• Smart Structures and Systems
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• v.31 no.5
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• pp.437-454
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• 2023

Real-time hybrid simulation (RTHS), which has the advantages of a substructure pseudo-dynamic test, is widely used to investigate the rate-dependent mechanical response of structures under earthquake excitation. However, time delay in RTHS can cause inaccurate results and experimental instabilities. Thus, this study proposes a model-based adaptive control strategy using a Kalman filter (KF) to minimize the time delay and improve RTHS stability and accuracy. In this method, the adaptive control strategy consists of three parts-a feedforward controller based on the discrete inverse model of a servohydraulic actuator and physical specimen, a parameter estimator using the KF, and a feedback controller. The KF with the feedforward controller can significantly reduce the variable time delay due to its fast convergence and high sensitivity to the error between the desired displacement and the measured one. The feedback control can remedy the residual time delay and minimize the method's dependence on the inverse model, thereby improving the robustness of the proposed control method. The tracking performance and parametric studies are conducted using the benchmark problem in RTHS. The results reveal that better tracking performance can be obtained, and the KF's initial settings have limited influence on the proposed strategy. Virtual RTHSs are conducted with linear and nonlinear physical substructures, respectively, and the results indicate brilliant tracking performance and superb robustness of the proposed method.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.30 no.5A
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• pp.382-388
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• 2005

An OFDM system may be a good candidate for a next-generation wireless communication system which requires high-speed and high-rate data transmission. In OFDM systems, guard intervals are inserted to mitigate the effects of ISI (Inter-Symbol Interference). But guard interval insertion degrades the system performance from the standpoint of data rate and bandwidth efficiency. In this paper, a new method to improve the performance of an OFDM system without guard interval. First, PIC (Parallel Interference Cancellation) scheme which can reduce ISI by subtracting the estimated multi-path components from the received signal will be considered. And the proposed system with Pseudo-Decorrelator estimates transmitted signals by using the inverse matrix of cross-correlation matrix relating to interference components. The performance of the proposed system is evaluated through computer simulations and compared with that of the PIC system and an OFDM system without guard interval.

• Transactions of the Korean Society of Automotive Engineers
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• v.16 no.6
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• pp.33-38
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• 2008

Most structures of vehicle are composed of many substructures connected to one another by various types of mechanical joints. In vehicle engineering, it is important to study these jointed structures under random frequency vibration for the evaluations of fatigue life and stress concentration exactly. It is rarely obtained the accurate load history of specified positions in a jointed structure because of the errors such as modeling, measurement, and etc. In the beginning of design, exact load data are actually necessary for the fatigue strength and life analysis to minimize the cost and time of designing. In this paper, the hybrid method of practical dynamic load determination is developed by the combination of the principal stresses from F. E. Analysis and test of a jointed structure. Least square pseudo inverse matrix is adopted to obtain an inverse matrix of analyzed stresses matrix. The error minimization method utilizes the inaccurate measured error and the shifting error that the whole data is stiffed over real data. The least square criterion is adopted to avoid these errors. Finally, to verify the proposed system, a heavy-duty bus is analyzed. This measurement and prediction technology can be extended to the different jointed structures.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.301-303
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• 2018

This paper describes a robot control system and control method of a human arm type redundant manipulator. The control of a redundant manipulator suffer from computational complexity and singularity problem because of numerical inverse kinematics. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of inverse kinematics. In this research, we propose a numerical control method and weighted pseudo inverse kinematics algorithm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regard to the end-effector pose. Performance of the proposed algorithm was verified by various simulations. It is shown that the trajectory planning and using this algorithm provides correct results near the singular points and can utilize redundancy intuitively. We proved this system's validity through field test.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1581-1584
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• 1997

This paper poropsed an efficient optimization technuque to resolve redundancy and a trajectory planning for a high precision control using proposed optimization technique. The proposed techniqus is the joint disturbance torque optimizatioin considering redundancy in the joing servo control. Joint disturbance torque is not unknown it is described dynamic equation ignored friction and viscosity. The proposed technique is used the dynamic equatiion included the joint disturbance torque characteristics. Numerical example of 3 joint planar redundant robot manipulator is simulated. In the 2-norm minimization of joint disturbance torque we compared pseudoinverse local optimization with proposed technique, and the results showed better the proposed technique. So the proposed technique can be highly precision controlled redundant robot manipulators in the joint servo control.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.7
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• pp.658-668
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• 2004

This paper is concerned with a control allocation strategy using the dynamic inversion and the pseudo inverse control which generates the nominal control input trajectories. In addition, an autopilot design method is proposed by using time-varying control technique which is time-varying version of the pole placement of linear time-invariant system for an agile missile with aerodynamic fin and thrust vectoring control. The control allocation proposed in this paper is capable of extracting the maximum performance by combining each control effector, aerodynamic fin and thrust vectoring control. The adopted time-varying control technique for the autopilot design enhances the robustness of the tracking performance for a reference command. The main results are validated through the nonlinear simulations with aerodynamic data.

• 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.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.138-141
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• 2005

In this paper, we propose a watermarking technique of multispectral images. In our method, the Principal Component Analysis (PCA) is preliminarily applied on the multispectral image. The most principal component image is used for embedding with a watermark, which is a pseudo-random number sequence generated with a secret key. The embedding process is performed in the wavelet domain. The resulting image is then reinserted into the principal component images, and the final multispectral image containing the watermark can be produced by the inverse PCA. Experimental results are provided to illustrate the performance of the algorithm against various kinds of attacks.

• Proceedings of the KIPE Conference
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• 2017.11a
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• pp.41-42
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• 2017

기존의 다중 코일을 이용한 소형 자성체를 제어하는 시스템에서 전류 벡터 지령은 구동 매트릭스의 pseudo-inverse를 사용하여 계산되었다. 본 논문에서는 기존의 전류 지령에 null space 전류 벡터 지령을 더하는 방법을 이용하여 현재 전류 벡터값과 목표 전류 벡터 지령 사이의 전류 변화량이 최소화 되는 전류 지령 수정 방식을 제안한다. 제한된 전압 정격 내에서 제안된 방식을 적용할 경우 전류 지령 벡터값에 도달하는 시간이 짧아짐으로, 기존 방식에 비해 빠른 반응성을 얻을 수 있다. 제안된 방법은 Matlab(R) Simulink(R)를 통해 검증하였다.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.14 no.3
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• pp.54-59
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• 2005

The cylindrical object are widely used as mechanical parts in the manufacturing process. In order to handling those objects using a robot or an automated machine automatically, the pose of the object must be known. The pose can be described by two rotation angles; one angle about the x axis and the other about the y axis. In the many previous researches these angles were obtained by the computationally intensive algorithm, that is, fitting the data as a polynomial and doing pseudo inverse. So that, this method required high performance microprocessor. In this paper in order to avoid complex computation, a new method based on a genetic algorithm is proposed and analyzed through a series of simulations. This algorithm utilized the geometry of the cylindrical shape. The simulation results show that this method find the pose angles very well In most cases, but the computation time is randomly changed because the genetic algorithm is basically one of the random search method.