• Journal of Advanced Marine Engineering and Technology
• /
• v.27 no.5
• /
• pp.641-647
• /
• 2003

The use of infrared range-finder sensor as the environment recognition system for mobile robot have the advantage of low sensing cost compared with the use of other vision sensor such as laser finder CCD camera. However, it is not easy to find the previous works on the use of infrared range-finder sensor for a mobile robot because of the non-linear characteristic of that. This paper describes the error due to non-linearity of a sensor and the correction of it using neural network. The neural network consists of multi-layer perception and Levenberg-Marquardt algorithm is applied to learning it. The effectiveness of the proposed algorithm is verified from experiment.

• Journal of the Korean Society for Railway
• /
• v.9 no.1 s.32
• /
• pp.63-68
• /
• 2006

This paper proposes a fast Fourier transform(FFT)-based spectral analysis method(SAM) for the dynamic responses of the linear discrete dynamic models with non-proportional damping. The SAM was developed by using discrete Fourier transform(DFT)-theory. To verify the proposed SAM, a three-DOF system with non-proportional viscous damping is considered as an illustrative example. The present SAM is evaluated by comparing the dynamic responses obtained by SAM with those obtained by Runge-Kutta method.

• Smart Structures and Systems
• /
• v.2 no.1
• /
• pp.47-60
• /
• 2006

Bi-spectrum is a tool in the signal processing for identification of non-linear dynamic behvaiour in systems, and well-known for stationary system where components are non-linearly interacting. Breathing of a crack during shaft rotation is also exhibits a non-linear behaviour. The crack is known to generate 2X (twice the machine RPM) and higher harmonics in addition to 1X component in the shaft response during its rotation. Misaligned shaft also shows similar such feature as a crack in a shaft. The bi-spectrum method has now been applied on a small rotating rig to observe its features. The bi-spectrum results are found to be encouraging to distinguish these faults based on few experiments conducted on a small rig. The results are presented here.

• Structural Engineering and Mechanics
• /
• v.27 no.1
• /
• pp.17-32
• /
• 2007

The main source of transverse vibration of a conveyor belt is frictional contact between pulley and belt. Also, environmental characteristics such as natural dampers and springs affect natural frequencies, stability and bifurcation points of system. These phenomena can be modeled by a small velocity fluctuation about mean velocity. Also, viscoelastic foundation can be modeled as the dampers and springs with continuous characteristics. In this study, non-linear vibration of a conveyor belt supported partially by a distributed viscoelastic foundation is investigated. Perturbation method is applied to obtain a closed form analytic solutions. Finally, numerical simulations are presented to show stiffness, damping coefficient, foundation length, non-linearity and mean velocity effects on location of bifurcation points, natural frequencies and stability of solutions.

• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.16 no.3
• /
• pp.301-309
• /
• 2003

The non linear control algorithm with actuator saturation for a randomly excited oscillator has been widely explored and has shown promising results, but the probabilistic analysis of the algorithm has been rarely made due to its non-linear nature and the fact that the analytical solution of probability density function (PDF) for controlled responses does not exist. In this paper, a method for the probabilistic analysis on the non linear control algorithm with actuator saturation is proposed based on the equivalent non linear system method. Numerical examples are given to verify the approximation solution of PDF comparing to a statistically obtained PDF using a Gaussian white noise and a Kanai - Tagimi filtered Gaussian white noise.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.11 no.9
• /
• pp.431-438
• /
• 2001

This paper present experimental results of source identification for non-minimum phase system. Generally, a causal linear system may be described by matrix form. The inverse problem is considered as a matrix inversion. Direct inverse method can\`t be applied for a non-minimum phase system, the reason is that the system has ill-conditioning. Therefore, in this study to execute an effective inversion, SVD inverse technique is introduced. In a Non-minimum phase system, its system matrix may be singular or near-singular and has one more very small singular values. These very small singular values have information about a phase of the system and ill-conditioning. Using this property we could solve the ill-conditioned problem of the system and then verified it for the practical system(cantilever beam). The experimental results show that SVD inverse technique works well for non-minimum phase system.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.57 no.3
• /
• pp.458-465
• /
• 2008

In this paper, we propose a non-fragile guaranteed cost controller design method for uncertain linear systems with constant delyas in state. The norm bounded and time-varying uncertainties are subjected to system and controller design matrices. A quadratic cost function is considered as the performance measure for the system. Based on the Lyapunov method, an LMI(Linear Matrix Inequality) optimization problem is established to design the controller which uses information of delayed state and minimizes the upper bound of the quadratic cost function for all admissible system uncertainties and controller gain variations. Numerical examples show the effectiveness of the proposed method.

• International Journal of Aeronautical and Space Sciences
• /
• v.5 no.2
• /
• pp.35-42
• /
• 2004

Among other critical conditions in rotor svstems the large non-linearvibration excited by bearing non-linearity causes the rotor failure. For reducing thiscatastrophic failure and predictive analysis of this phenomena the identificationanalysis of bearing non-linearity in an anisotropic rotor system using the higherorder dFRFs are developed and are shown to be theoretically feasible as innon-rotating structures. For the identification of the anisotropic rotor withanisotropic bearing non-linearity expressed by the displacement in polynomial form,the higher order dFRFs based upon the Volterra series are investigated and depicttheir features by using the simple forms of the normal and reverse dFRFs. Theyproduce additional sub-harmonic resonant peaks, which indicate the existence ofhigher order non-linearties, and show the energy transfer such that the modes fornormal and reuerse dFRFs are exchanged, which are the fundamental differencesfrom what we can expect in linear ones.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.3
• /
• pp.211-217
• /
• 2011

This paper proposes a quasi-optimal linear DOA (Direction-of-Arrival) estimator which is necessary for the development of a real-time robot auditory system tracking moving acoustic source. It is well known that the use of conventional nonlinear filtering schemes may result in the severe performance degradation of DOA estimation and not be preferable for real-time implementation. These are mainly due to the inherent nonlinearity of the acoustic signal model used for DOA estimation. This motivates us to consider a new uncertain linear acoustic signal model based on the linear prediction relation of a noisy sinusoid. Using the suggested measurement model, it is shown that the resultant DOA estimation problem is cast into the NCRKF (Non-Conservative Robust Kalman Filtering) problem [12]. NCRKF-based DOA estimator provides reliable DOA estimates of a fast moving acoustic source in spite of using the noise-corrupted measurement matrix in the filter recursion and, as well, it is suitable for real-time implementation because of its linear recursive filter structure. The computational efficiency and DOA estimation performance of the proposed method are evaluated through the computer simulations.

• Korean System Dynamics Review
• /
• v.10 no.1
• /
• pp.61-76
• /
• 2009

We try to use system dynamics to forecast the demand/supply and price, also transportation fare for iron ore. Iron ore is very important mineral resource for industrial production. The structure for this system dynamics shows non-linear pattern and we anticipated the system dynamic method will catch this non-linear reality better than the regression analysis. Our model is calibrated and tested for the past 6 year monthly data (2003-2008) and used for next 6 year monthly data(2008-2013) forecasting. The test results show that our system dynamics approach fits the real data with higher accuracy than the regression one. And we have run the simulations for scenarios made by possible future changes in demand or supply and fare related variables. This simulations imply some meaningful price and fare change patterns.