• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.460-465
• /
• 2004

In this paper, we present some properties on receding horizon $H_{\infty}$ control for nonlinear discrete-time systems. First, we propose the nonlinear inequality condition on the terminal cost for nonlinear discrete-time systems. Under this condition, noninceasing monotonicity of the saddle point value of the finite horizon dynamic game is shown to be guaranteed. We show that the derived condition on the terminal cost ensures the closed-loop internal stability. The proposed receding horizon $H_{\infty}$ control guarantees the infinite horizon $H_{\infty}$ norm bound of the closed-loop systems. Also, using this cost monotonicity condition, we can guarantee the asymptotic infinite horizon optimality of the receding horizon value function. With the additional condition, the global result and the input-to-state stable property of the receding horizon value function are also given. Finally, we derive the stability margin for the saddle point value based receding horizon controller. The proposed result has a larger stability region than the existing inverse optimality based results.

• Journal of KIISE
• /
• v.44 no.7
• /
• pp.726-732
• /
• 2017

In practical distributed sensing and prediction applications over wireless sensor networks (WSN), environmental sensing activities are highly dynamic because of noisy sensory information from moving source signals. The recent distributed online convex optimization frameworks have been developed as promising approaches for solving approximately stochastic learning problems over network of sensors in a distributed manner. Negligence of mobility consequence in the original distributed saddle point algorithm (DSPA) could strongly affect the convergence rate and stability of learning results. In this paper, we propose an integrated sliding windows mechanism in order to stabilize predictions and achieve better convergence rates in cooperative detection of a moving source signal scenario.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.68 no.1
• /
• pp.172-181
• /
• 2019

This paper deals with the problem of generating the energy optimal trajectory which is intended to enhance the target tracking performance of a passive homing missile. Noticing that the essence of passive target tracking is the range estimation problem, the target information gathered by passive measurements can be readily analyzed by introducing the range estimator designed in line-of-sight(LOS) frame. Moreover, for the linear filter structure of the suggested range estimator, the cost function associated with the target information is clearly expressed as a function of the line-of-sight rate. Based on this idea, the optimal missile trajectory maximizing the target information is obtained by solving the saddle point problem for an indefinite quadratic cost which consists of the target information and the energy. It is shown that, different from the previous heuristic approaches, the guidance command producing the optimal passive homing trajectory is produced by the modified proportional navigation guidance law whose navigation constant is determined by the weighting coefficient for target information cost.

• Proceedings of the Korea Concrete Institute Conference
• /
• 1998.10a
• /
• pp.405-411
• /
• 1998

An iterative numerical computational algorithm is presented to design a plate of shell element subjected to membrane and flexural forces. Based on equilibrium consideration, equations for capacities of top and bottom reinforcements in two orthogonal directions have been derived. The amount of reinforcement is determined locally, i. e., for each sampling point, from the equilibrium between applied and internal forces. One case of design is performed for a hyperbolic paraboloid saddle shell (originally used by Lin and Scordelis) to check the design strength against a consistent design load, therefore, to verify the adequacy of design practice for reinforced concrete shells. Based on nonlinear analyses performed, the analytically calculated ultimate load exceeded the design ultimate load from 14-43% for an analysis with relatively low to high tension stiffening, ${\gamma}$ =5~20 cases. For these cases, the design method gives a lower bound on the ultimate load with respect to Lower bound theorem. This shows the adequacy of the current practice at least for this saddle shell case studied. To generalize the conclusion many more designs-analyses are performed with different shell configurations.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 1998.04a
• /
• pp.88-93
• /
• 1998

Since rattling noise, which occur in mechanical linkage with free play or glove boxes in passenger cars, play an important role in the generation of industrial noise and vibration, it is interest to study these dynamics. A difference equations are derived which described the motions of a mass constrained by pre-compressed spring and forced by a high frequency base excitation. Two types of saddle are founded from these difference equations and the stable and unstable manifolds are constructed in these saddle point. For a certain region in a parameter space of exciting displacement and coefficient of restitution, transversal intersections of stable and unstable manifolds exist. Therefore it is founded that there are large families of periodic and irregular non-periodic motions in rattling system i.e. chaos motion is observed.

• Structural Engineering and Mechanics
• /
• v.4 no.5
• /
• pp.529-540
• /
• 1996

The dynamic buckling mechanism of a single-degree-of-freedom dissipative/nondissipative gradient system is thoroughly studied, employing energy criteria. The model is chosen in such a manner, that its corresponding static response is associated with all types of distinct critical points. Under a suddenly applied load of infinite duration, it is found that dynamic buckling, occurring always through a saddle, leads to an escaped motion, which is finally attracted by remote stable equilibrium positions, belonging sometimes also to complementary paths. Moreover, although the existence of initial imperfection changes the static behaviour of the system from limit point instability to bifurcation, it is established that the proposed model is dynamically stable in the large, regardless of the values of all other parameters involved.

• Journal of Theoretical and Applied Mechanics
• /
• v.1 no.1
• /
• pp.29-67
• /
• 1995

A procedure is formulated, in this paper, to compute the bifurcation modes born by the stability change of normal modes, and to compute the forced responses associated with bifurcation modes in inertially and elastically coupled nonlinear oscillators. It is assumed that a saddle-loop is formed in Poincare map at the stability chage of normal modes. In order to test the validity of procedure, it is applied to one-to-one internal resonant systems in which the solutions are guaranteed within the order of a small perturbation parameter. The procedure is also applied to the exact system in which normal modes are written in exact form and the stability of normal modes can be exactly determined. In this system the stability change of normal modes occurs several times so that various types of bifurcation modes are created. A method is described to identify a fixed point on Poincare map as one of bifurcation modes. The limitations and advantage of proposed procedure are discussed.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.23 no.11
• /
• pp.1426-1433
• /
• 1999

Topological and kinematical studies of the singular points found in flows around a surface-mounted cube in a channel are presented. Numerical simulation was carried out using high-resolution grid systems. Singular points(saddles and nodes) were found around the cube, which satisfy the topological rules suggested by Hunt et al. As the Reynolds number increases, the structure of vortices around the cube becomes complex and the number of singular points increases. Nevertheless, the rule governing the numbers of singular points is still valid. This confirms that our simulation is correct from topological and kinematical point of view, and enables one to infer complex flow patterns in our simulation.

• Food Engineering Progress
• /
• v.13 no.1
• /
• pp.8-15
• /
• 2009

This study was investigated on optimal conditions of the functional activities of ${\beta}$-glucan which was extracted from rice bran (RB) and rice germ (RG) using response surface methodology. The extraction temperature was varied in the $80-100^{\circ}C$, the extraction time between 2-10 min, and the ethanol concentration was in the interval of 30-70%. A central composite design was applied to investigate the effects of independent variables of extraction temperature ($X_1$), extraction time ($X_2$) and ethanol concentration ($X_3$) on dependent variables such as electron donating ability of RB ($Y_1$), electron donating ability of RG ($Y_2$), total phenolics of RB ($Y_3$), total phenolics of RG ($Y_4$), ${\beta}$-glucan contents of RB ($Y_5$) and ${\beta}$-glucan contents of RG ($Y_6$). As a result, the highest $Y_1$ level was 84.02% at $92.60^{\circ}C$, 2.75 min and 60.41% in saddle point. This value was affected by extraction temperature (P<0.05). The value of $Y_2$ was found to be the highest at $87.52^{\circ}C$, 2.23 min and 54.40% in saddle point. The highest $Y_3$ level was $98.56^{\circ}C$, 6.69 min and 40.26% in saddle point, and this extraction was greatly influenced by extraction temperature (P<0.01) and ethanol concentration (P<0.05). The value of $Y_4$ was found to be highest at $95.73^{\circ}C$, 9.19 min and 53.67% in minimum point. The value of $Y_5$ was found to be the highest at $96.23^{\circ}C$, 7.70 min and 63.69% in saddle point. The value of $Y_6$ was found to be highest at $87.82^{\circ}C$, 2.10 min and 50.03% in minimum point, and this extraction was greatly influenced by extraction time (P<0.01).

• Archives of Plastic Surgery
• /
• v.39 no.2
• /
• pp.113-117
• /
• 2012

Background : Nasal pyramid fractures accompanied by saddle nose deformities are not easily corrected by closed reduction. We used an absorbable plate as a perpendicular strut to support the collapsed "keystone area" and obtained good results. Methods : Between September 2008 and June 2011, 18 patients who had nasal pyramid fractures with saddle nose deformities underwent surgery. Pre- and postoperative facial computed tomographic images and photographs were taken to estimate outcomes. The operative technique included the mucoperichondrial dissection of the nasal septum, insertion of an absorbable plate prepared to an appropriate length to support the "keystone area", and fixation of the absorbable plate strut to the cartilaginous septum. Results : Functional and esthetic outcomes were satisfactory in all patients. Eleven patients assessed the postoperative appearance of the external nose as 'markedly improved' and 7 patients as 'improved'. The 5 surgeons scored the results as a mean of 4.5 on a 5-point scale. Conclusions : The use of an absorbable plate as a perpendicular strut requires no additional procedures because the plate is gradually absorbed. The mechanical strength provided by a buttress between the "keystone area" and the maxillary crest lasts for a long time before the strut is absorbed.