• 제어로봇시스템학회논문지
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• 제18권7호
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• pp.658-663
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• 2012

An accurate outdoor localization method using line/arc features is suggested for mobile robots with LRFs (Laser Range Finders) and odometry. Localization is a key process for outdoor mobile robots which are used for autonomous navigation, exploration and so on. In this paper, an accurate pose correction algorithm is proposed for mobile robots using LRFs, which use three feature types: line, circle, and arc. Using this method we can reduce the number of singular cases that robots couldn't find their pose. Finally we have got simulation results to validate the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1650-1654
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• 2004

This paper presents how it is effective to use many features for improving the speed and the accuracy of the visual servo systems. Some rank conditions which relate the image Jacobian and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. Effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy with respect to the world coordinate system. Usefulness of the redundant features is verified by the real time experiments on a Dual-Arm Robot manipulator made in Samsung Electronic Co. Ltd.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.778-782
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• 2003

This paper presents how it is effective to use many features for improving the speed and the accuracy of the visual servo systems. Some rank conditions which relate the image Jacobian and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. Effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy with respect to the world coordinate system. Usefulness of the redundant features is verified by the real time experiments on a Dual-Arm Robot manipulator made in Samsung Electronic Co. Ltd.

• Environmental Analysis Health and Toxicology
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• 제31권
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• pp.24.1-24.7
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• 2016

The humidifier disinfectant disaster (HDD) was not a simple poisoning accident by biocides, but a singular disaster in history created by chemicals in household products. This disaster was a result of the failure of a system for the management of chemical and product safety. Since the management authority for chemical usage safety is different from those for chemical safety in products, many blind areas for chemical safety management in products still remain. The 'Act on the Registration and Evaluation, etc. of Chemical Substances (ARECS)' or the new 'Biocidal Product Act' must not only address the blind areas in the management system for chemical and product safety, but also prevent a second HDD. To prevent another HDD, an integrated registration, evaluation, and management system for chemicals and consumer products must be incorporated into the 'ARECS' as an essential part for chemical safety in consumer products.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2009년 춘계학술대회논문집
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• pp.170-175
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• 2009

Shock focusing is related with explosive release of shock wave energy on a narrow spot in a short duration of time triggering a spontaneous high pressure near the focal point. It is well known that reflection of planar incident shock wave from the metallic concave mirror such as ellipsoidal, paraboloidal or hemispherical cavities will focus on a focal point. We intend to improve the computational results using a wave propagation algorithm and to resolve the mushroom-like structure. For computation of the concave cavity flow, it is not easy to use a single-block mesh because of the many singular points in geometry and coordinates. We have employed a uniform Cartesian-grid method for the wave propagation algorithm.

• Journal of applied mathematics & informatics
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• 제27권1_2호
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• pp.441-452
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• 2009

In this paper, a fifth order numerical method is presented for solving singularly perturbed differential-difference equations with negative shift. In recent papers the term negative shift has been using for delay. Similar boundary value problems are associated with expected first exit time problem of the membrane, potential in models for neuron and in variational problems in control theory. In the numerical treatment for such type of boundary value problems, first we use Taylor approximation to tackle terms containing small shifts which converts it to a boundary value problem for singularly perturbed differential equation. The two point boundary value problem is transformed into general first order ordinary differential equation system. A discrete approximation of a fifth order compact difference scheme is presented for the first order system and is solved using the boundary conditions. Several numerical examples are solved and compared with exact solution. It is observed that present method approximates the exact solution very well.

• 소음진동
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• 제4권1호
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• pp.71-82
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• 1994

We propose a systematic method to select the master states, which are retained in the reduced model after the order reduction process. The proposed method is based on the fact that the range space of right eigenvector matrix is spanned by orthogonal base vectors, and tries to keep the orthogonality of the submatrix of the base vector matrix as much as possible during the reduction process. To quentify the skewness of that submatrix, we define "Absolute Singularity Factor(ASF)" based on its singular values. While the degree of observability is concerned with estimation error of state vector and up to n'th order derivatives, ASF is related only to the minimum state estimation error. We can use ASF to evaluate the estimation performance of specific partial measurements compared with the best case in which all the state variables are identified based on the full measurements. A heuristic procedure to find suboptimal master states with reduced computational burden is also proposed. proposed.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1993년도 추계학술대회 논문집
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• pp.593-597
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• 1993

This paper introduces robust trajectory planner for obstacle and singularity avoidance in a nonresonant robot manipulator. In this work, we propose new trajectory generator in cartesian space by use of Bezier function. Also, SR-inverse is used for obstacle and singularity avoidance of nonredundant robot. This result is verified with 3-D simulator which has been developed to examine the effectiveness of the suggested method.

• 한국정밀공학회지
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• 제19권5호
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• pp.81-88
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• 2002

An interface crack of a piezoelectric medium bonded between an elastic layer and a half-space is analyzed using the theory of linear piezoelectricity. Both out-of-plane mechanical and in-plane electrical loads are applied to the piezoelectric laminate. By the use of courier transforms, the mixed boundary value problem is reduced to a singular integral equation which is solved numerically to determine the stress intensity factors. Numerical analyses for various material combinations are performed and the results are discussed.

• The Korean Journal of Pain
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• 제10권1호
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• pp.28-33
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• 1997

Background : Analgesic effect of intra-articular morphine or ketoronac treatment alone, or a combination of both drugs, on postoperative pain were evaluated in 40 healthy male patients undergoing arthroscopic knee surgery. Method : Upon completion of surgery under spinal anesthesia, each patients knee joint was injected with 30 ml of 0.25% bupivacaine. Then, via parenteral or intra-articular route, one study group received morphine and other group received ketorolac. Results : Groups who received either intra-articular ketorolac, or morphine, experienced decreased postoperative pain reducing need for additional analgesics. The combination treatment of intra-articular morphine and ketorolac did not improved results. Conclusions : Singular use of either intra-articular morphine, or ketorolac, improves postoperative analgesia in patients undergoing arthroscopic sugery: Combination of these drugs offered no further advantage over its single prescription.