• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1824-1827
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• 1997

Majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is influenced greatly by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and makes the high speed-high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2DOF planar robot, the conditions for the maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solutioin to the optimal path placement problem is proposed that minimizes the joint disturbance torque are examined. then, a solution to the optimal path placement problem is proposed that minimizes the joint disturbance torque during a straight line motion. the proposed method is illustrated using computer simulation. the proposed solution method cna be applied to the class of robots that are controlled by independent joint sevo control, which includes the vast majority of industrial robots. By minimizing the joint disturbacne torque during the motion, the simple joint servo controlled robot can move with improved path tracking accuracy at high speed.

• 한국정밀공학회지
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• 제16권12호
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• pp.204-213
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• 1999

This paper suggests a numerical method of finding optimal geometric path and minimum-time motion for a manipulator arm. To find the minimum-time motion, the optimal geometric path is searched first, and the minimum-time motion is searched on this optimal path. In the algorithm finding optimal geometric path, the objective function is minimizing the combination of joint velocities, joint-jerks, and actuator forces as well as avoiding several static obstacles, where global search is performed by adjusting the seed points of the obstacle models. In the minimum-time algorithm, the traveling time is expressed by the linear combinations of finite-term quintic B-splines and the coefficients of the splines are obtained by nonlinear programming to minimize the total traveling time subject to the constraints of the velocity-dependent actuator forces. These two search algorithms are basically similar and their convergences are quite stable.

• 한국군사과학기술학회지
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• 제24권1호
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• pp.61-69
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• 2021

Recently, autonomous navigation technology is actively being developed due to the increasing demand of an unmanned surface vehicle(USV). Local planning is essential for the USV to safely reach its destination along paths. the dynamic window approach(DWA) algorithm is a well-known navigation scheme as a local path planning. However, the existing DWA algorithm does not consider path line tracking, and the fixed weight coefficient of the evaluation function, which is a core part, cannot provide flexible path planning for all situations. Therefore, in this paper, we propose a new DWA algorithm that can follow path lines in all situations. Fixed weight coefficients were trained using reinforcement learning(RL) which has been actively studied recently. We implemented the simulation and compared the existing DWA algorithm with the DWA algorithm proposed in this paper. As a result, we confirmed the effectiveness of the proposed algorithm.

• 한국아동복지학
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• 제40호
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• pp.255-283
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• 2012

본 연구는 자살시도 청소년과 자살 비시도 청소년의 자살생각에 영향을 미치는 경로를 비교분석하였다. 복수모집단 동시분석 결과, 본 연구에서 설정한 경로모형이 두 집단 모두에게 동일하게 적용될 수 있었으나 경로계수는 집단 간 차이를 보였다. 부모학대와 또래 괴롭힘은 자살 비시도 청소년의 자살생각에만 직접적인 영향을 미치는 변인으로 밝혀졌다. 반면에 짐이 되는 느낌과 절망감의 직접적 영향력은 두 집단 모두 유의미하였으나 좌절된 소속감의 영향력은 유의미하지 않은 것으로 나타났다. 매개효과를 보면, 두 집단 모두 또래 괴롭힘이 짐이 되는 느낌을 매개로 자살생각에 간접적인 영향을 상당히 미치는 것으로 나타났다. 반면에 자살 비시도 집단의 자살생각에만, 부모학대는 짐이 되는 느낌을 매개로, 짐이 되는 느낌과 좌절된 소속감은 절망감을 매개로 간접적인 영향을 미치는 것으로 밝혀졌다. 이러한 연구결과는 자살시도 청소년과 비시도 청소년의 자살생각 예방 및 완화를 위해서는 집단 별로 차별화된 대책이 마련되는 것이 효과적임을 시사해주는 것이다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권4호
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• pp.1845-1865
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• 2019

Current Internet is designed by lots of service providers with different objects and policies which make the direct deployment of radically new architecture and protocols on Internet nearly impossible without reaching a consensus among almost all of them. Network virtualization is proposed to fend off this ossification of Internet architecture and add diversity to the future Internet. As an important part of network virtualization, virtual network embedding (VNE) problem has received more and more attention. In order to solve the problems of large embedding cost, low acceptance ratio (AR) and environmental adaptability in VNE algorithms, cognitive method is introduced to improve the adaptability to the changing environment and a cognitive virtual network embedding algorithm based on weighted relative entropy (WRE-CVNE) is proposed in this paper. At first, the weighted relative entropy (WRE) method is proposed to select the suitable substrate nodes and paths in VNE. In WRE method, the ranking indicators and their weighting coefficients are selected to calculate the node importance and path importance. It is the basic of the WRE-CVNE. In virtual node embedding stage, the WRE method and breadth first search (BFS) algorithm are both used, and the node proximity is introduced into substrate node ranking to achieve the joint topology awareness. Finally, in virtual link embedding stage, the CPU resource balance degree, bandwidth resource balance degree and path hop counts are taken into account. The path importance is calculated based on the WRE method and the suitable substrate path is selected to reduce the resource fragmentation. Simulation results show that the proposed algorithm can significantly improve AR and the long-term average revenue to cost ratio (LTAR/CR) by adjusting the weighting coefficients in VNE stage according to the network environment. We also analyze the impact of weighting coefficient on the performance of the WRE-CVNE. In addition, the adaptability of the WRE-CVNE is researched in three different scenarios and the effectiveness and efficiency of the WRE-CVNE are demonstrated.

• 산업융합연구
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• 제19권1호
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• pp.129-135
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• 2021

본 연구는 대학생의 건강지각, 건강신념, 건강증진행위의 관계를 살펴보고자 경기도 소재 대학의 대학생 309명을 대상으로 실시하였다. 조사된 설문은 문항분석과 요인분석 및 신뢰도분석을 실시하였으며, 변인 간 관계 파악을 위해 상관 분석과 경로분석을 실시하였다. 이를 통해 다음과 같은 결론을 얻을 수 있었다. 대학생의 건강지각, 건강신념, 건강증진행위간의 인과효과를 위한 경로분석은 다양한 적합도 지수에서 비교적 높게 나타났으며, 모형에 포함된 모든 경로계수는 통계적으로 유의미하게 나타났다. 구체적으로 모든 경로계수에서 유의미한 정적 관계를 나타냈으나, 건강지각과 지각된 장애, 지각된 장애와 건강증진행위에서는 부적 관계를 나타냈다. 본 연구의 결과를 바탕으로 향후 연구에서는 본 연구에서 제외된 변인에 대한 분석을 통해 건강증진행위와 관련한 외현적 타당성을 높일 필요가 있다.

• 전기전자학회논문지
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• 제17권4호
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• pp.511-516
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• 2013

본 논문에서는 DAC(Digital to Analog Converter) 출력을 지연시켜 디지털 피드백 패스를 추가하는 FDPA 기법을 사용한 SDM(Sigma Delta Modulator)을 제안한다. 지연된 디지털 피드백 패스만을 추가하여 SDM의 해상도를 높이고 기존 구조의 아날로그 피드백 패스를 제거함으로써 기존 구조에 비해 사용되는 클록이 줄어들어 회로가 간단하다. 제안한 구조를 설계하기 위해 MATLAB 모델링을 이용하여 적분기의 최적 계수를 설정하였다. 설계된 SDM은 $0.18{\mu}m$ CMOS 공정을 사용하였고 신호 대역폭 20KHz, 샘플링 주파수 2.56MHz에서 81dB의 SNR, $220{\mu}W$의 전력을 소모한다.

• 한국환경과학회지
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• 제27권11호
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• pp.1073-1081
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• 2018

In this study, an operational data set was analysed by establishing a path model to figure out the actual cause-effect relationship of a wastewater treatment plant (WWTP); in particular, for the effluent concentrations of T-N and T-P. To develop the path models, data sets of operational records including effluent concentrations and operational factors were obtained from a field scale WWTP of $680,000m^3$ of treatment capacity. The models showed that the relationship networks with the correlation coefficients between variables for objective expressions indicated the strength of each relationship. The suggested path models were verified according to whether the analyzation results matched known theories well, but sophisticated minute theoric relationships could not be cropped out distinctly. This indicates that only a few paths with strong theoric casual relationships were represented as measured data due to the high non-linearity of the mechanism of the removal process in a biological wastewater treatment.

• 한국시뮬레이션학회논문지
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• 제28권3호
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• pp.83-89
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• 2019

본 연구는 회전 비행체(Magnus rotor)를 탑재한 분산탄두의 분산 균일도에 미치는 요인 분석과 성능지표를 도출하기 위해 모탄의 속도 V와 회전속도 ${\omega}$, 비행경로각(flight path angle) ${\gamma}$ 그리고 고도 h의 변화에 따른 해석 결과를 기술했으며, 이때 모탄의 회전속도와 속도의 비를 새로운 변수로 정의했다. 자탄의 분산 해석에는 풍동실험을 통해 획득한 공력계수를 사용한 6 자유도 운동방정식을 이용했으며, 분산도 분석을 위해 회귀분석과 결정계수를 구해 분산도를 평가했다. 해석결과 최적의 회전속도와 낙하속도의 비, 비행경로각(flight path angle)을 구할 수 있었으며, 방출고도는 분산도에 회전속도와 낙하속도의 비, 비행경로각(flight path angle)의 영향에 비해 영향은 크지 않고, 자탄의 분산반경에 영향이 큰 것을 확인했다.

• The Journal of the Acoustical Society of Korea
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• 제17권3E호
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• pp.43-46
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• 1998

Many of the active noise control system utilize a form of the least mean square(LMS) algorithm. This paper discusses the dependence of the convergence rate on the acoustic error path in the popular algorithm which is conventional "filtered-x LMS" and introduces new algorithm "constrained filtered-x LMS". The proposed method increase the convergence region regardless of the time-delay in the acoustic error path. In the algorithms, coefficients of the controller are adapted using the residuals of constrained structure which are defined in such a way that the control process become stationary. Advantages of constrained filtered-x LMS algorithm is illustrated by convergence analysis in the mean sense.