Earticle

Design patterns, a solution for the specific context and the problem, give benefits to us what a good design creates if we adequately use them in accordance with their purposes and principles. However, if we do not use them with inadequate purposes, using design patterns can be causes of increasing costs and decreasing maintainability and system performance. An industrial robot completes its given task through a series of hardware device’s primitive movements, controlled by an application using the APIs provided by specific hardware vendors. However, required movements of a robot change frequently because the given task changes often. This requires changes on hardware devices. As a consequence of this, APIs, controlling the hardware device change, and we also should modify the corresponding application. Therefore, an industrial robot software application should be designed such that it can easily trace hardware device’s change impacts on the application as well as it defines ordered composite primitive movements for completing the required task. This paper implements parts of an application that use hardware dependent APIs by using the command pattern and validates whether it support each change impact analysis.

As a part of the major theme that explores how modern Japanese has been developed into a standard language, this study covers the actual conditions in former times in order to understand the progress in forming standard Japanese. Focusing on command representation among sentence-final expressions of the Edo language in the late modern era, this paper examined the social relationships between speakers and listeners in『ukiyoburo』and『umegoyomi』. Data analysis shows that the commands represented in the colloquial sentences of『ukiyoburo』and『umegoyomi』were closely connected with a speaker’s gender, age or status. As well, as different forms were used depending on psychological distance between speakers and listeners or colloquial scenes. The most common command forms in the latter period of Edo were the「nasai系(system)」and「動詞連用形(verb’s yeonyong form)＋na系(system)」, but it turns out that there also were limits in using these forms. With regards to「nasai系」, there were no examples showing use by children. Women using this form were from the middle and lower classes and did not show the illustrative sentences showing as used by high-class women.「動詞連用形(verb’s yeonyong form)＋な系(system)」was unequally used by young people. The use of「お＋連用形(yeonyong form」with prefix <o> was limited to women except for one example of man’s use in『ukiyoburo』, without illustrative sentences showing use by women from the lower class. Considering the form of「kudasai」 in the latter period of Edo, it was mostly used with the adverb <douzo>, and it might have been used for a request rather than a command. Forms such as「o+ verb’s yeonyong form」or「ya, yare」,「tari」,「nansi」,「sassi」and「asobase」are no longer used in modern standard Japanese, but it is necessary to examine afterwards when those command forms disappeared.

네트워크 기반 무인기 제어통신 시스템을 위한 복잡도와 성능을 고려한 지상국 최적 안테나 패턴 설계 방식을 제시하였다. 다수개의 측면 섹터와 한 개의 상향 섹터로 구성되는 지상국 안테나의 섹터 수, 수평/수직 빔폭, 틸팅각도 등 안테나 설계 파라미터의 변화에 따른 수직/수평 각도 별 안테나 이득을 모델링하고, 가상의 3차원 공간 내에서 각 파라미터의 변화가 신호 대 잡음 비 (SNR : signal to noise ratio) 분포에 미치는 영향을 분석하였다. 다양한 파라미터 중 측면 섹터의 틸팅 각도가 성능에 가장 큰 영향을 미치는데, 지상국 간 거리가 길수록, 최고 고도가 높을수록, 측면 섹터 수가 작을수록 틸팅 각도를 낮춰야 함을 확인할 수 있었다. 또한 최저 SNR 최대화 측면에서는 측면 섹터 수직 빔폭을 늘리는 것이 유리하지만 평균 SNR 측면에서는 수직 빔폭을 줄이는 것이 유리함을 확인하였다.

An optimal ground station (GS) antenna pattern design method for network-based UAV command and control communication systems considering complexity and performance is presented. The GS antenna consists of multiple side sectors and one upward sector. The antenna gain for each vertical/horizontal angle of the GS antenna according to the change of antenna design parameters such as the number of sectors, horizontal and vertical beam-width, and tilt-angle is modeled, and the effect of the parameter changes on the signal-to-noise ratio (SNR) distribution in the virtual three-dimensional space is analyzed. It is observed that the tilt-angle of the side sectors has the greatest effect on the performance, and the longer the distance between GSs, the higher the maximum altitude and the smaller the number of side sectors, the tilt-angle should be lower. In addition, it is observed that the wider vertical beam-width of the side sector is advantageous in maximizing the lowest SNR, but narrow vertical beam-width is advantageous in maximizing the average SNR.