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      • KCI등재

        A Robust GPI Controller for Trajectory Tracking Tasks in the Limbs of a Walking Robot

        Edwards Sánchez,Alberto Luviano,Alberto Rosales 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.6

        The study and development of walking robots implies solving several problems related with the design,dynamics, gait patterns, control and other topics inherent to their complex mechanism. One of the most importantproblems is the trajectory tracking tasks made by the degrees of freedom of each limb. Once the path planner hasestablished the correct trajectory to follow, is necessary to track it with the least possible error. This importanttask is made by a controller, and helps the robot to maintain a stable walking. In this work we have focused onproposing a GPI control law for a limb of a hexapod walking robot, in order to track smooth trajectories and rejectdisturbances present in the closed-loop system. We also present the dynamic model of the limb, the designedreference trajectories, control simulations and experimental results.

      • Immunogenic inhibition of prominent ruminal bacteria as a means to reduce lipolysis and biohydrogenation activity in vitro

        Edwards, H.D.,Shelver, W.L.,Choi, S.,Nisbet, D.J.,Krueger, N.A.,Anderson, R.C.,Smith, S.B. Applied Science Publishers 2017 Food chemistry Vol.218 No.-

        Lipolysis and biohydrogenation in ruminal animals promote the accumulation of saturated fatty acids in their meat and milk. Antibodies were generated against key ruminal lipase contributors Anaerovibrio lipolyticus, Butyrivibrio fibrisolvens, Propionibacterium avidum and acnes. An anti-Pseudomonas lipase antibody was generated to determine if an antibody against a purified protein would be more effective. Each bacterium was cultured and assayed without or with increasing levels of each antibody. Butyrivibrio fibrisolvens H17C also participates in biohydrogenation and therefore the antibody was tested to determine if it could effectively reduce biohydrogenation. Butyrivibrio fibrisolvens was assayed without and with the anti-B. fibrisolvens antibody and linoleic or α-linolenic acid. All antibodies were effective at reducing lipolysis with the anti-Pseudomonas lipase averaging a 78% reduction. The anti-B. fibrisolvens showed a tendency for a reduction (P=0.0713) in biohydrogenation products of α-linolenic acid. Results demonstrate that lipolysis and biohydrogenation can be immunologically inhibited in vitro.

      • SCOPUSKCI등재

        REAL EXCHANGE RATE VARIABILITY : AN EMPIRICAL ANALYSIS OF THE DEVELOPING COUNTRIES CASE

        EDWARDS, SEBASTIAN 한국국제경제학회 1987 International Economic Journal Vol.1 No.1

        In this paper the relative importance of real and monetary factors in explaining recent real exchange rate, variability in developing countries have been investigated. The empirical evidence shows that in the last 15 years or so real exchange rate variability has increased significantly However, the degree of real exchange rate variability has been quite uneven across countries, with some countries experiencing variability almost ten times higher than others. In theory, long-run equilibrium real exchange rates depend on the behavior of a number of real variables including the terms of trade and the degree of openness of the economy [Mussa (1984)]. In the shorter run, however, real exchange rate movements will also be affected by monetary disturbances, including the instability of the nominal monetary policy. From a policy point of view it is important to determine the extent to which actual real exchange rate variability stems from monetary and real disturbances. If nominal policy-induced instability has been an important cause of real exchange rate variability, some policy options may be open to reduce it. In this paper data an a group of developing countries were used to investigate and assess the relative importance of monetary and real factors. The analysis focused both on long-wave and short-term variability The results, contrary to previous findings, indicate that real exchange rate variability has been caused both by monetary and real disturbances. with real variables being relatively more important in the explanation of long-wave instability and nominal variables playing a more prominent role in case of short-term instability. In terms of real disturbances the most prominent has been external terms of trade variability, which was found to have played an important role in the determination of long-run real exchange rate instability. In the shorter run, however, it was found that no real variable had been important. Regarding monetary disturbances, this study indicates that nominal exchange rate instability has been the major and more persistent source of short-term real exchange rate instability in this group of countries. From a policy perspective these results are important. They suggest that a stable nominal exchange rate policy will help to substantially reduce real exchange rate variability. There are a number of ways to reduce the degree of instability of the nominal exchange rate, including the adoption of any variant of crawling-peg systems. On the other hand, it is well known that nominal exchange rate instability is greatly enhanced by the adoption of a flexible rate system [Frenkel and Mussa (1982)]. To the extent that policymakers want to reduce real exchange rate variability, the result reported in this paper cautions them against adopting a floating rate system.

      • SCIESCOPUSKCI등재

        Q-MEASURES ON THE DUAL UNIT BALL OF A JB<sup>⁎</sup>-TRIPLE

        Edwards, C. Martin,Oliveira, Lina Korean Mathematical Society 2019 대한수학회지 Vol.56 No.1

        Let A be a $JB^*$-triple with Banach dual space $A^*$ and bi-dual the $JBW^*$-triple $A^{**}$. Elements x of $A^*$ of norm one may be regarded as normalised 'Q-measures' defined on the complete ortho-lattice ${\tilde{\mathcal{U}}}(A^{**})$ of tripotents in $A^{**}$. A Q-measure x possesses a support e(x) in ${\tilde{\mathcal{U}}}(A^{**})$ and a compact support $e_c(x)$ in the complete atomic lattice ${\tilde{\mathcal{U}}}_c(A)$ of elements of ${\tilde{\mathcal{U}}}(A^{**})$ compact relative to A. Necessary and sufficient conditions for an element v of ${\tilde{\mathcal{U}}}_c(A)$ to be a compact support tripotent $e_c(x)$ are given, one of which is related to the Q-covering numbers of v by families of elements of ${\tilde{\mathcal{U}}}_c(A)$.

      • SCIESCOPUSKCI등재

        Comparing the impacts of four ENSO events on giant kelp (Macrocystis pyrifera) in the northeast Pacific Ocean

        Edwards, Matthew S. The Korean Society of Phycology 2019 ALGAE Vol.34 No.2

        The 1982-83, 1986-87, 1991-92, and 1997-98 El $Ni{\tilde{n}}o$-Southern Oscillations (ENSOs) were compared with regards to their strength and timing in the tropical Pacific Ocean, changes in ocean temperature and wave intensity, and their impacts to giant kelp populations in the Northeast Pacific. The Multivariate ENSO Index, oceanographic data, and kelp abundance data all show that the 1982-83 and 1997-98 ENSOs were stronger and resulted in greater losses of giant kelp than the 1986-87 and 1991-92 ENSOs, but that the 1982-83 and 1997-98 ENSOs differed with regard to the arrival of destructive waves relative to when the ocean waters warmed and cooled. The 1982-83 ENSO was more destructive to the giant kelp populations in central California, USA than the 1997-98 ENSO, but the 1997-98 ENSO was more destructive to the giant kelp in southern California. These events appeared similarly destructive to the populations in Baja California, Mexico. Recovery of the kelp populations also varied among the two strong ENSOs due to the ocean conditions following each ENSO. In southern and Baja California, recovery was slow following the 1982-83 ENSO, while recovery was more rapid following the 1997-98 ENSO. Unfortunately, the monitoring programs used to evaluate the kelp populations stopped shortly after the 1997-98 ENSO, resulting in a lack of data for comparisons with the more recent weak ENSOs that occurred between 2002 and 2010, or with the strong ENSO that occurred in 2014-2016. This supports the need for continued long-term monitoring programs to better understand how climate anomalies impact coastal ecosystems.

      • KCI등재

        THE AUSTRALIA TELESCOPE NATIONAL FACILITY

        EDWARDS, PHILIP G. The Korean Astronomical Society 2015 天文學論叢 Vol.30 No.2

        The Australia Telescope National Facility (ATNF) consists of the Parkes and Mopra radio telescopes, and the Australia Telescope Compact Array, with the first elements of the wide-field Australian Square Kilometer Array Pathfinder (ASKAP), currently being commissioned. The capabilities of these facilities are described.

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