• Journal of the Institute of Convergence Signal Processing
• /
• v.7 no.1
• /
• pp.38-44
• /
• 2006

The omnidirectional mobility of a mobile robot may lose significance in motion control, unless the isotropy characteristics of the mechanism is maintained well. This paper investigates the local and global isotropy of an omnidirectional mobile robot with three caster wheels. All possible actuations with different number and combination of rotating and steering joints are considered. First, the kinematic model based on velocity decomposition and the algebraic conditions for the local isotropy are obtained. Second, the geometric conditions for the local isotropy are derived and all isotropic configurations are fully identified. Third, the global isotropy index is examined to determine the optimal parameters in terms of actuation set, characteristic length, and steering link length.

• The KSFM Journal of Fluid Machinery
• /
• v.7 no.1 s.22
• /
• pp.45-50
• /
• 2004

Two phenomena often encountered in liquid flow, which were completely absent in gas or vapor flow, were cavitation and flashing. These phenomena were of significant interest in any comprehensive discussion of control valves or contracted devices since their occurrence would affect the device sizing procedures, might introduce noise and vibration, and also may limit the life expectancy of device components and the immediate downstream piping. Thus, this study aimed to find the reduction method of occurred cavitation in system by the computer simulation. A derivative six model with different dimensions of cavity were adopted. From the results, it was found that the length of the cavity was mote important factor to reduce the pressure drop over the control valves or contracted devices than the depth of the cavity. And the pressures along the centerline of the contracted devices were dropped two times in the case of haying the large length (Lc=1.5D) of cavity.

• Journal of the Korean Operations Research and Management Science Society
• /
• v.20 no.3
• /
• pp.123-146
• /
• 1995

Several quality control schemes have been extensively compared using multivariate normal data sets simulated with various correlation structures. They include multiple univariate CUSUM charts, multivariate EWMA charts, multivariate CUSUM charts and Shewhart T$^{3}$ chart. This paper considers a new approach of the multivariate EWMA chart, in which the smoothing matrix has full elements instead of only diagonal elements. Performance of the schemes is measured by avaerage run length (ARL), coefficient of variation of run length (CVRL) and rank in order of signaling of off-target shifts in the process mean vector. The schemes are also compared by noncentrality parameter. The multiple univariate CUSUM charts are generally affected by the correlation structure. The multivariate EWMA charts provide better ARL performance. Especially, the new EWMA chart shows remarkable results in small shifts.

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.8
• /
• pp.765-772
• /
• 2006

The L2 Civil Signal (L2CS) will be transmitted by modernized IIR(IIR-M), IIF and all subsequent GPS satellites. It contains two codes of different length; CM code contains 10,230chips, repeats every 20milliseconds and is modulated with message data, and CL code contains 767,250chips, repeats every 1.5second Z-count and has no data modulation. And the message data is encoded for Forward Error Correction(FEC). The long code length is useful for weak signal, but it also requires very long acquisition time. Therefore, the structure of GPS Ll/L2C Correlator and the fast acquisition scheme are proposed in this paper.

• Journal of the Korean Data and Information Science Society
• /
• v.22 no.4
• /
• pp.803-809
• /
• 2011

Properties of multivariate Shewhart and CUSUM charts for monitoring variance-covariance matrix, specially focused on correlation coefficient components, are investigated. The performances of the proposed charts based on control statistic Lawley-Hotelling $V_i$ and likelihood ratio test (LRT) statistic $TV_i$ are evaluated in terms of average run length (ARL). For monitoring correlation coe cient components of dispersion matrix, we found that CUSUM chart based on $TV_i$ gives relatively better performances and is more preferable, and the charts based on $V_i$ perform badly and are not recommended.

• Journal of Institute of Control, Robotics and Systems
• /
• v.7 no.12
• /
• pp.1001-1008
• /
• 2001

This paper presents a new camera calibration algorithm for ill-conditioned cases in which the camera plane is nearly parallel to a set of non-coplanar calibration boards. for the ill-conditioned case, most of existing calibration approaches such as Tsais radial-alignment-constraint method cannot be applied. Recently, for the ill-conditioned coplanar calibration Lee&Lee[16] proposed an iterative algorithm based on the least square method. The non-coplanar calibration algorithm presented in this paper is an iterative two-stage procedure with extends the previous coplanar calibration algorithm. Through the first stage, camera, position and orientation parameters as well as one radial distortion factor are determined optimally for a given data of the scale factor and the focal length. In the second stage, the scale factor and the focal length are locally optimized. This process is repeated until any improvement cannot be expected any more Computational results are provided to show the performance of the algorithm developed.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.1
• /
• pp.1-7
• /
• 2000

This paper studies the delay-characteristics using the singular values and vectors of Hankel operators for input delay systems. First, the computational method of Hankel singular values and their corresponding singular vectors are introduced, and then it is analytically provea that all the Hankel singular vlues have a monotone increasing properties as the length of delay time increases. Furthermore, through a simple numerical example, it is shown that the Hankel singular values are dependent only on the ratio of the time constant of a lumped parameter system to the length of delay , and in case that the time constant is relatively larger than the delay time, the lumped parameter characteristic has a great influence on the input delay systems.

• Journal of Korean Institute of Industrial Engineers
• /
• v.40 no.2
• /
• pp.233-239
• /
• 2014

This paper presents an extended EMQ model which determines an optimal production run length in an deteriorating production process. The production process is subject to a random deterioration from an in-control state to an out-of-control state and thus producing some proportion of defective items. Defective items produced are re-processed in the rework process to convert them into non-defectives. Through the mathematical modeling, an optimal solution minimizing the average cost per unit time as well as minimum average cost are derived. Numerical experiment is carried out to examine the behavior of the proposed model depending on model parameters.

• Journal of the Korean Institute of Landscape Architecture
• /
• v.31 no.6
• /
• pp.73-76
• /
• 2004

This study was conducted to investigate the growth responses of Polystichum lepidocaulon as influenced by 4 different shadings(Control, 50%, 70%, 90%). Under 50 or 70% shading, plant height, stipe length, blade length, blade width, and number of spores increased compared with the other shadings, except the number of frond and shoots. The plants grown under control was shown as smaller with more yellowish green leaf color, and under 90% shading the growth was slightly inferior to those under the 50 or 70% shading. Fresh weight and segment area of frond was better in increased shade levels, but they decreased in under 90% shading. Dry weight and segment thickness decreased as shading increased. Chlorophyll contents increased in proportion to lowered light intensity. Thus, 50 or 70% shading of Polystichum lepidocaulon seemed to maintain the highest growth.

• Proceedings of the Korean Society for Bio-Environment Control Conference
• /
• 2001.04b
• /
• pp.51-56
• /
• 2001

This study was carried out to research the effect of nutrient composition and GA4＋7 on growth, flower quality and bulb development in special hydroponics of cut tulip. Flowering of 'Cassini' was markedly accelerated by standard+GA4＋7, K200＋GA4＋7, N250＋GA4＋7 treatment, last internode was increased by N250 as compared with other treatment. For 'Christmas Marvel', flowering was promoted by K250＋GA4＋7, last infernode and total length were also increased with K250＋GA4＋7 as compared to other treatment. For 'Golden Apeldoorn', flowering was accelerated by K200＋GA4＋7, last internode was increased with N300＋GA4＋7 treatment and total length was increased in N250＋GA4＋7 treatment as compared with the standard plants. Bulb weight and number of 'Cassini', 'Christmas Marvel'and 'Golden Apeldoorn' were decreased by GA4＋7 as compared to non-treatment, and bulb diameter was not affected by GA4＋7.