analytical results and numerical simulations suggest that patients should be strongly encouraged to complete their treatment and sputum examination.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.817-822
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• 2004

This paper provides a global path planning method using self-organizing feature map which is a method among a number of neural network. The self-organizing feature map uses a randomized small valued initial weight vectors, selects the neuron whose weight vector best matches input as the winning neuron, and trains the weight vectors such that neurons within the activity bubble are move toward the input vector. On the other hand, the modified method in this research uses a predetermined initial weight vectors, gives the systematic input vector whose position best matches obstacles, and trains the weight vectors such that neurons within the activity bubble are move toward the input vector. According to simulation results one can conclude that the modified neural network is useful tool for the global path planning problem of a mobile robot.