• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.93.4-93
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• 2001

Based on input and output data pairs of nonlinear systems, this paper proposes a simple and effective Just-In-Time (JIT) method, called Direct JIT Control, for nonlinear control design. It uses an inverse model of controlled plant to compute an initial control action, and then adapts the initial control action by adding a fine-tuning control action, depended on the errors between the real outputs and the expected reference signals. Meanwhile, the proposed JIT method accomplishes the adaptation of the inverse model just simply by means of the refreshment of input and output data pairs. In addition, the JIT modeling technique guarantees this method to obtain an approximate inverse model of the controlled nonlinear plant in the neighborhood of a query. Based on a ...

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.5
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• pp.450-454
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• 1997

본 논문에서는 볼테라 비선형 시스템의 선형화를 위한 새로운 적응 선행처리 기법을 제시한다. 특히, 제안된 적응 선행처리 기법은 (i) 순수 비선형 왜곡 보상을 위한 부분(pure nonlinear distortion compensator: PNDC)과, (ii) 선형 왜곡 보상을 위한 선형 역필터(linear inverse filter: LIF)의 두 부분으로 구성된다. 본 논문의 선형화 기법의 장점으로는 기존의 P차 역(Pth-order inverse) 기법에 비하여 계산량이 상당히 감소되며, 적응 알고리듬이 보다 빠르고 안정된 수렴 특성을 나타낸다. 끝으로, 모의실험을 통하여, 제안된 선행처리 기법의 성능및 실제 적용 가능성을 살펴본다.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.987-992
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• 1988

In recent years there has been much interest in using light-weight, higher performance arms for both commercial and space-based applications, leading to the research of flexible robot manipulator. This paper is concerned with the trajectory control of a flexible arm using inverse dynamics. Inverse problems are important to robot control and programming, since they allow one to find the appropriate inputs necessary for producing the desired outputs. The input is obtained by the numerical inversion of Laplace transformation in the time domain. And we attempt the trajectory control experiment of a flexible arm using this calculated input. In this article we compare the numerical results with experimental results and can find good agreement. The results make clear that this technique has the good potential for the control of tip trajectory of flexible robot arms.

• Journal of Industrial Technology
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• v.21 no.A
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• pp.317-327
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• 2001

For soils with high void ratios, the inverse method of utilizing results obtained from centrifuge model test was used to find the constitutive relation of effective stress - void ratio - permeability whereas conventional oedometer test and constant rate of strain consolidation test were also used to fine its relation at ranges of relatively low void ratio. Results of column test about settlement of interface and pore pressure and distribution with time were compared with numerically estimated values to confirm such a constitutive relation as obtained from the inverse method. Consolidational settlement in dredged and reclaimed ground, where the consolidation was in progress, was predicted by using the numerical technique implemented with the finite strain consolidation theory.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.10
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• pp.1141-1149
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• 1988

The inverse scattering scheme, which was exploited for the reconstruction of complex permittivity profiles of 2-dimensional dielectric objects by using the moment method in the spatial domain, is modified to be applicable in the spectral domain. The presented scheme is conceptually simple and provides some proper ways to regularize the ill-posed characteristics inherent to the inverse scattering problems.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.05a
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• pp.486-489
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• 2004

The NAH based on the inverse BEM is used to reconstruct the source field, which is advantageous in dealing with the irregular source. In the implementation of this technique, a large number of pressure measurements is required because an over-determined pressure data set is required. These conditions accordingly cause the increase of measurement time and associated effort along with the error due to mal-positioning. The purpose of this study is to reduce such inconveniences: Instead of increasing the number of field pressure data, the number of transfer paths between the source and the receiver is increased by placing rigid scattering body in-between the source and receiver. For validating the usefulness and effectiveness of the method, the numerical analyses of interior problem are demonstrated. As a result, it is thought that the proposed method enables the measurement at smaller number of sensor positions and the monitoring of surface vibration with less experimental effects than before.

• Journal of the Korea Institute of Military Science and Technology
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• v.7 no.3 s.18
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• pp.69-76
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• 2004

In this paper, an efficient inverse design method for nose shape of submerged body based on the MGM(Modified Garabedian-McFadden) design method has been developed. The MGM design method is a residual-correction technique, in which the residuals are differences between the desired and the computed pressure distributions. 3-D incompressible Wavier-Stokes equation was adopted for obtaining the surface pressure distribution and combined with the MGM design method to perform the inverse design of nose shape of submerged body. The design method was verified by applying to several airfoil shapes. Improved design shapes could be obtained when the method was applied to nose shapes of submerged body.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.3-10
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• 2002

This study proposed a technique for inverse problem, linear approximation of contact position and loading in single and double meshing of spur gear, using 2-dimension model considered near the tooth by root stress. Determine root stress is carried out for the gear tooth by finite element method and boundary element method. Boundary element discretization near contact point is carefully performed to keep high computational accuracy. And from those estimated results, the comparing estimate value with boundary element method value was discussed.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.5
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• pp.85-95
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• 2001

This study proposed a technique for inverse problem, linear approximation of contact position and loading in single and double meshing of spiral bevel gear , using 2-dimension model considered near the tooth by root stress. Determine root stress is carried out far the gear tooth by finite element method and boundary element method. Boundary element discretization near contact point is carefully performed to keep high computational accuracy. And from those estimated results, the comparing estimate value with boundary element method value was discussed.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.12 no.5
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• pp.24-33
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• 2003

This study proposed a technique for inverse problem, linear approximation of contact position and loading in single and double meshing of transmission contact element using 2-dimension model considered near the tooth by root stress. Determination of root stress is carried out far the gear tooth by finite element method and boundary element method. Boundary element discretization near contact point is carefully performed to keep high computational accuracy. The predicted results of boundary element method are good accordance with that of finite element method.