• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.3
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• pp.17-24
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• 2004

We present a P-type iterative learning control(ILC) scheme for uncertain robotic systems that perform the same tasks repetitively. The proposed ILC scheme comprises a linear feedback controller consisting of position error, and a feedforward and feedback teaming controller updated by current velocity error. As the learning iteration proceeds, the joint position and velocity mrs converge uniformly to zero. By adopting the learning gain dependent on the iteration number, we present joint position and velocity error bounds which converge at the arbitrarily tuned rate, and the joint position and velocity errors converge to zero in the iteration domain within the adopted error bounds. In contrast to other existing P-type ILC schemes, the proposed ILC scheme enables analysis and tuning of the convergence rate in the iteration domain by designing properly the learning gain.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.719-723
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• 1997

The welding automation in ship manufacturing process,especially in the sub-assembly line is considered to be a difficult job because the welding part is too huge, various, unstructured for a welding robot to weld fully automatically. The weld orocess at the sub-assembly line for ship manufacturing is to joint the various stiffener on the base panel. In order to realize automatic robot weld in sub-assembly line, robot have to equip with the sensing system to recognize the position of the parts. In this research,we developed a vision system to detect the position of base panle for sub-assembly line is shipbuilding process. The vision system is composed of one CCD camera attached on the base of robot, 2-500W halogen lamps for active illumination. In the image processing algorithm,the base panel is represented by two set of lines located at its two corner through hough transform. However, the various noise line caused by highlight,scratches and stiffener,roller in conveyor, and so on is contained in the captured image, this nosie can be eliminated by region segmentation and threshold in hough transform domain. The matching process to recognize the position of weld panel is executed by finding patterns in the Hough transformed domain. The sets of experiments performed in the sub-assembly line show the effectiveness of the proposed algorithm.

• Journal of Ocean Engineering and Technology
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• v.38 no.2
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• pp.53-63
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• 2024

Submerged breakwaters can be installed underneath floating structures to reduce the external wave loads acting on the structure. The objective of this study was to establish an optimization analysis framework to determine the corresponding shape and position of the submerged breakwater that can minimize or maximize the external forces acting on the floating structure. A two-dimensional frequency-domain boundary element method (FD-BEM) based on the linear potential theory was developed to perform the hydrodynamic analysis. A metaheuristic algorithm, the advanced particle swarm optimization, was newly coupled to the FD-BEM to perform the optimization analysis. The optimization analysis process was performed by calling FD-BEM for each generation, performing a numerical analysis of the design variables of each particle, and updating the design variables using the collected results. The results of the optimization analysis showed that the height of the submerged breakwater has a significant effect on the surface piercing body and that there is a specific area and position with an optimal value. In this study, the optimal values of the shape and position of a single submerged breakwater were determined and analyzed so that the external force acting on a surface piercing body was minimum or maximum.

• Journal of Fisheries and Marine Sciences Education
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• v.25 no.4
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• pp.863-877
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• 2013

The purpose of this study is to analyze clarify the relationship of transformational leadership of higher-ranking officers and work satisfaction of lower-ranking officers for the government employees in education administration. The main conclusions were as the followings. First, looking into the analysis result on the transformational leadership of higher-ranking officers, there is a noticeable difference for each position, grade 6 shows noticeably low difference than grade 8 and grade 9 in overall position, and for each service agency, the government employees in board of education show noticeably higher difference than the government employees in elementary schools on entire serve agencies. Second, looking into the analysis result on the work satisfaction of lower-ranking officers, for each position, grade 6 and grade 7 government employees show noticeably low difference than grade 8 and grade 9 in personnel territory and education and training territory, and for each service agency, government employees in the board of education show noticeably higher difference than the government employees in elementary and middle schools on agencies. And third, looking into the analysis result on the relationship of work satisfaction of lower-ranking officers and the transformational leadership of higher-ranking officers, the statistically noticeable level of static correlation has been shown for vision setting and growth-striving territory from the lower domain of the transformational leadership of higher-ranking officers in personnel, compensation, working environment and so forth, efficiency territory of operation, cohesion territory of department and charisma leadership territory in personnel domain, cohesion territory of department in personnel domain, human respect territory in duty, personnel, and compensation domain.

• Journal of the Korean Society for Library and Information Science
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• v.40 no.1
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• pp.139-162
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• 2006

This study suggested a knowledge theory, theoretical framework and general principles in methodologies for library and information science by theoretically weighing domain analysis. The central concept to domain analysis are a subject knowledge constituting the domain and a discourse communities to share their knowledge. Therefore the study described a definition of domain and explained domain in ontological, epistemological, and sociological dimensions, proposed eleven approaches available in domain analysis. And the study argued the implications of domain analysis for library and information in position of socio-cognitive view and pragmatic realism.

• Experimental Neurobiology
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• v.26 no.5
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• pp.241-251
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• 2017

Saturation mutagenesis was performed on a single position in the voltage-sensing domain (VSD) of a genetically encoded voltage indicator (GEVI). The VSD consists of four transmembrane helixes designated S1-S4. The V220 position located near the plasma membrane/extracellular interface had previously been shown to affect the voltage range of the optical signal. Introduction of polar amino acids at this position reduced the voltage-dependent optical signal of the GEVI. Negatively charged amino acids slightly reduced the optical signal by 33 percent while positively charge amino acids at this position reduced the optical signal by 80%. Surprisingly, the range of V220D was similar to that of V220K with shifted optical responses towards negative potentials. In contrast, the V220E mutant mirrored the responses of the V220R mutation suggesting that the length of the side chain plays in role in determining the voltage range of the GEVI. Charged mutations at the 219 position all behaved similarly slightly shifting the optical response to more negative potentials. Charged mutations to the 221 position behaved erratically suggesting interactions with the plasma membrane and/or other amino acids in the VSD. Introduction of bulky amino acids at the V220 position increased the range of the optical response to include hyperpolarizing signals. Combining The V220W mutant with the R217Q mutation resulted in a probe that reduced the depolarizing signal and enhanced the hyperpolarizing signal which may lead to GEVIs that only report neuronal inhibition.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• v.5B no.2
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• pp.189-195
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• 2005

This paper presents a new velocity estimation strategy for a non-salient permanent magnet synchronous motor drive without high frequency signal injection or special PWM pattern. This approach is based on the d-axis current regulator output voltage of the drive system, which contains the rotor position error information. The rotor velocity can be estimated through a rotor position tracking PI controller that controls the position error at zero. For zero and low speed operation, the PI gain of the rotor position tracking controller has a variable structure according to the estimated rotor velocity. Then, at zero speed, the rotor position and velocity have sluggish dynamics because the varying gains are very low in this region. In order to boost the bandwidth of the PI controller during zero speed, the loop recovery technique is applied to the control system. The PI tuning formulas are also derived by analyzing this control system by frequency domain specifications such as phase margin and bandwidth assignment.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.729-732
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• 2005

This paper describes a time-spatial domain model for simulating raw data acquisition of space-borne SAR system. The position, velocity and attitude information of the platform at a certain time instance is used for deriving sensor-target model. Ground target is modelled by a set of point scatters with reflectivity and two-dimensional ground coordinates. The signal received by SAR is calculated for each slow and fast time instance by integrating the reflectivity and phase values from all target point scatters. Different from frequency domain simulation algorithms, the proposed time domain algorithm can provide fully physical modelling of SAR raw data simulation without any assumptions or approximations.

• Journal of the Korean Chemical Society
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• v.67 no.5
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• pp.348-352
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• 2023

p97, a universally conserved AAA+ ATPase, holds a central position in the ubiquitin-proteasome system, orchestrating myriad cellular activities with significant therapeutic implications. This protein primarily interacts with a diverse set of adaptor proteins through its N-terminal domain (NTD), which is structurally located at the periphery of the D1 hexamer ring. While there have been numerous structural elucidations of p97 complexed with adaptor proteins, the stoichiometry has remained elusive. In this work, we present the crystal structure of the p97-N/D1 hexamer bound to the FAF1-UBX domain at a resolution of 3.1 Å. Our findings reveal a 6:6 stoichiometry between the p97 hexamer and FAF1-UBX domain, deepening our understanding from preceding structural studies related to p97-NTD and UBX domain-containing proteins. These insights lay the groundwork for potential therapeutic interventions addressing cancer and neurodegenerative diseases.

• Journal of Arbitration Studies
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• v.13 no.2
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• pp.519-546
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• 2004

On June 27, 2002 Canadian Internet Registration Authority (CIRA) launched dot-ca domain name dispute resolution service through BCICAC and Resolution Canada, Inc. The Domain name Dispute Resolution Policy (CDRP) of CIRA is basically modelled after Uniform Domain Name Dispute Resolution Policy(UDRP), while the substance of CDRP is slightly modified to meet the need of Canadian domain name regime and its legal system. Firstly, this article examined CIRA's domain name dispute resolution policy in general. It is obvious that the domain name dispute resolution proceeding is non-binding arbitration to which arbitration law does not apply. However it still belongs to the arbitration and far from the usual mediation process. Domain name arbitrators render decision rather than assist disputing parties themselves reach to agreement. In this respect the domain name arbitration is similar to arbitration or litigation rather than mediation. Secondly it explored how the panels applied the substantive standards in domain name arbitration. There is some criticism that panelists interprets the test of "confusingly similar" in conflicting manner. As a result critics assert that courts' judicial review is necessary to reduce the conflicting interpretation on the test of substantive standards stipulated in paragraph 3 of CDRP. Finally, it analysed the court's position on domain name arbitral award. Canadian courts do not seem to establish a explicit standard for judicial review over it yet. However, in Black v. Molson case Ontario Superior Court applied the UDRP rules in examining the WIPO panel's decision, while US courts often apply domestic patent law and ACPA(Anticyber -squatting Consumer's Protection Act) to review domain name arbitration decision rather than UDRP rules. In conclusion this article suggests that courts should restrict their judicial review on domain name administrative panel's decision at best. This will lead to facilitating the use of ADR in domain name dispute resolution and reducing the burden of courts' dockets.