• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.69-72
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• 1996

This paper considers a global resolution of kinematic redundancy under inequality constraints as a constrained optimal control. In this formulation, joint limits and obstacles are regarded as state variable inequality constraints, and joint velocity limits as control variable inequality constraints. Necessary and sufficient conditions are derived by using Pontryagin's minimum principle and penalty function method. These conditions leads to a two-point boundary-value problem (TPBVP) with natural, periodic and inequality boundary conditions. In order to solve the TPBVP and to find a global minimum, a numerical algorithm, named two-stage algorithm, is presented. Given initial joint pose, the first stage finds the optimal joint trajectory and its corresponding minimum performance cost. The second stage searches for the optimal initial joint pose with globally minimum cost in the self-motion manifold. The effectiveness of the proposed algorithm is demonstrated through a simulation with a 3-dof planar redundant manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1150-1155
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• 1990

This paper proposes an optimal redundancy resolution of a kinematically redundant manipulator while considering homotopy classes. The necessary condition derived by minimizing an integral cost criterion results in a second-order differential equation. Also boundary conditions as well as the necessary condition are required to uniquely specify the solution. In the case of a cyclic task, we reformulate the periodic boundary value problem as a two point boundary value problem to find an initial joint velocity as many dimensions as the degrees of redundancy for given initial configuration. Initial conditions which provide desirable solutions are obtained by using the basis of the null projection operator. Finally, we show that the method can be used as a topological lifting method of nonhomotopic extremal solutions and also show the optimal solution with considering the manipulator dynamics.

• Journal of the Korean Wood Science and Technology
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• v.41 no.5
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• pp.399-405
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• 2013

This study demonstrates the utilization of light microscopy and Fast Fourier Transform-Peak Finding (FPF) method for microfibril angle (MFA) measurement from unstained sections of red pine (Pinus densiflora). To obtain an image with optimal contrast and resolution for MFA measurement, effects of numerical aperture (NA) of condenser lens and color filters were investigated. About 60% of NA of the maximum condenser NA produced an image with optimal contrast, but a color filter with short wavelength range (DAPI) created images with improved resolution. Manual angle measurement and the FPF method were applied to the image with optimal contrast for MFA measurement. The experimental results from the FPF method were considered to be more repeatable and less subjective than those from the manual angle measurement.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.5 s.170
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• pp.103-112
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• 2005

This paper presents one-axis high precision scanning system and illustrates the design of modified $X-Y-{\theta}$ stage as a tracker using VCM and commercialized air bearings for it. The scanning system for 100nm resolution is composed of the 3-axis stage and one axis long stroke linear motor stage as a follower. In this study a previous proposed and presented structure of VCM for the fine stage is modified. The tracker has 3 DOF($X-Y-{\theta}$ motions by four VCM actuators which are located on the same plane. So 4 actuating forces are suggested and designed to create least pitch and roll motions. This article will show about the design especially about optimal design. The design focus of this fine stage is to have high acceleration to accomplish high throughput. The optimal design of maximizing acceleration is performed in restrained size. The most sensitive constraint of this optimal design is heat dissipation of coil. There are 5 design variables. Because the relationship between design variables and system parameters are quite complicated, it is very difficult to set design variables manually. Due to it, computer based optimal design procedure using MATLAB is used. Then, this paper also describes the procedures of selecting design variables for the optimal design and a mathematical formulation of the optimization problem. Based on the solution of the optimization problem, the final design of the stage is also presented. The results can be verified by MAXWELL. The designed stage has the acceleration of about 5 $m/s^{2}$ with 40kg total mass including wafer chuck and interferometer mirror. And the temperature of coil is increased $50^{\circ}C$. In addition, the tracker is controlled by high precision controller system with HP interferometer for it and linear scaler for the follower. At that time, the scanning system has high precision resolution about 5nm and scanning resolution about 40nm in 25mm/s constant speed

• International Commerce and Information Review
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• v.9 no.1
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• pp.277-295
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• 2007

This paper presents the ODR phenomenon with a specific focus on regulatory problems. It argues that the current regulatory framework for online dispute resolution is, to a large extent, defective. Existing deficiencies result not only from a lack of comprehensive ODR law, but also from the weakness of the other modalities of regulation : norms and market. The current today's approach to regulating ODR has been unsuccessful, and it is time to re-examine that position. I would like to say that suggesting details of the optimal ODR regulatory framework is beyond the scope of this paper. From a broader perspective, the field of ODR seems to be not sufficiently regulated. Neither by law, nor by the restrains set by other norms or market. Given the current weakness of the modalities of regulation, online dispute resolution requires greater institutional and international support. It appears that adoption of internationally harmonized ODR law would not hamper the development of norms and market, but rather support their proper growth. As a result, the co-regulation approach recommended in this paper is different from both traditional state-oriented models of regulation and self-regulatory systems. Arguably, this co-regulation approach is the optimal model for regulation of online dispute resolution under current circumstances.

• Journal of the Korean earth science society
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• v.42 no.4
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• pp.401-411
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• 2021

This study provides comprehensive assessment results for the most recent high-resolution regional climatology in the East/Japan Sea by comparing with the various existing climatologies. This new high-resolution climatology is generated based on the Optimal Interpolation (OI) method with individual profiles from the World Ocean Database and gridded World Ocean Atlas provided by the National Centers for Environmental Information (NCEI). It was generated from the recent previous study which had a primary focus to solve the abnormal horizontal gradient problem appearing in the other high-resolution climatology version of NCEI. This study showed that this new OI field simulates well the meso-scale features including closed-curve temperature spatial distribution associated with eddy formation. Quantitative spatial variability was compared to the other four different climatologies and significant variability at 160 km was presented through a wavelet spectrum analysis. In addition, the general improvement of the new OI field except for warm bias in the coastal area was confirmed from the comparison with serial observation data provided by the National Fisheries Research and Development Institute's Korean Oceanic Data Center.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.690-693
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• 2004

This paper proposes a multi-resolution electrostatic potential field (MREPF) based solution to the mobile robot path planning and collision avoidance problem in 2D dynamic environment. The MREPF is an environment method in calculation time and updating field map. The large scale resolution map is added to EPF and this resolution map interacts with the small scale resolution map to find an optimal solution in real time. This approach can be interpreted with Atlantis model. The simulation studies show the efficiency of the proposed algorithm.

• Journal of Korea Water Resources Association
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• v.52 no.2
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• pp.107-113
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• 2019

The flood forecasting model currently used in Korea calculates the runoff of basin using the lumped rainfall-runoff model and estimates the river level using the river and reservoir routing models. The lumped model assumes homogeneous drainage zones in the basin. Therefore, it can not consider various spatial characteristics in the basin. In addition, the rainfall data used in lumped model also has the same limitation because of using the point scale rainfall data. To overcome the limitations as mentioned above, many researchers have studied to apply the distributed rainfall-runoff model to flood forecasting system. In this study, to apply the Grid-based Rainfall-Runoff Model (GRM) to the Korean flood forecasting system, the optimal resolution is determined by analyzing the difference of the results of the runoff according to the various resolutions. If the grid size is to small, the computation time becomes excessive and it is not suitable for applying to the flood forecasting model. Even if the grid size is too large, it does not fit the purpose of analyzing the spatial distribution by applying the distributed model. As a result of this study, the optimal resolution which satisfies the accuracy of the bsin runoff prediction and the calculation speed suitable for the flood forecasting was proposed. The accuracy of the runoff prediction was analyzed by comparing the Nash-Sutcliffe model efficiency coefficient (NSE). The optimal resolution estimated from this study will be used as basic data for applying the distributed rainfall-runoff model to the flood forecasting system.

• Korean Journal of Remote Sensing
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• v.37 no.6_1
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• pp.1573-1587
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• 2021

A Drone image is an ultra-high-resolution image that is several or tens of times higher in spatial resolution than a satellite or aerial image. Therefore, drone image-based remote sensing is different from traditional remote sensing in terms of the level of object to be extracted from the image and the amount of data to be processed. In addition, the optimal scale and size of data used for model training is different depending on the characteristics of the applied deep learning model. However, moststudies do not consider the size of the object to be found in the image, the spatial resolution of the image that reflects the scale, and in many cases, the data specification used in the model is applied as it is before. In this study, the effect ofspatial resolution and image size of drone image on the accuracy and training time of the semantic segmentation deep learning model of six wintering vegetables was quantitatively analyzed through experiments. As a result of the experiment, it was found that the average accuracy of dividing six wintering vegetablesincreases asthe spatial resolution increases, but the increase rate and convergence section are different for each crop, and there is a big difference in accuracy and time depending on the size of the image at the same resolution. In particular, it wasfound that the optimal resolution and image size were different from each crop. The research results can be utilized as data for getting the efficiency of drone images acquisition and production of training data when developing a winter vegetable segmentation model using drone images.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.20 no.6
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• pp.481-486
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• 2007

In large area scanning with a micro-electron-column, the operating condition for the best resolution was investigated in factors of working distance and field of view. The resolution of a test sample was dependent on electron beam energy and scanning field size. The best resolution with single deflector was obtained at 300 V and 30 mm in the electron emitting tip voltage and a working distance, respectively. The scanning area at that condition was $13.9{\times}13.9mm^2$, linearly increased with the working distance. Double deflector was employed for larger scanning size without increasing working distance, but showed only 1.7 times larger than that of single deflector, and the resolution was inverse proportional to the scanning size.