• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.05a
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• pp.201-204
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• 2008

The mobile robot is known as a nonlinear system with constraints. The general tracking controller for the mobile platform has been divided into the kinematic and the dynamic controller. The reason of dividing controller is the constraints. We can get some information through some numerical experiments. When the reference linear and angular velocity were given, the stability of mobile robot without the kinematic controller depend on the start point of reference cart. Therefore this paper composed of two controller for solving tracking problem. The main controller is the dynamic controller which used generally such as the PID controller. And this paper adopts the auxiliary controller in order to compensate the difference of initial point between the reference cart and a mobile robot. Finally, the numerical experiment is performed in order to show the validity of our method.

• Journal of Internet Computing and Services
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• v.6 no.6
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• pp.187-197
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• 2005

In this paper, we propose a method to estimate camera motion parameter based on invariant point features, Typically, feature information of image has drawbacks, it is variable to camera viewpoint, and therefore information quantity increases after time, The LM(Levenberg-Marquardt) method using nonlinear minimum square evaluation for camera extrinsic parameter estimation also has a weak point, which has different iteration number for approaching the minimal point according to the initial values and convergence time increases if the process run into a local minimum, In order to complement these shortfalls, we, first proposed constructing feature models using invariant vector of geometry, Secondly, we proposed a two-stage calculation method to improve accuracy and convergence by using 2D homography and LM method, In the experiment, we compared and analyzed the proposed method with existing method to demonstrate the superiority of the proposed algorithms.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.14 no.2
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• pp.269-279
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• 1994

This paper concentrates on the finite element analysis of concrete structures considering the material nonlinearity and time-dependent structural behavior. Using the rotating crack model among the smeared cracking model, the structural behavior up to ultimate load is simulated, and concrete is assumed to be an orthotropic material. Especially to include the tension stiffening effect in bending behavior, a criterion based on the fracture mechanics concept is introduced and the numerical error according to the finite element mesh size can be minimized through the application of the proposed criterion. Besides, the governing equation for steel is systematized by embeded model to cope with the difficulty in modeling of complex geometry. Finally, to trace the structural behavior with time under cracked and/or uncracked section, an algorithm for the purpose of time-dependent analysis is formulated in plane stress-strain condition by the age-adjusted effective modulus method.

• Journal of the Earthquake Engineering Society of Korea
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• v.14 no.3
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• pp.1-10
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• 2010

The target performance of a current seismic design code is to achieve collapse-prevention in order to minimize casualties. Existing structures are also being retrofitted to meet this target performance. This seismic performance seems to have been achieved in recent great overseas earthquakes, but the accompanying enormous economic loss is pointed out as a new problem. A new seismic design concept over the current target performance is required to reduce economic loss, in which a target performance is determined by the damage probability in order to control the damage levels of structures. In this study, the seismic behavior of bridges having different characteristics was investigated by nonlinear seismic analyses, and fragility curves with respect to a reference damage level were derived. Based on these results, the characteristics of target ductilities satisfying a target damage probability were investigated.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.30 no.2
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• pp.108-114
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• 2002

In this paper, nonlinear finite element analysis is performed to ensure structural safety and to suggest the design improvement of wing-to-fuselage joint of the KSR-III rocket. In the joint, wings are attached to fuselage by fitting wing attachment part into the groove on the fuselage frame, and load transfer between wing and fuselage frame is accomplished mainly throug the contact of two members as well as fastening bolts. The careful finite element modeling has been proposed for the purpose of analyzing problems with relatively complicated load path. The detailed bolt modeling is conducted and GAP elemets are used to simulate contact problem between joined members and bolts. The suggested design improvement is verified by structural testing and the analysis results are compared with test results.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.4
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• pp.688-697
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• 2017

It is very difficult to solve mathematically the optimal control problem for non - linear mobile robots to move to target points with minimum energy related to velocity, acceleration and angular velocity in minimum time. This paper proposes a method to obtain optimal control gains with which mobile robots move with minimum energy related to velocity, acceleration and angular velocity in minimum time using genetic algorithms. Mobile robots are non - linear systems so that their optimal control gains depend on initial positions. Hence initial positions are divided into some partition points and optimal control gains are obtained at each partition point with genetical algorithms. These optimal control gains are used to train neural networks that generate proper control gains at arbitrary initial position. Finally computer simulation studies have been conducted to verify the effectiveness of the method proposed in this paper.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.8
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• pp.897-904
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• 2012

The rifling design problem has continuous-type shape variables and an integral number of riflings. In addition, it requires considerable time for analysis because its behavior should be described by a nonlinear finite element model (FEM). Therefore, this study presents an efficient design process for rifling based on a design of experiment (DOE) approach. First, Bose's orthogonal array is used to represent 25 runs for four design variables including three shape variables and one integer variable. Then, nonlinear FE analyses are performed. Next, to minimize the bullet resistance without affecting the bullet velocity and bullet rotational angle immediately before a bullet leaves the gun barrel, a what-if design is performed. In the proposed what-if design, a functional including the design objective and constraints is constructed and effect analysis is performed by using the functional. It is found that the new design obtained from the what-if design shows better results than the current one.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.10a
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• pp.693-696
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• 2008

The systems for mobile communication services of fourth generation use OFDM (Orthogonal Frequency Division Multiplexing) scheme that ran transmit large amounts of data to support the multimedia services, and consist of several types of cell, such as Macro Cell, Pico Cell, Femto Cell to improve the qualify of service. According to subdivision of communication region, superposition of cells in co-channel different from conventional single cell is used, but it cause inter band interference between systems. In particular, an OFDM signal consists of a number of independently modulated subcarriers, and superposition of these subcarriers causes a problem that ran give a large PAPR. Increased PAPR induces signal distortion passing through components such as power amplifier so that inter band interference is caused by out-of-band spectrum radiation. In order to minimize the inter band interference, this paper applies PAPR reduction scheme and analyzes the out-of-band spectrum radiation when the signal passes through nonlinear components such an power amplifier.

• The Korean Journal of Applied Statistics
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• v.26 no.3
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• pp.431-440
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• 2013

We consider the problem of estimating the parameters of heavy tailed distributions. In general, maximum likelihood estimation(MLE) is the most preferred method of parameter estimation because it has good properties such as asymptotic consistency, normality and efficiency. However, MLE is not always the best solution because MLE is unstable or does not exist in some cases. This paper proposes another parameter estimation method, non-linear least squares(NLS) and compares its performance to MLE. The NLS estimator is achieved by minimizing sum of squared difference between empirical cumulative distribution function(CDF) and a theoretical distribution function. In this article, we compare the NLS method to MLE using simulated data from heavy tailed distributions. The NLS method is shown to perform better than MLE in Burr distribution when the sample size is small; in addition, it performs well in a Frechet distribution.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.9
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• pp.752-759
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• 2012

This paper presents a mission orbit design method for spacecraft which use the sun-synchronous and ground repeat orbits. In this work, we have proposed a new design procedure, "Nonlinear simulation-based numerical optimization technique" using the commercial S/W's such as STK (Satellite Tool kit) and Matlab, which are widely adopted S/W's in the area of orbital mechanics and engineering analysis. Inclusion of all the perturbation effects on the spacecraft not only can more precisely satisfy the mission requirements for sun-synchronicity and repeated ground track, and also operational requirements such as minimum change in the S/C local time, maximization of the contact time with a specified ground station, etc. can be appropriately considered. Design examples for LEO sun-synchronous mission are presented to demonstrate the usefulness of the proposed method in this paper.