• 한국항행학회논문지
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• 제4권1호
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• pp.1-10
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• 2000

레이다에서 마그네트론을 이용하여 송신펄스를 발생하는 경우에 레이다의 코히어런트 동작을 위해서는 수신기에서 송신펄스의 주파수 및 위상 변화를 감지하여 안정된 중간주파수를 발생할 수 있도록 국부발진주파수를 조정하고, 위상측정을 위하여 송신펄스의 위상에 동기된 신호를 발생하여야 한다. 본 논문에서는 레이다의 수신기 전단부에서 안정된 중간주파수를 발생하기 위한 AFC(Automatic Frequency Control) 회로와 STALO(Stable Local Oscillator)를 설계, 제작하고, 송수신 신호간의 위상측정을 위한 COHO(Coherent Oscillator)를 구현하였다.

• 제어로봇시스템학회논문지
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• 제14권8호
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• pp.760-766
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• 2008

This paper proposes an efficient location technique to find an indoor location under the IEEE 802.11 wireless local area networks. The proposed method is based on the range measurements obtained from a simple radio frequency propagation model. Thus, unlike the radio frequency fingerprint correlation method, it does not suffer from the computational burden during the real-time location service period and can quickly reply the location requests of many users at the same time. To increase the location accuracy in spite of the frequent non-line-of-sight error occurrences, the proposed method calibrates the distortion of the non-line-of-sight error by a simple measurement surveying procedure that does not require the surveyor's manual interaction. Experimental results show the capability of the proposed method.

• 제어로봇시스템학회논문지
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• 제16권4호
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• pp.313-318
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• 2010

This paper deals with the relationship between zeros and step response of the second and third order LTI (Linear Time Invariant) SISO (Single-Input and Single-Output) systems with complex poles. Although it has been known that the maximum number of local extrema is less than the number of zeros in the system with only real poles[8], some cases with complex poles are shown in this paper to have many local extrema. This paper proposes monotone nondecreasing conditions and describes the relationship between the transient response and the number of local extrema in step response with each region of zeros.

• Radiation Oncology Journal
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• 제2권2호
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• pp.245-252
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• 1984

The record of radiation therapy cases during a five year period at the University of Michigan Hospitals has been analyzed. Of a total of 73 adenocarcinoma of prostate, the majority belonged to Stage B and C which represented 49 and 20 cases, respectively. The mortality rate after irradiation was clearly related to the tumor stage. Local irradiation resulted in $88\%$ of the local control of well·differentiated adenocarcinomas. Stage C cases had $50\%$ mortality, whereas that of Stage B patients was $14\%$. Results of this study are in general agreement with previous data in terms of the local disease control after irradiation and provide a basis for conservative radiotherapy regimen as an approach in the treatment of localized prostatic carcinomas.

• 제어로봇시스템학회논문지
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• 제17권12호
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• pp.1210-1218
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• 2011

GA (Genetic Algorithms) are efficient for searching for global optima but may have some problems such as premature convergence, convergence to local extremum and divergence. These phenomena are related to the evolutionary operators. As population diversity converges to low value, the search ability of a GA decreases and premature convergence or converging to local extremum may occur but population diversity converges to high value, then genetic algorithm may diverge. To guarantee that genetic algorithms converge to the global optima, the genetic operators should be chosen properly. In this paper, we analyze the effects of the selection operator, crossover operator, and mutation operator on convergence properties, and propose the sweeping method of mutation probability and elitist propagation rate to maintain the diversity of the GA's population for getting out of the premature convergence. Results of simulation studies verify the feasibility of using these sweeping operators to avoid premature convergence and convergence to local extrema.

• 제어로봇시스템학회논문지
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• 제14권5호
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• pp.483-488
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• 2008

An active omni-directional raging system using an omni-directional vision with structured light has many advantages compared to the conventional ranging systems: robustness against external illumination noise because of the laser structured light and computational efficiency because of one shot image containing $360^{\circ}$ environment information from the omni-directional vision. The omni-directional range data represents a local distance map at a certain position in the workspace. In this paper, we propose a matching algorithm for the local distance map with the given global map database, thereby to localize a mobile robot in the global workspace. Since the global map database consists of line segments representing edges of environment object in general, the matching algorithm is based on relative position and orientation of line segments in the local map and the global map. The effectiveness of the proposed omni-directional ranging system and the matching are verified through experiments.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제2권3호
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• pp.231-236
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• 2002

In this paper, we present an analysis and design method fur the control of input-saturated nonlinear systems with the time-delay. The target system is represented by Takagi-Sugeno (T-S) fuzzy model and the parallel distributed compensation (PDC) controller is designed to guarantee the local stability of the equilibrium point. We derive the sufficient condition for the local stability by applying Lyapunov-krasovskii theorem and this condition is converted into the LMI problem.

• Earthquakes and Structures
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• 제1권3호
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• pp.307-326
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• 2010

This paper is concerned with the optimal seismic design of added viscous dampers in yielding plane frames. The total added damping is minimized for allowable values of local performance indices under the excitation of an ensemble of ground motions in both regular and irregular structures. The local performance indices are taken as the maximal inter-story drift of each story and/or the normalized hysteretic energy dissipated at each of the plastic hinges. Gradients of the constraints with respect to the design variables (damping coefficients) are derived, via optimal control theory, to enable an efficient first order optimization scheme to be used for the solution of the problem. An example of a ten story three bay frame is presented. This example reveals the following 'fully stressed characteristics' of the optimal solution: damping is assigned only to stories for which the local performance index has reached the allowable value. This may enable the application of efficient and practical analysis/redesign type methods for the optimal design of viscous dampers in yielding plane frames.

• International Journal of Control, Automation, and Systems
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• 제4권3호
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• pp.318-324
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• 2006

The mobile manipulator is expected to work in partially defined or unstructured environments. In our global/local approach to path planning, joint trajectories are generated for a desired Cartesian space path, designed by the global path planner. For a local path planner, inverse kinematics for a redundant system is used. Joint displacement limit for the manipulator links is considered in the motion planner. In an event of failure to obtain feasible trajectories, the task cannot be accomplished. At the point of failure, a deviation in the Cartesian space path is obtained and a replanner gives a new path that would achieve the goal position. To calculate the deviation, a nonlinear optimization problem is formulated and solved by standard Sequential Quadratic Programming (SQP) method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 B
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• pp.804-806
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• 1995

This paper discusses Self-organized Distributed Networks(SODN) as identifier of nonlinear dynamical systems. The structure of system identification employs series-parallel model. The identification procedure is based on a discrete-time formulation. The learning with the proposed SODN is fast and precise. Such properties arc caused from the local learning mechanism. Each local networks learns only data in a subregion. Large number of memory requirements and low generalization capability for the untrained region, which are drawbacks of conventional local network learning, are overcomed in the SODN. Through extensive simulation, SODN is shown to be effective for identification of nonlinear dynamical systems.