• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.772-776
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• 1997

For a robot to perfom more versatile tasks, it is invitable for the robot's end-effector to come into contact with its environment. In thos case, to achieve better performance, it is necessary to properly control the contact force between the robot and the environment. In thos work, hybrid control theory is studied and is verified through experiment using a 3 DOF robot. In the experiment, two position/force controllers are used. Fist, proportional-integral-derivative controller is used as the controller for both position and force. Second, computed-torque method is used as the position controller, and proportional-integral-derivative controller is used as the force controller. For a proper modeling used in computed-torque method, the friction torque is measured by experiment, and compensation method is studied. The hybrid control method used in this experiment effectively control the contact force between the end-effector and the environment for various types of jobs.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.6
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• pp.72-79
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• 1995

The purpose of this paper is to develop an automatic measuring system based on the digital image processing which can be applied to the in-process measurment of the characteristics of the thin thickness. The derivative operators is used for edge detection in gray level image. This concept can be easily illustrated with the aid of object shows an image of a simple light object on a dark background, the gray level profile along a horizontal scan line of the image, and the first and second derivatives of the profile. The first derivative of an edge modeled in this manner is 0 in all regions of constant gray level, and assumes a constant value during a gray level transition. The experimental results indicate that the developed automatic inspection system can be applied in real situation.

• Journal of applied mathematics & informatics
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• v.7 no.3
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• pp.765-772
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• 2000

In this study we are concerned with the problem of approximating a solution of a nonlinear equation in Banach space using Newton-like methods. Due to rounding errors the sequence of iterates generated on a computer differs from the sequence produced in theory. Using Lipschitz-type hypotheses on the second Frechet-derivative instead of the first one, we provide sufficient convergence conditions for the inexact Newton-like method that is actually generated on the computer. Moreover, we show that the ratio of convergence improves under our conditions. Furthermore, we provide a wider choice of initial guesses than before. Finally, a numerical example is provided to show that our results compare favorably with earlier ones.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.36 no.4
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• pp.252-258
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• 1987

Time periodic finite element solutions for sinusoidally excited electromagnetic field problems in moving media are presented. Solutions by the Galerkin method contain spurious oscillations when grid Peclet number is more than one. To suppress these oscillations an upwind finite element method using two different time periodic test functions is introduced. One is multiplied to second and first-order space derivative terma and the other to the time derivative term. Test functions are obtained from trial functions by adding or subtracting quadratic bias functions with appropriate scaling factors. Phase differences are considered between trial functions and bias functions. For simple interpretations of the phase differences, complex scaling factors are used. The proposed method is developed to give nodally exact solutions for uniform grid spacing in one dimensional problems. Based on the one dimensional results, a two dimensional upwinding scheme is also derived.

• Archives of Pharmacal Research
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• v.23 no.4
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• pp.329-331
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• 2000

4-(p-Chlorophenyl)tetralone (6) and 7-chloro-5-(p-chlorophenyl)tetralone (9) are key intermediates for the development of benzazepinone derivative haftens. These compounds could be synthesized from 4-phenyltetralone derivatives by triflic acid catalyzed Friedel-Crafts reaction. The reaction mechanism of Friedel-Crafts alkylation/acylation with lactones in triflic acid is presented. According to our tentative research, ring opening of protonated lactone (2) occurs in alkyl cleavage and the rate of the reaction is not dependent on concentration of triflic acid. So, alkylation of lactone in Friedel-Crafts reaction is presumed to be $A_{AL}$ 1. In second step, intramolecular acylation of the intermediates 4 to 6, 4 can be transformed to a triflic acid-carboxylic anhydride and then the cyclization is undergone after leaving of the triflate anion.

• Proceedings of the KIEE Conference
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• 1996.11a
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• pp.186-189
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• 1996

Convential inrush current detection method is used to harmonic restraint method by filtered second frequency component. Nowadays this technique must be modified because harmonics are occurred in steady state of power system. A purpose of this study is to develop of inrush current detection relaying algorithm for power transformer based on flux-current derivative curve method. We used the relaying signals obtained from EMTP simulation.

• Communications of the Korean Mathematical Society
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• v.36 no.4
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• pp.743-757
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• 2021

We consider a different version of Schwarz Lemma for λ-spirallike function of complex order at the boundary of the unit disc D. We estimate the modulus of the angular derivative of the function $\frac{zf^{\prime}(z)}{f(z)}$ from below for λ-spirallike function f(z) of complex order at the boundary of the unit disc D by taking into account the zeros of the function f(z)-z which are different from zero. We also estimate the same function with the second derivatives of the function f at the points z = 0 and z = z₀ ≠ 0. We show the sharpness of these estimates and present examples.

• Nonlinear Functional Analysis and Applications
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• v.27 no.2
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• pp.433-448
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• 2022

The Cartan's second curvature tensor Pⁱ_jkh is a positively homogeneous of degree-1 in yⁱ, where yⁱ represent a directional coordinate for the line element in Finsler space. In this paper, we discuss the decomposition of Cartan's second curvature tensor Pⁱ_jkh in two spaces, a generalized 𝔅P-recurrent space and generalized 𝔅P-birecurrent space. We obtain different tensors which satisfy the recurrence and birecurrence property under the decomposition. Also, we prove the decomposition for different tensors are non-vanishing. As an illustration of the applicability of the obtained results, we finish this work with some illustrative examples.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.26 no.4
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• pp.185-223
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• 2022

The classical equation of Jonathan Homer Lane and Robert Emden, a nonlinear second-order ordinary differential equation, models the isothermal spherical clouded gases under the influence of the mutual attractive interaction between the gases' molecules. In this paper, the Adomian decomposition method (ADM) is presented to obtain highly accurate and reliable analytical solutions of a class of generalised Lane-Emden equations with strong nonlinearities. The nonlinear term f(y(x)) of the proposed problem is given by the integer powers of a continuous real-valued function h(y(x)), that is, f(y(x)) = h^m(y(x)), for integer m ≥ 0, real x > 0. In the end, numerical comparisons are presented between the analytical results obtained using the ADM and numerical solutions using the eighth-order nested second derivative two-step Runge-Kutta method (NSDTSRKM) to illustrate the reliability, accuracy, effectiveness and convenience of the proposed methods. The special cases h(y) = sin y(x), cos y(x); h(y) = sinh y(x), cosh y(x) are considered explicitly using both methods. Interestingly, in each of these methods, a unified result is presented for an integer power of any continuous real-valued function - compared with the case by case computations for the nonlinear functions f(y). The results presented in this paper are a generalisation of several published results. Several examples are given to illustrate the proposed methods. Tables of expansion coefficients of the series solutions of some special Lane-Emden type equations are presented. Comparisons of the two results indicate that both methods are reliably and accurately efficient in solving a class of singular strongly nonlinear ordinary differential equations.

• Communications of the Korean Mathematical Society
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• v.17 no.1
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• pp.103-120
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• 2002

A second order upwind method for linear hyperbolic systems is studied in this paper. The method approximates solutions as piecewise linear functions, and state variables and slopes of the linear functions for next time step are computed separately. We present a new method for the computation of slopes, derived from an upwinding difference for a derivative. For nonoscillatory solutions, a monotonicity algorithm is also proposed by modifying an existing algorithm. To validate our second order upwind method, numerical results for linear advection equations and linear systems for elastic and acoustic waves are given.