• 제어로봇시스템학회논문지
• /
• 제19권4호
• /
• pp.349-356
• /
• 2013

This paper presents formation control based on potential functions for unicycle robots. The unicycle robots move to formation position which is made from a reference point and neighboring robots. In the framework, a local minimum case occurred by combination of potential repulsed from neighboring robots and potential attracted from a formation line is presented, in which the robot escapes from a local minimum using a virtual escape point after recognizing trapped situation. As well, in the paper, potential functions are designed to keep the same distance between neighboring robots on a formation line, i.e. the relative distance between neighboring robots on a formation line is controlled by a potential function parameter. The simulation results show that the proposed approach can effectively construct straight line, V, and polygon formation for multiple robots.

• 천문학논총
• /
• 제11권1호
• /
• pp.91-107
• /
• 1996

We determine analytically the onset of thin-shell formation time of fast wind bubble with power-law energy injection $E_{in}=E_0t^s$, and power-law ambient density structure, ${\rho}_0(r)={\bar{\rho}}(r/{\bar{r}})^{-{\omega}}$. Thin-shell formation time, $t_{sf}$ can be estimated by minimizing the total time elapsed before the complete cooling of shocked gas. For uniform medium (${\omega}=0$) and constant energy injection (s = 1), the onset of shell formation is found to be at $t_{sf}=5.2{\times}10^3yr$, which agrees Quite well with the results of FCT 1D numerical calculation. We solve the line transfer problem with previous result derived by numerical calculation in order to calculate line profile of [OIII] (${\lambda}=5007{\AA}$) forbidden line. In general, radiative outer shell causes the formation of double peaked line profile. Each peak corresponds to approaching and receeding shells with large velocities. Our line profiles show good agreements with observation of expanding shell structure.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2003년도 춘계학술대회 논문집
• /
• pp.577-580
• /
• 2003

Stress state of chip formation zone is one of the main problems in metal cutting mechanics. In two-dimensional case this process is usually considered as consistent shears of work material along single of several shear surfaces. separating chip from workpiece. These shear planes are assumed to be trajectories of maximum shear stress forming corresponding slip-line field. This paper suggests new approach to the constriction of slip-line field, which Implies uniform compression in chip formation zone. On the base of given model it has been found that imaginary shear line in orthogonal cutting is close to the trajectory of maximum normal stress and the problem about its determination have been considered. It has been shown that there is a second central slip-line field inside chip, which corresponds well to experimental data about stress distribution on tool rake face and tool-chip contact length. The suggested model could be useful in solution of various problems of machining.

• International Journal of Precision Engineering and Manufacturing
• /
• 제6권3호
• /
• pp.24-28
• /
• 2005

Stress state of chip formation zone is one of the main problems in metal cutting mechanics. In two-dimensional case this process is usually considered as consistent shears of work material along one of several shear surfaces, separating chip from workpiece. These shear planes are assumed to be trajectories of maximum shear stress forming corresponding slip-line field. This paper suggests a new approach to the constriction of slip-line field, which implies uniform compression in chip formation zone. Based on the given model it has been found that imaginary shear line in orthogonal cutting is close to the trajectory of maximum normal stress and the problem about its determination has been considered as well. It has been shown that there is a second central slip-line field inside chip, which corresponds well to experimental data about stress distribution on tool rake face and tool-chip contact length. The suggested model would be useful in understanding mechanistic problems in machining.

• 제어로봇시스템학회논문지
• /
• 제16권3호
• /
• pp.207-214
• /
• 2010

This paper proposes about decentralized control approach based Leader-Follower formation control using LOS (Line of Sight) algorithm and unknown input observer. The position of robots which is a basic information in multi-robot or single robot motion control is determined by localization algorithm fusing UPS (Ultrasonic Position System) and kinematics model. For formation control, a decentralized control approach individually installing a local controller in leader and follower robot is adopted. Leader robot is controlled to track a specified trajectory by LOS algorithm, and the other robots follow the leader by local controller based on tracking platoon level function, self-sensing data and estimated information from unknown input observer. The performance of proposed method is proven through the formation experiment of two vehicle models.

• 한국자기공명학회논문지
• /
• 제3권1호
• /
• pp.27-35
• /
• 1999

Quadrupolar interaction is a strong line broadening agent for nuclei of half-integer spin except the central line. The two-pulse quadrupolar echo technique is widely used, which refocuses the quadrupolar broadening. Echo formation is due to the cancellation of quadrupolar broadening effect by the applied two pulses. Since the central line is not quadrupolar broadened, it should not be involved in the echo formation. However, the central line peak always appears in experiments. This is explained qualitatively here by close examination on the time development of individual coherence. This explanation is used to predict the number of echoes that will be formed with 2 pulse sequence for nuclei of I=3/2, 5/2, 7/2, 9/2 with ease.

• 천문학회지
• /
• 제29권spc1호
• /
• pp.253-254
• /
• 1996

To understand the dynamical structures of stellar wind bubble, one and two-dimensional calculations has been performed. Using FCT Code with cooling effects and assuming constant mass loss rate and ambient medium density, we could divide stellar winds into the regime of slow and fast winds. The slow wind driven bubble shows initially radiative and becomes partially radiative bubble in which shocked stellar wind zone is still adiabatic. In contrast., the fast wind driven bubble shows initially fully adiabatic and becomes adiabatic bubbles with radiative outer shell. We also determine analytically the onset of thin-shell formation time in case of fast wind driven bubble with power-law energy injection and ambient density structure. We solve the line transfer problem with numerical results in order to calculate line profile of [OIII] forbidden line.

• 한국실내디자인학회논문집
• /
• 제17권3호
• /
• pp.148-155
• /
• 2008

The following research focuses on the formation method of digital space by organistic line extension among various digital formation methods. The paper reflects on the meaning and concept of today's digitalism which enables the application of complex organistic system on space through advanced technology. It also explores the concept of a line in topology which differs in assumptive meaning from traditional Euclidian geometry. The findings of the research are that first, digital space is not optimized, but is a tentative formation in process. A digital space encompasses characteristics such as infinity, possibility, potential, asymmetry, and the force of virtuality such characteristics are expressed through a moving surface constantly changing with direction. Second, a digital space formed by line extension is inseparable and durable since no measurement or dimension is predetermined. Furthermore, its sense of direction and flexibility gives it a feeling of a living organism. Third, a Euclidian methodology called 'NURBS' is being developed to express such a dynamic digital space; this is reflected through three elements, control point, weights, and knots to effectively reflect the characteristics of virtuality. The opportunities of digital space are infinite, and the possibilities of formation methods likewise vast.

• Imaging Science in Dentistry
• /
• 제34권3호
• /
• pp.137-144
• /
• 2004

Purpose: To investigate the effects of low dose irradiation on the calcium content and calcific nodule formation of the MC3T3-El osteoblastic cell line. Materials and Methods: Cells were irradiated with a single dose of 0.2, 0.4 and 0.6 Gy at a dose rate of 5.38 Gy/min using Cs-137 irradiator. After irradiation, the calcium content and calcific nodule formation were examined on the 1st, 2nd, 3rd and 4th week. Results: We did not find any significant difference of total calcium content after irradiation of 0.2, 0.4 and 0.6 Gy when compared with the unirradiated control group. There was no significant difference of total calcium content between 0.2, 0.4 and 0.6 Gy irradiated groups. We found an increased tendency of the calcific nodule formation after irradiation of 0.2, 0.4 and 0.6 Gy when compared with the unirradiated control group without significant difference of calcific nodule formation between 0.2, 0.4 and 0.6 Gy irradiated groups. Conclusion : The results showed an increased tendency of the calcific nodule formation after low dose irradiation. However, this tendency did not increase with the increase of irradiation dose.

• 천문학회지
• /
• 제35권4호
• /
• pp.175-185
• /
• 2002

Almost half of primeval galaxies show P-Cygni type profiles in the Ly$\alpha$ emission line. The main underlying mechanism for the profile formation in these systems is thought to be the frequency re-distribution of the line photons in expanding scattering media surrounding the emission source. A Monte Carlo code is developed to investigate the Ly$\alpha$ line transfer in an optically thick and moving medium with a careful consideration of the scattering in the damping wings. Typical column densities and expansion velocities of neutral hydrogen investigated in this study are $N_{H1}{\~}10^{17-20}\;cm^{-2}$ and ${\Delta}V{\~} 100 km\;s^{-1}$. We investigate the dependence of the emergent profiles on the kinematics and on the column density. Our numerical results are applied to show that the damped Ly$\alpha$ absorbers may possess an expanding H I supershell with bulk flow of ${\~}200 km\;s^{-l}$ and H I column density $N_{H1}{\~}10^{19}\;cm^{-2}$. We briefly discuss the observational implications.