• Journal of the Institute of Electronics Engineers of Korea SC
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• v.45 no.4
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• pp.68-78
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• 2008

For a smooth transition between consecutive paths, conventional robot controllers usually generate a transition trajectory by blending consecutive paths in a time coordinate. However, this has two inherent drawbacks: the shape of a transition path cannot be designed coherently and the speed during transition is uncontrollable. To overcome these problems, this paper provides a path-level, rather than trajectory-level, smooth transition method with the curvature bound between non-smoothly connected paths. The experiment results show that the resultant transition trajectory is more smoothly connected than the conventional methods and the curvature is closely limited to the desired bound within the guaranteed level ($0.02{\sim}1$).

• International Journal of Ocean System Engineering
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• v.2 no.3
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• pp.139-150
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• 2012

This paper presents an improved guidance algorithm for autonomous underwater vehicles (AUV) in 3D space for generating smoother vehicle turn during the course change at the way-points. The way-point guidance by the line-of-sight (LOS) method has been modified for correcting the reference angles to achieve minimal calculation and smoother transition at the way-points. The algorithm has two phases in which the first phase brings the vehicle to converge to a distance threshold point on the line segment connecting the first two way-points and the next phase generates an angular path with smoother transition at the way-points. Then the desired angles are calculated from the reference and correction angles. The path points are regularly parameterized in the spherical coordinates and mapped to the Cartesian coordinates. The proposed algorithm is found to be simple and can be used for real time implementation. The details of the algorithm and simulation results are presented.

• Bulletin of the Korean Chemical Society
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• v.30 no.12
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• pp.2973-2978
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• 2009

The decomposition reaction mechanism of $CH_3CF_2O$ radical formed from hydroflurocarbon, $CH_3CHF_2$ (HFC-152a) in the atmosphere has been investigated using ab-initio quantum mechanical methods. The geometries of the reactant, products and transition states involved in the decomposition pathways have been optimized and characterized at DFT-B3LYP and MP2 levels of theories using 6-311++G(d,p) basis set. Calculations have been carried out to observe the effect of basis sets on the optimized geometries of species involved. Single point energy calculations have been performed at QCISD(T) and CCSD(T) level of theories. Out of the two prominent decomposition channels considered viz., C-C bond scission and F-elimination, C-C bond scission is found to be the dominant path involving a barrier height of 12.3 kcal/mol whereas the F-elimination path involves that of a 28.0 kcal/mol. Using transition-state theory, rate constant for the most dominant decomposition pathway viz., C-C bond scission is calculated at 298 K and found to be 1.3 ${\times}$ 10$^4s{-1}$. Transition states are searched on the potential energy surfaces involving both decomposition channels and each of the transition states are characterized. The existence of transition states on the corresponding potential energy surface are ascertained by performing Intrinsic Reaction Coordinate (IRC) calculation.

• The KIPS Transactions:PartA
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• v.9A no.1
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• pp.75-82
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• 2002

A robust signal transition density propagation method for a zero delay model is presented to obtain the signal transition density for estimating the power consumption. The power estimation for the zero delay model is a proper criteria for the lower boundary of power consumption. Since the input characteristics are generally unknown at design stage, robust estimation for wide range input characteristics is very important for the power consumption. In this paper, a conventional transition estimation method will be explored. And this exploration will be analyzed with the input/output signal transition behavior and used to propose the robust signal transition density propagation for the power estimation. In order to apply to practical circuits, the reconvergent path, which is crucial to affect the exactness of the power estimation, will be studied and an algorithm to take the reconvergent path into consideration will be presented. In experiment, the proposed methodology shows better robustness, comparable accuracy and elapsed time compared to the conventional methods.

• Journal of applied mathematics & informatics
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• v.27 no.5_6
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• pp.1331-1342
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• 2009

In this paper, we analyze the behavior of the state transition of nongroup CA with a single attractor over GF($2^p$)(p > 1), and propose the algorithm for the construction of the state transition diagram of a Single Attractor CA(SACA) over GF($2^p$) which is very different from the construction algorithm for the state transition diagram of GF(2) SACA.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.10a
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• pp.625-627
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• 2008

In this paper, a vertical via transition using a coaxial line is presented for LTCC SMT package applications. A part of outer conductor is cut off due to overlap between a CPW on PCB and transition. For reduction of radiation and return path, a cap is designed on the top layer. The measured S11 and S21 are -14 and 0.9dB, respectively at 15GHz.

• Korean Journal of Computational Design and Engineering
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• v.1 no.1
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• pp.33-44
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• 1996

This study deals with the development of wire path searching module as a part of automobile wire harness design system. Wire path searching module manages the free space, finds transition locations, and creates bundle paths to dramatically reduce a tedious iterative routing process which results in easy optimization of the bundle paths. A prime policy in the system configuration is to compromise between man's and computer's ability, and make it possible a designer's leading role in designing process. Human input is indispensable to cope with the special cases which were not considered in the initial design stage of the system. In this study, we improve the previous shortest-path-finding algorithm, (VGraph and RCA method) into a new method called Extended RCA. Bundles, connectors and transitions are handled as objects so one can manage and modify physical properties of the objects easily. Therefore a verification is allowed at any desired stage of design. The reuse of previous result is facilitated by using Dependency Structure, which represents the mutual relations among connectors, transitions, and bundles. Dependency Structure makes it possible the elimination of redundant calculating process, and consequently shorter routing time.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.8
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• pp.786-793
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• 2010

This paper proposes a new method called the path-history coverage to generate a test suite to test the state transition behavior of the robot SW component. The proposed method generate a test suite which includes abnormal state transitions based on FSM of target component. Especially the proposed method covers the disadvantage of the mutation test method that the size of the test suite is explosively increasing. Examples including OPRoS Component[1] show the validity of the proposed method.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.31 no.6_1
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• pp.471-481
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• 2013

Recently, the frequency of debris flow disaster has increased, which is one of the natural disasters during extremely heavy rainfall condition. This paper described the analysis method about deposition characteristics of debris flow using topographic characteristics of debris flow path. First, we observed topographic changes by differencing high- resolution LiDAR DEMs acquired before and after the occurrence of debris flow event. We assumed that deposition on outside of debris flow path was generated by movements due to the inertia of debris flows. Then, we analyzed three topographic characteristics of debris flow path: slope in flow direction, transition angle of flow path, and the net efficiency(L/H) of debris flows defined by the ratio of transport length(L) and elevation difference(H). We applied this method to Umyeon Mountain debris flow event in July 2011. The results showed that deposition on outside of debris flow path due to the inertia of debris flows was significantly related to the transition angle of debris flow path. Also, we figured out that there were more frequent such depositions in locations where the ratio of 'transition angle / (L/H)' is over 8.

• Proceedings of the Korea Electromagnetic Engineering Society Conference
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• 2002.11a
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• pp.127-131
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• 2002

This paper presents the a measured path-loss characteristics in urban line-of-sight(LOS) and non line-of-sight(NLOS) environments for 3.4, 5.3, and 6.4 ㎓ band signals. A two-ray model is applied to analyse the path-loss characteristics in LOS areas. In LOS areas, an empirical break point, whose distance is shorter than a theorical break point, is founded. Further, a sudden power level drop occurs at a transition point from LOS region to NLOS area and different path-loss exponents are occured various cases. The power level drop due to comer loss and path-loss exponents both increase as the distance between the transmitter and the corner increases.