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Bezier Spline을 이용한 용접 로봇의 새로운 Weaving Motion 궤적 생성 알고리즘
정원지,김대영,서영교,홍형표,홍대선 한국공작기계학회 2004 한국생산제조학회지 Vol.13 No.3
In this paper, we propose a new weaving trajectory algorithm for the are welding of a articulated manipulator. The algorithm uses the theory of Bezier spline. We make a comparison between the conventional algorithms using Catmull-Rom curve and the new algorithms using Bezier spline. The proposed algorithm has been evaluated based on the MATLAB environment in order to illustrate its good performance. Through simulations, the proposed algorithm can result in high-speed and flexible weaving trajectory planning so that it s trajectory cannot penetrate into a base metal compared to the conventional algorithm using Catmull-Rom curve.
金志英,表昌祐,禹德均 弘益大學校 科學技術硏究所 1999 科學技術硏究論文集 Vol.10 No.1
Scalar replacement transformation has been mainly used for improvement of loop balance as being combined with unroll-and-jam transformation[4, 5]. These researches considered the effect of register usage to improve loop balance, but did not consider the effect of data cache usage. This paper shows the effect of data cache usage by scalarization transformation, the simple form of scalar replacement transformation. We implemented scalarization transformation as the separate module in SUIF compiler system, and experimented the data cache simulation with SPEC CFP95. In the direct-mapped cache simulation, the data cache misses are reduced by 10.8% on average. In the reduction of these cache misses, the reduction of conflict misses is 19.7%, speciallay the reduction of tomcatv benchmark is 51.8%. The result shows the importance of the effect of data cache performance by scalarization or scalar replacement. Therefore, in researches using scalarization or scalar replacement tranformations, the researchers should consider the effect of data cache usage by these transformations.
Jee-Young Pyo,박정선,Seung-Hyun Lee,김성수,정헌천,김익수 한국잠사학회 2023 International Journal of Industrial Entomology Vol.47 No.2
Patanga japonica Bolívar, 1898 (Orthoptera: Acrididae) is listed as a climate-sensitive indicator species in South Korea and is called southern group of insects in that the main distributional range is southern region of South Korea and Asian continent. In South Korea, thus, the species was distributed mainly in southern region of South Korea including southward a remote Jeju Island, but recently the species has often been detected in mid to northern region of South Korea, implying northward range expansion in response to climate change. Understanding the characteristics of the changes in genetic diversity during range expansion in response to climate change could be a foundation for the understanding of future biodiversity. Thus, in this study, we attempted to understand the changing pattern of the genetic diversity of the P. japonica in newly expanded regions. For the purpose of study, we collected 125 individuals from seven localities throughout South Korea including two newly distributed regions (Pyeongtaek and Yeongwol at ~37° N). These were sequenced for a segment of mitochondrial cytochrome oxidase subunit I (COI) and analyzed for genetic diversity, haplotype frequency, and population genetic structure among populations. Interestingly, northward range expansion accompanied only haplotypes, which are most abundant in the core populations, providing a significant reduction in haplotype diversity, compared to other populations. Moreover, genetic diversity was still lower in the expanded regions, but no genetic isolation was detected. These results suggest that further longer time would take to reach to the comparable genetic diversity of preexisting populations in the expanded regions. Probably, availability of qualified habitats at the newly expanded region could be pivotal for successful northward range expansion in response to climate change.
Jee-Young Pyo,Jeong Sun Park,Sung-Soo Kim,Iksoo Kim 한국응용곤충학회 2023 한국응용곤충학회 학술대회논문집 Vol.2023 No.10
Ceriagrion nipponicum (Odonata: Coenagrionidae) is listed as climate-sensitive indicator species in Korea and now expands its range northward. In this study, we sequenced complete mitochondrial genome (mitogenome) of the species collected from South Korea for comparatively analysis in damselflies and to detect the genes suitable for subsequent population genetic study. Comparison of the mitogenomes from two geographic samples of C. nipponicum showed the highest variation in ND4 and ND1, whereas no variation was detected in COI, warranting usefulness of the two genes for subsequent population-level study. Phylogenetic analysis using 13 PCGs and 2 rRNAs in Zygoptera showed non-monophyletic Coenagrionidae, forming two groups.