• Journal of Ocean Engineering and Technology
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• v.21 no.4
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• pp.45-54
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• 2007

In the context of auto-landing containers from a container ship to a truck or automatic guided vehicle and vice versa, this research investigates three schemes, one in Part I and two in Part II, for measuring the absolute position of a container. Coordinate transformations between the reference-coordinate, sensor-coordinate, and body-coordinate systems are briefly discussed. The scheme explored in Part I aims the use of three laser-slit sensors, which are relatively inexpensive. In this case, nine nonlinear equations are formulated for six unknown variables (three for orientation and three for position), so a closed-form solution is not available. Instead, an approximate solution through linearization was derived. An advantage of the method in Part I is its ability to measure an absolute position in 3D space, while a disadvantage is the computation time required to obtain pseudo-inverses and the approximate nature of the obtained solution. Numerical examples are provided.

• Steel and Composite Structures
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• v.26 no.4
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• pp.453-461
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• 2018

In this paper, nonlinear vibrations of the unsymmetrical laminated composite beam (LCB) on a nonlinear elastic foundation are studied. The governing equation of the problem is derived by using Galerkin method. Two different end conditions are considered: the simple-simple and the clamped-clamped one. The Hamiltonian Approach (HA) method is adopted and applied for solving of the equation of motion. The advantage of the suggested method is that it does not need any linearization of the problem and the obtained approximate solution has a high accuracy. The method is used for frequency calculation. The frequency of the nonlinear system is compared with the frequency of the linear system. The influence of the parameters of the foundation nonlinearity on the frequency of vibration is considered. The differential equation of vibration is solved also numerically. The analytical and numerical results are compared and is concluded that the difference is negligible. In the paper the new method for error estimation of the analytical solution in comparison to the exact one is developed. The method is based on comparison of the calculation energy and the exact energy of the system. For certain numerical data the accuracy of the approximate frequency of vibration is determined by applying of the suggested method of error estimation. Finally, it has been indicated that the proposed Hamiltonian Approach gives enough accurate result.

• The Journal of the Acoustical Society of Korea
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• v.18 no.4
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• pp.71-77
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• 1999

Exact forward modeling of acoustic propagation is crucial in MFP such as inverse problems and various other acoustic applications. As acoustic propagation in shallow water environments become important, range dependent modeling has to be considered of which PE method is considered as one of the most accurate and relatively fast. In this paper higher order numerical rode employing the PE method is developed. To approximate the depth directional operator, Galerkin's method is used with partial collocation to lessen necessary calculations. Linearization of tile depth directional operator is achieved via expansion into a multiplication form of (equation omitted) approximation. To approximate the range directional equation, Crank-Nicolson's method is used. Final1y, numerical self stater is employed. Numerical tests are performed for various occan environment scenarios. The results of these tests are compared to exact solutions, OASES and RAM results.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.8
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• pp.1353-1362
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• 2003

This paper considers a simultaneous optimization problem of structure and control systems. The problem is generally formulated as a non-convex optimization problem for the design parameters of mechanical structure and controller. Therefore, it is not easy to obtain the global solutions for practical problems. In this paper, we parameterize all design parameters of the mechanical structure such that the parameters work in the control system as decentralized static output feedback gains. Using this parameterization, we have formulated a simultaneous optimization problem in which the design specification is defined by the Η$_2$and Η$\_$$\infty$/ norms of the closed loop transfer function. So as to lead to a convex problem we approximate the nonlinear terms of design parameters to the linear terms. Then, we propose a convex optimization method that is based on linear matrix inequality (LMI). Using this method, we can surely obtain suboptimal solution for the design specification. A numerical example is given to illustrate the effectiveness of the proposed method.

• Proceedings of the KAIS Fall Conference
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• 2006.05a
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• pp.307-310
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• 2006

We consider the problem of constructing observers for nonlinear systems with unknown inputs. It is shown that under some conditions, there exists an observer estimating the states of nonlinear systems with unknown inputs. Nonlinear observer design method using observer error linearization and the design technique of unknown input observer(UIO) for linear systems are used to derive conditions. Some illustrative examples are included. In this paper, a direct controller for nonlinear plants using a neural network is presented. The controller is composed of an approximate controller and a neural network auxiliary controller.The approximate controller gives the rough control and the neural network controller gives the complementary signal to further reduce the output tracking error. This method does not put too much restriction on the type of nonlinear plant to be controlled. In this method, a RBF neural network is trained and the system has a stable performance for the inputs it has been trained for. Simulation results show that it is very effective and can realize a satisfactory control of the nonlinear system

• Journal of the Society of Naval Architects of Korea
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• v.31 no.1
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• pp.63-70
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• 1994

The three-dimensional incompressible clavier-Stokes equations are solved to simulate the flow field around a Wigley model with free-surface. The IAF(Implicit Approximate Factorization) method is used to show a good success in reducing the computing time. The CPU time is almost an half of that if the IAF method were used. The present method adopts the local linearization and Euler implicit scheme without the pressure-gradient terms for the artificial viscosity. Calculations are carried out at the Reynolds number of $10^6$ and the Froude numbers are 0.25, 0.289 and 0.316. For the approximations of turbulence, the Baldwin-Lomax model is used. The resulting free-surface wave configurations and the velocity vectors are compared with those by the explicit method and experiments.

• Survey Research
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• v.12 no.3
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• pp.49-62
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• 2011

In this paper we investigate design-based properties of both the ordinary least square estimator and the weighted least square estimator for regression coefficients in panel regression model. We derive formulas of approximate bias, variance and mean square error for the ordinary least square estimator and approximate variance for the weighted least square estimator after linearization of least square estimators. Also we compare their magnitudes each other numerically through a simulation study. We consider a three years data of Korean Welfare Panel Study as a finite population and take household income as a dependent variable and choose 7 exploratory variables related household as independent variables in panel regression model. Then we calculate approximate bias, variance, mean square error for the ordinary least square estimator and approximate variance for the weighted least square estimator based on several sample sizes from 50 to 1,000 by 50. Through the simulation study we found some tendencies as follows. First, the mean square error of the ordinary least square estimator is getting larger than the variance of the weighted least square estimator as sample sizes increase. Next, the magnitude of mean square error of the ordinary least square estimator is depending on the magnitude of the bias of the estimator, which is large when the bias is large. Finally, with regard to approximate variance, variances of the ordinary least square estimator are smaller than those of the weighted least square estimator in many cases in the simulation.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.146-154
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• 2006

In this paper, we propose direct and indirect adaptive fuzzy sliding mode control approaches for a class of nonaffine nonlinear systems. In the direct case, we use the implicit function theory to prove the existence of an ideal implicit feedback linearization controller, and hence approximate it to attain the desired performances. In the indirect case, we exploit the linear structure of a Takagi-Sugeno fuzzy system with constant conclusion to establish an affine-in-control model, and therefore design an indirect adaptive fuzzy controller. In both cases, the adaptation laws of the adjustable parameters are deduced from the stability analysis, in the sense of Lyapunov, to get a more accurate approximation level. In addition to their robustness, the design of the proposed approaches does not require the upper bounds of both external disturbances and approximation errors. To show the efficiency of the proposed controllers, a simulation example is presented.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.401-406
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• 2004

In this paper, a new time-domain adaptive predistortion scheme is proposed to compensate for the nonlinearity of high power amplifiers (HPA) in OFDM systems. A complex Wiener-Hammerstein model (WHM) is adopted to describe the input-output relationship of unknown HPA with linear dynamics, and a power series model with memory (PSMWM) is used to approximate the HPA expressed by WHM. By using the PSMWM, the compensation input to HPA is calculated in a real-time manner so that the linearization from the predistorter input to the HPA output can be attained even if the nonlinear input-output relation of HPA is uncertain and changeable. In numerical example, the effectiveness of the proposed method is confirmed and compared with the identification method based on PSMWM.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.5
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• pp.789-797
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• 2003

In the procedure of the hydraulic control system design, a linearized approximate equation described by the first order terms of Taylor series has been widely used. Such a linearized equation is effective just near the operating point, However, pressure and flowrate in actual hydraulic systems are usually not confined near an operating point. This study suggests a new linearized flow equation for a servovalve as a modified form of the conventional linearized flow equation. Subsequently, a procedure to determine effective operating point for the new linearized equation is proposed. From the evaluations of time responses and frequency responses obtained from simulations for a hydraulic control system, the effectiveness of the new linearized equation and the procedure to determine effective operating point is confirmed.