• Journal of Institute of Control, Robotics and Systems
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• v.5 no.1
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• pp.105-114
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• 1999

By using the conceptual impedance and the elasticity of a serial chain of spring-damper system, a real-time collision-free trajectory generation algorithm is proposed. The reference points on a trajectory connected by the spring-damper system have a mechanism for self-Position adjustment to avoid a collision by the impedance, and the local adjustment of each reference point is propagated through the elasticity to a real robot at the end of the spring-damper system. As a result, the overall trajectory consisting of the reference points becomes free of collision with environmental obstacles and efficient having the shortest distance as possible. In this process, the reference points connected by the spring-damper system take role of virtual robot as global guidance for a real robot, and a cooperative optimization is carried out by the system of virtual robots. A control algorithm is proposed to implement the impedance for a car-like mobile robot.

• Smart Structures and Systems
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• v.12 no.2
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• pp.181-207
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• 2013

In this paper, a statistical reference-free real-time damage detection methodology is proposed for detecting joint and member damage of truss bridge structures. For the statistical damage sensitive index (DSI), wavelet packet decomposition (WPD) in conjunction with the log likelihood ratio was suggested. A sensitivity test for selecting a wavelet packet that is most sensitive to damage level was conducted and determination of the level of decomposition was also described. Advantages of the proposed method for applications to real-time health monitoring systems were demonstrated by using the log likelihood ratios instead of likelihood ratios. A laboratory truss bridge structure instrumented with accelerometers and a shaker was used for experimental verification tests of the proposed methodology. The statistical reference-free real-time damage detection algorithm was successfully implemented and verified by detecting three damage types frequently observed in truss bridge structures - such as loss of bolts, loosening of bolts at multiple locations, sectional loss of members - without reference signals from pristine structure. The DSI based on WPD and the log likelihood ratio showed consistent and reliable results under different damage scenarios.

• JSTS:Journal of Semiconductor Technology and Science
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• v.13 no.2
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• pp.98-107
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• 2013

This work describes a 13b 100 MS/s 0.13 um CMOS four-stage pipeline ADC for 3G communication systems. The proposed SHA-free ADC employs a range-scaling technique based on switched-capacitor circuits to properly handle a wide input range of $2V_{P-P}$ using a single on-chip reference of $1V_{P-P}$. The proposed range scaling makes the reference buffers keep a sufficient voltage headroom and doubles the offset tolerance of a latched comparator in the flash ADC1 with a doubled input range. A two-step reference selection technique in the back-end 5b flash ADC reduces both power dissipation and chip area by 50%. The prototype ADC in a 0.13 um CMOS demonstrates the measured differential and integral nonlinearities within 0.57 LSB and 0.99 LSB, respectively. The ADC shows a maximum signal-to-noise-and-distortion ratio of 64.6 dB and a maximum spurious-free dynamic range of 74.0 dB at 100 MS/s, respectively. The ADC with an active die area of 1.2 $mm^2$ consumes 145.6 mW including high-speed reference buffers and 91 mW excluding buffers at 100 MS/s and a 1.3 V supply voltage.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.311-314
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• 1995

Biped locomotion can be simply modeled as a linear inverted pendulum mode. This model considers only the CG (center of gravity) of the entire system. But in real biped robot systems, the free-leg motion dynamics is not negligible. So if its dynamics is not considered in designing the reference CG motion, it is badly influence to the ZMP(zero moment point) position of the biped robot walking in the sagittal plane. Therefore, we modeled the biped locomotion similar to the linear inverted pendulum mode but considered the predetermined free-leg dynamics. To verify that the proposed biped locomotion is more stable than the linear inverted pendulum mode, we constructed a biped robot simulator and designed a serco controller to track both the reference motion of the free leg and the reference motion of CG of the biped robot using the computed torque control low. And through simulations, we verified that the proposed walking is better in stability than the one based on the linear inverted pendulum mode.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2735-2737
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• 2003

Measurement of the potential of a buried pipeline using the Cu/$CuSO_4$ reference electrode is the most widely used method for the estimation of the corrosion susceptibility of the pipeline. The recorded values, however, include inevitable errors due to the IR drop caused by the stray currents. In this paper, we describe the characteristics of the IR-free reference electrode used for more accurate measurement of the pipe line potential.

• Korean Journal of Remote Sensing
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• v.17 no.4
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• pp.297-305
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• 2001

Ocean satellite altimetry-implied free-air gravity anomalies have had the shortest wavelengths removed during the processing to generate the optimal solution between multiple radar altimeter missions. ERS-1 168day mission altimetry was residualized to a reference geoid surface generated by integrating Anderson & Knudsen’s free-air gravity anomalies for the Barents Sea. The altimetry tracks were reduced and filtered to extract the shortest wavelengths (between 4 and 111 km) from both ascending and descending tracks, respectively. These data were recombined using existing quadrant-swapping techniques in the wavenumber domain to generate a correlated, high frequency gravity field related to the local geologic sources. This added-value surface adjusted the reference free-air gravity anomalies to better reflect features in the gravity field at a wavelength related to the distance between altimetry ground tracks.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.2
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• pp.99-109
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• 2015

This study proposes a new approach to analyze the impedance and the elasticity of a serial chain of spring-damper system, areal-time collision-free trajectory generation algorithm is proposed. The reference points on a trajectory connected by the spring-damper system have a mechanism for self-position adjustment to solve a collision problem by the impedance, and the local adjustment of each reference point is propagated through the elasticity to a real robot at the end of the spring-damper system. As a result, the overall trajectory consisting of the reference points becomes free of collision with environmental obstacles and efficient having the shortest distance as possible. In this process,, the reference points connected by the spring-damper system take role of virtual robot as global guidance for a real robot, and a cooperative is carried out by the system of robots. A control technology is proposed to implement for mobile robot.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.2
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• pp.559-569
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• 2010

We propose an RFID system based on range-free localization method. This method recognizes pre-determined reference tags first, and then checks within which reference tag the target tag is placed closest. It estimates target tag's position relative to the reference tag's position. We use Aging Counter to estimate the distance between reference and target tags using the read ratio of RFID tags. Practicality of the proposed method is verified by applying it to a library book locating system.

• The Journal of Asian Finance, Economics and Business
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• v.8 no.1
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• pp.37-43
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• 2021

The main objective of this study is to discuss the effect of free cash flow as a moderating variable on managers' decisions as regard earnings management. Companies with free cash flow are expected to refrain from taking opportunistic actions such as earnings management. The research used quantitative methods with sub-group moderating analysis. It is found that there is a significant relationship between past performance and earnings management, where the free cash flow is the moderating variable. The effect of past performance on earnings management is shown to slightly increase as free cash flow is considered. The findings of this study prove that earnings management is a practice that is often done by utilizing the flexibility of accounting recording and recognition mechanisms. Past performance becomes the main variable in encouraging managers to manage earnings by reducing revenue in the current period. This research can also be a reference in explaining managerial behavior and can be a reference to improving ethical human resource capabilities. This research focuses on companies in Indonesia that conduct earnings management by lowering profits as a result of declining past performance and examines aspects of free cash flow that reinforces the conduct of earnings management.

• Journal of Broadcast Engineering
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• v.19 no.2
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• pp.250-256
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• 2014

Non-reference P frame coding is used to enhance coding efficiency in low-delay encoding configuration of Internet Video Coding (IVC), which is being standardized as a royalty-free video codec in MPEG. The existing method of non-reference P frame coding which was adopted in the reference Test Model of IVC (ITM) 4.0 adaptively applies a non-reference P frame with a fixed coding structure based on the magnitude of motion vectors (MVs), however, which unexpectedly degrades the coding efficiency for some sequences. In this paper, the existing non-reference P frame coding is improved by changing non-reference P frame coding structure and applying a new adaptive method using the ratio of the amount of generated bits of non-reference frames to that of reference frames as well as MVs. Experimental results show that the proposed non-reference P frame coding gives 6.6% BD-rate bit saving in average over ITM 7.0.