• The Journal of Korea Robotics Society
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• v.4 no.2
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• pp.88-96
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• 2009

In this paper, we present a linear controller for attitude of aircraft. We use a rotational matrix in one approach and a quaternion in the other approach. We also find some interesting mathematical properties concerning a symmetric rotational matrix and we use these properties to analyze the stability of the proposed control law. We find that the quaternion approach is better than rotational matrix approach because there exists no singular region problem in quaternion approach. On the other hand, singular region problem may happens in rotational matrix approach. The controller structure of the quaternion is also very simple compared with the one proposed by using a rotational matrix approach. We make use Matlab Simulink to simulate and illustrate the theoretical claims. The graphic animation program is developed based on Open-GL for the computer simulation of the proposed control algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1933-1938
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• 2003

A covariance matrix is a tool that expresses odometry uncertainty of the wheeled mobile robot. The covariance matrix is a key factor in various localization algorithms such as Kalman filter, topological matching and so on. However it is not easy to acquire an accurate covariance matrix because we do not know the real states of the robot. Up to the authors knowledge, there seems to be no established result on the covariance matrix estimation for the odometry. In this paper, we propose a new method which can estimate the covariance matrix from empirical data. It is based on the PC-method and shows a good estimation ability. The experimental results validate the performance of the proposed method.

• ETRI Journal
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• v.36 no.1
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• pp.167-170
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• 2014

In this letter, we propose an unsupervised framework for speech noise reduction based on the recent development of low-rank and sparse matrix decomposition. The proposed framework directly separates the speech signal from noisy speech by decomposing the noisy speech spectrogram into three submatrices: the noise structure matrix, the clean speech structure matrix, and the residual noise matrix. Evaluations on the Noisex-92 dataset show that the proposed method achieves a signal-to-distortion ratio approximately 2.48 dB and 3.23 dB higher than that of the robust principal component analysis method and the non-negative matrix factorization method, respectively, when the input SNR is -5 dB.

• International Journal of Automotive Technology
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• v.2 no.3
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• pp.117-122
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• 2001

For a dynamic analysis of a constrained multibody system, it is necessary to have a routine for satisfying kinematic constraints. LU decomposition scheme, which is used to divide coordinates into dependent and independent coordinates, is efficient but has great difficulty near the singular configuration. Other method such as the projection matrix, which is more stable near a singular configuration, takes longer simulation time due to the large amount of calculation for decomposition. In this paper, the row space and the null space of the Jacobian matrix are proposed by using the pseudo-inverse method and the projection matrix. The equations of the motion of a system are replaced with independent acceleration components using the null space of the Jacobian matrix. Also a new hybrid method is proposed, combining the LU decomposition and the projection matrix. The proposed hybrid method has following advantages. (1) The simulation efficiency is preserved by the LU method during the simulation. (2) The accuracy of the solution is also achieved by the projection method near the singular configuration.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.5
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• pp.188-194
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• 2001

Metal matrix composites with whisker reinforcements have significant potential for demanding mechanical applications including defense, aerospace, and automotive industries. Especially, metal matrix composites, which are reinforced with aluminum borate whisker, have been used for the part of piston head in automobile because of good specific strength and wear resistance. Aluminum alloy-based metal matrix composites with whisker reinforcements have been produced using squeeze casting method, which is kind of an infiltration method. In this study, AC4CH-based metal matrix composites with $Al_{18}B$_4$O_{33}$ reinforcement have been produced using squeeze casting method, after T6 heat treatment, we evaluated mechanical properties of matrix and MMC composite were evaluated.

• Communications of the Korean Mathematical Society
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• v.29 no.2
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• pp.227-237
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• 2014

For an $m{\times}n$ nonnegative integral matrix A, a generalized inverse of A is an $n{\times}m$ nonnegative integral matrix G satisfying AGA = A. In this paper, we characterize nonnegative integral matrices having generalized inverses using the structure of nonnegative integral idempotent matrices. We also define a space decomposition of a nonnegative integral matrix, and prove that a nonnegative integral matrix has a generalized inverse if and only if it has a space decomposition. Using this decomposition, we characterize nonnegative integral matrices having reflexive generalized inverses. And we obtain conditions to have various types of generalized inverses.

• Proceedings of the Technology Innovation Conference
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• 1997.07a
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• pp.175-194
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• 1997

The competitive power of technologies is required for survival of enterprises in the social environments that change rapidly. So the strategy of technology development becomes more and more important. For the establishment of strategy, the situational analysis and the forecasting analysis are executed and they include the technology assessment and the technological forecasting. The technology assessment is systematical examination and analysis of the present status of technology. Among the various methods of technology assessment, Matrix Method is one of the usual methods. This research is intended to find out the problems and the difficulties in the current Matrix Method, and to improve the method, finally to help the R&D departments of enterprises applying the method. This suggested matrix(TSM Technology Shift Matrix) method is designed so that one can judge the current situation of technology and future expectation, by moving the matrix which is placed to the upside of the basic matrix.

• Journal of the Korean Society of Systems Engineering
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• v.12 no.1
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• pp.1-5
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• 2016

Most of systems engineers make a traceability matrix and attach it to their technical documents as a result of systems engineering activities. I have been working in the field of systems engineering for many years and have been watching traceability matrices created by systems engineers or developers from various companies. I have been thinking that some of them are not suitable in terms of purposes of traceability matrix. In this paper, I would like to suggest a right template for the traceability matrix in conformance to traceability purposes. The key is that traceability matrix should be created from higher level of requirements to current level of requirements.

• Proceedings of the KWS Conference
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• 2000.10a
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• pp.216-218
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• 2000

In case of hardfaced wrapping roll, beadmark shape appear at wrapping roll surface due to irregular wear between weld bead. Irregular wear of this is caused by difference of hardness between weld bead. This study aims at investigating which matrix is good for removing of beadmark at wrapping roll surface. So, we make specimen with martensitic matrix and austenitic matrix. The hardfacing alloys were deposited 4 times on a SS41 steel plate using self-shielding flux cored arc welding method. Difference of hardness between weld bead of specimen with matrix of martensite was higher than specimen with matrix of austenite both as-welded and after heat treatment. Therefore, austenitic matrix is better than martensitic matrix for removing of beadmark of wrapping roll surface.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.7
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• pp.577-582
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• 2013

In this paper Legendre wavelets are used to approximate the solutions of linear time-invariant system. The Legendre wavelet and its integral operational matrix are presented and an efficient algorithm to solve the Sylvester matrix equation is proposed. The algorithm is based on the decomposition of the Sylvester matrix equation and the preorder traversal algorithm. Using the special structure of the Legendre wavelet's integral operational matrix, the full order Sylvester matrix equation can be solved in terms of the solutions of pure algebraic matrix equations, which reduce the computation time remarkably. Finally a numerical example is illustrated to demonstrate the validity of the proposed algorithm.