• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.428-433
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• 1993

An analytic solution approach to the time-varying obstacle avoidance problem is pursued. We use the view-time concept, especially the adaptive view-time. First. we introduce the adaptive view-time and analyze its properties. Next, we propose a view-time based motion planning method. The proposed method is applied and simulated for the collision-free motion planning of a 2 DOF robot manipulator. We simulate the robot motion under several different view-time systems. Generally, the motion planning with the adaptive view-time systems has some advantages over that with the fixed view-time systems.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제12권3호
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• pp.1098-1112
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• 2018

Achievable sum rate and energy efficiency (EE) are investigated for the massive multiple-input multiple-output (Massive MIMO) downlink with channel aging in the time varying Ricean fading channel. Specifically, the expression of the achievable sum rate of the system for the maximum ratio transmission (MRT) precoder with aged channel state information (CSI) in the time varying Ricean fading channel is first presented. Based on the expression, the effect of both channel aging and the Ricean factor on the power scaling law are studied. It is found that the transmit power of base station (BS) is scaled down by $1/{\sqrt{M}}$(where M is the number of the BS antennas) when the Ricean factor K is equal to zero (i.e., time varying Rayleigh fading channel), indicating that aged CSI does not affect the power scaling law. However, the transmit power of the BS is scaled down by 1/M for the time varying Ricean fading channel (where $K{\neq}0$) indicating that the Ricean factor affects the power scaling law and sum rate, and channel aging only leads to a reduction of the sum rate. Second, the EE of the system is analyzed based on the general power consumption model. Both the theoretical analysis and the simulations show that the channel aging could degrade the sum rate and the EE of the system, and it does not affect the power scaling law.

• Earthquakes and Structures
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• 제24권4호
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• pp.303-316
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• 2023

Rapid post-earthquake damage estimation of subway stations is particularly necessary to improve short-term crisis management and safety measures of urban subway systems after a destructive earthquake. The conventional Performance-Based Earthquake Engineering (PBEE) framework with constant earthquake occurrence rate is invalid to estimate the aftershock risk because of the time-varying rate of aftershocks and the uncertainty of mainshock-damaged state before the occurrence of aftershocks. This study presents a time-varying probabilistic seismic risk assessment framework for underground structures considering mainshock and aftershock hazards. A discrete non-omogeneous Markov process is adopted to quantify the time-varying nature of aftershock hazard and the uncertainties of structural damage states following mainshock. The time-varying seismic risk of a typical rectangular frame subway station is assessed under mainshock-only (MS) hazard and mainshock-aftershock (MSAS) hazard. The results show that the probabilities of exceeding same limit states over the service life under MSAS hazard are larger than the values under MS hazard. For the same probability of exceedance, the higher response demands are found when aftershocks are considered. As the severity of damage state for the station structure increases, the difference of the probability of exceedance increases when aftershocks are considered. PSDR=1.0% is used as the collapse prevention performance criteria for the subway station is reasonable for both the MS hazard and MSAS hazard. However, if the effect of aftershock hazard is neglected, it can significantly underestimate the response demands and the uncertainties of potential damage states for the subway station over the service life.

• 한국컴퓨터정보학회논문지
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• 제14권10호
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• pp.225-231
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• 2009

본 논문에서는 시간이 변하는 볼륨 데이터로부터 등위면 콤포넌트를 계산하고 그 움직임을 추적하는 새로운 시각화 알고리즘을 기술한다. 등위면 시각화는 볼륨 데이터를 효과적으로 보여주기 위한 가장 흔한 방법 중 하나이다. 그러나 대부분의 기존 등위면 시각화 알고리즘들은 시간이 정지되어 있는 정적 볼륨 데이터에 국한하여 적용되어왔다. 이미징 기술과 시뮬레이션 기술이 발전함에 따라 대용량의 시변 볼륨 데이터들이 생성되고 있어 이러한 시변볼륨 데이터의 동적인 특성을 이용할 수 있는 효과적인 시변 등위면 시각화 알고리즘이 필요하게 되었다. 우리는 우선 두 연속되는 시변 볼륨 데이터에서 정의되는 등위면 컴포넌트들간의 시간적 일치성을 정의한다. 이 정의에 기반하여 컨투어 트리를 이용하여 얻어진 등위면 컴포넌트로부터 그것과 일치되는 그 다음 시간단계에서의 컴포넌트들을 추적하는 알고리즘을 수행한다. 이러한 과정을 매 시간단계에서 반복하면, 선택된 등위면 컴포넌트의 동적인 변형 모습을 보여주어 효과적인 시각화를 이룰수 있다.

• 전자공학회논문지SC
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• 제39권2호
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• pp.95-103
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• 2002

본 논문에서는 상태에 시변 시간지연을 가지는 이산 선형 시스템에 대한 H/sub ∞/ 제어기 설계문제를 다룬다. H/sub ∞/ 제어기가 존재할 충분조건과 설계방법에 대해 논의한다. 본 논문에서 다루는 H/sub ∞/ 제어기법은 상태궤환 제어기로서 시변 시간지연의 상한값과 S-procedure를 이용한다. 또한, 변수 치환, Schur 여수정리 등을 이용하여 충분조건을 모든 변수에 대한 선행 행렬 부등식(linear matrix inequality)으로 표현한다.

• Structural Engineering and Mechanics
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• 제37권2호
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• pp.131-147
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• 2011

The logarithmic decrement method has been long used to estimate damping ratios in systems with only one modal component such as linear single degree of freedom (SDOF) mechanical systems. This paper presents an application of a methodology that uses joint time-frequency distribution (JTFD) as input, instead of the raw signal, to systems with several vibration modes. A most important feature of the present approach is that it can be applied to a system with time-varying damping ratio. Initially the precision and robustness of the method is determined using a synthetic model with multiple harmonic components, one of them displaying a time-varying damping ratio, subsequently the results obtained from experiments with a reduced model are presented. A comparison is made between the results obtained with this methodology and those using the classical technique of Least Squares Complex Exponential Method (LSCE) in order to highlight the advantages of the former, such as, good precision, robustness and excellent performance in extreme cases, e.g., when very low frequency components and time varying damping ratio are present.

• Earthquakes and Structures
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• 제8권6호
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• pp.1463-1480
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• 2015

This research aims to develop an empirical model for simulation of time-varying frequency in earthquake ground motion so as to be used easily in engineering applications. Briefly, 10545 recordings of the Next Generation Attenuation (NGA) global database of accelerograms from shallow crustal earthquakes are selected and binned by magnitude, distance and site condition. Then the wavelet spectrum of each acceleration record is calculated by using one-dimensional continuous wavelet transform, and the frequencies corresponding to the maximum values of the wavelet spectrum at a series of sampling time, named predominant frequencies, are extracted to analyze the variation of frequency content of seismic ground motions in time. And the time-variation of the predominant frequencies of 178 magnitude-distance-site bins for different directions are obtained by calculating the mean square root of predominant frequencies within a bin. The exponential trigonometric function is then use to fit the data, which describes the predominant frequency of ground-motion as a function of time with model parameters given in tables for different magnitude, distance, site conditions and direction. Finally, a practical frequency-dependent amplitude envelope function is developed based on the time-varying frequency derived in this paper, which has clear statistical parameters and can emphasize the effect of low-frequency components on later seismic action. The results illustrate that the time-varying predominant frequency can preferably reflect the non-stationarity of the frequency content in earthquake ground motions and that empirical models given in this paper facilitates the simulation of ground motions.

• 대한수학회논문집
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• 제35권2호
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• pp.667-684
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• 2020

The objective of this paper is solving multidimensional backward stochastic differential equations with general time intervals, in L^p (p ≥ 1) sense, where the generator g satisfies a time-varying Osgood condition in y, a time-varying quasi-Hölder continuity condition in z, and its ith component depends on the ith row of z. Our result strengthens some existing works even for the case of finite time intervals.

• 제어로봇시스템학회논문지
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• 제14권11호
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• pp.1124-1129
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• 2008

Recently, two-port time-domain passivity approach was modified for time-varying communication delay. The newly proposed approach could achieve stable teleoperation even under the serious time-varying delay and packet loss communication condition. However, after some operation hour, the accumulated energy difference between the input energy from one port and the output energy at the other port caused unstable behavior until the passivity controller is activated. Resetting scheme is introduced for solving this problem, and stable bilateral teleoperation can be guaranteed without worrying about the accumulated energy difference.

• 전기학회논문지
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• 제58권1호
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• pp.193-198
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• 2009

In this paper, we consider the design problem of delay-dependent robust $H{\infty}$ controller of discrete-time descriptor systems with parameter uncertainties and interval time-varying delays in state and control input by delay-dependent LMI (linear matrix inequality) technique. A new delay-dependent bounded real lemma for discrete-time descriptor systems with time-varying delays is derived. The condition for the existence of robust $H{\infty}$ controller and the robust $H{\infty}$ state feedback control law are proposed by LMI approach. A numerical example is demonstrated to show the validity of the design method.