• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.12
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• pp.995-1006
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• 1989

If robots have the ability to track the parts on a moving conveyor belt, the efficiency of the manipulation tasks will be increased. This paper presents a motion planning algorithm for conveyor tracking. Tracking trajectory of a robot manipulator is determined by belt speed, initial part position, and initial robot position. Torque limit, maximum velocity, maximum acceleration and maximum jerk are also taken into account. To obtain the tracking solution, the problem is converted to the linear quadratic tracking problem. We describe the manipulator dynamics as second order state equation using parametric functions. Constraints on torques and smoothness are converted to those on input and state variables. The solution of the state equation which minimizes the performance index is obtained by dynamic programming method. Numerical examples are then presented to demonstrate the utility of the motion planning method developed.

• Journal of Electrical Engineering and Technology
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• v.6 no.5
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• pp.697-705
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• 2011

In this paper, a closed-loop system constructed with a linear plant and nonlinearity in the feedback connection is considered to argue against its planar orbital stability. Through a state space approach, a main result that presents a sufficient stability criterion of the limit cycle predicted by solving the harmonic balance equation is given. Preliminarily, the harmonic balance of the nonlinear feedback loop is assumed to have a solution that determines the characteristics of the limit cycle. Using a state-space approach, the nonlinear loop equation is reformulated into a linear perturbed model through the introduction of a residual operator. By considering a series of transformations, such as a modified eigenstructure decomposition, periodic averaging, change of variables, and coordinate transformation, the stability of the limit cycle can be simply tested via a scalar function and matrix. Finally, the stability criterion is addressed by constructing a composite Lyapunov function of the transformed system.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.990-994
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• 2004

This paper presents a method to predict the transient characteristic of the air lubricated slider head in a hard disk drive by using optimization technique. The time dependent modified Reynolds equation based on the molecular slip flow approximation equations was used to describe the fluid flow within the air bearing and the implicit finite difference scheme is applied to calculate the pressure distribution under the slider head. The exhaustive search combined with the Broyden-Fletcher-Goldfarb-Shanno method were employed to obtain optimum design variables which are taper angle, rail width and taper length in order to keep the forces and moments acting on the slider head in dynamic equilibrium. The results show that the optimal head slider of the magnetic head has good stability characteristic that can reach the steady state within 0.5 microsecond.

• Journal of Advanced Navigation Technology
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• v.27 no.6
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• pp.871-876
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• 2023

In this paper, we deal with the stable conditions when two uncertainties exist simultaneously in a linear discrete time-varying interval system with time-varying delay time. The interval system is a system in which system matrices are given in the form of an interval matrix, and this paper targets the system in which the delay time of these interval system matrices and state variables is time-varying. We propose the system stability condition when there is simultaneous unstructured uncertainty that includes nonlinearity and only its magnitude and uncertainty in the system matrix of delayed state variables. The stable bounds for two types of uncertainty are derived as an analytical equation. The proposed stability condition and bounds can include previous stability condition for various linear discrete systems, and the values such as time-varying delay time variation size, uncertainty size, and range of interval matrix are all included in the conditional equation. The new bounds of stability are compared with previous results through numerical example, and its effectiveness and excellence are verified.

• The Journal of Asian Finance, Economics and Business
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• v.8 no.2
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• pp.625-633
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• 2021

This study analyzes the impact of the reward variable on employees' performance through work motivation and employee engagement. This study's specific purpose is to investigate employee engagement's mediating role in the relationship between reward and employee performance. The sample of research is the employee at Sukorejo, Pasuruan Indonesia. The sample is permanent employees at manufacture corporate. The sample size is 150 employees of the total 759 workers through the calculation of the Slovin formula. Respondents in this study were employees with the criteria for having worked for at least last five years. The data obtained is in the form of answers from employees to the statements submitted. The data analysis was used structural equation modeling partial least square. To test the relationship between variables, it was equipped with a Sobel mediation test of statistics. SmartPLS 3.0 is used to help analyze the relationship between variables. The result shows that the reward does not have a direct influence on the performance of employees. However, it has a significant positive effect on the performance of employees through employee engagement. While working motivation variable does not have the role as a mediation variable related to the effect of reward on employee performance.

• Journal of the Korean Mathematical Society
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• v.41 no.6
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• pp.1049-1070
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• 2004

We classify all partial differential equations with polynomial coefficients in $\chi$ and y of the form A($\chi$) $u_{{\chi}{\chi}}$ ＋ 2B($\chi$, y) $u_{{\chi}y}$ ＋ C(y) $u_{yy}$ ＋ D($\chi$) $u_{{\chi}}$ ＋ E(y) $u_{y}$ = λu, which has weak orthogonal polynomials as solutions and show that partial derivatives of all orders are orthogonal. Also, we construct orthogonal polynomials in d-variables satisfying second order partial differential equations in d-variables.s.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.797-799
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• 1996

This paper presents a simple method for evaluating of voltage stability using the line flow equation. Line flow equations($P_{ij}$, $Q_{ij}$) are comprised of state variable, $V_i$, ${\delta}_i$, $V_j$ and ${\delta}_j$, and line parameter, r and x. Using the feature of polar coordinate, these equations become one equation with two variables, $V_i$ and $V_j$. Moreover, if bus j is slack bus or generator bus, which is specified voltage magnitude, it becomes One equation with one variable $V_i$, that is, may be formulated with the second-order equation for $V_i^2$. Therefore, solutions are obtained with simple computation. Solutions obtained are used for evaluating of voltage stability through sensitivity analysis. Also, considering of reactive power source, method for evaluating the voltage stability is introduced. The proposed method was validated to 2-bus and IEEE 6-bus system.

• Proceedings of the KIEE Conference
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• 1992.07b
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• pp.567-569
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• 1992

Design sensitivity analysis is proposed for the optimal shape design of three dimensional magnetostatic problems. The direct differentiation method is introduced for design sensitivity analysis and the boundary element method with reduced magnetic scalar potential as the state variable is used to analyze the magnetic characteristics. In the direct differentiation method, the design sensitivity, defined as the total derivative of the objective function with respect to the design variables, is calculated based on the variation of the state variable with respect to the design variable. And the variation of He state variable is calculated by differentiating the both sides of the system matrix equation obtained by applying boundary element method. Through the numerical example with simple electromagnet, the usefullness is proved.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.41 no.8
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• pp.850-857
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• 1992

Design sensitivity analysis is proposed for the optimal shape design of three-dimensional magnetostatic problems. The direct differentiation method is introduced for design sensitivity analysis and the boundary element method with reduced magnetic scalar potential as the state variable is used to analyze the magnetic characteristics. In the direct differentiation method, the design sensitivity, defined as the total derivative of the objective function with respect to the design variables, is calculated based on the variation of the state variable with respect to the design variable. And the variation of the state variable is calculated by differetiating the both sides of the system matrix equation obtained by applying boundary element method. Through the numerical example with simple electromagnet, the usefulness is proved.

• Bulletin of the Society of Naval Architects of Korea
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• v.25 no.2
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• pp.1-10
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• 1988

An axially marching numerical method is developed for the simulation of the internal waves produced by translation of a submersed vehicle in a density-stratified ocean. The method provides for the direct solution of the primitive variables [$\upsilon,\;p,\;\rho$] for the nonlinear and steady state three-dimensional Euler's equation with a non-constant density term in the vehicle-fixed cartesian co-ordinate system. By utilizing a known potential flow around the vehicle for an estimate of the axial velocity gradient, the present parabolic algorithm local upstreamwise disturbances and axial velocity variation.