• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.855-868
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• 2004

There are several types of singularities in controlling robotic manipulators: kinematic singularity, algorithmic singularity, semi-kinematic singularity, semi-algorithmic singularity, and representation singularity. The kinematic and algorithmic singularities have been investigated intensively because they are not predictable or difficult to avoid. The problem with these singularities is an unnecessary performance reduction in non-singular region and the difficulty in performance tuning. Tn this paper, we propose a method of avoiding kinematic and algorithmic singularities by applying a task reconstruction approach while maximizing the task performance by calculating singularity measures. The proposed method is implemented by removing the component approaching the singularity calculated by using singularity measure in real time. The outstanding feature of the proposed task reconstruction method (TR-method) is that it is based on a local task reconstruction as opposed to the local joint reconstruction of many other approaches. And, this method has dynamic task priority assignment feature which ensures the system stability under singular regions owing to the change of task priority. The TR-method enables us to increase the task controller gain to improve the task performance whereas this increase can destabilize the system for the conventional algorithms in real experiments. In addition, the physical meaning of tuning parameters is very straightforward. Hence, we can maximize task performance even near the singular region while simultaneously obtaining the singularity-free motion. The advantage of the proposed method is experimentally tested by using the 7-dof spatial manipulator, and the result shows that the new method improves the performance several times over the existing algorithms.

• International Journal of Control, Automation, and Systems
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• v.3 no.3
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• pp.419-429
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• 2005

This paper considers eigenstructure assignment in high-order linear systems via proportional plus derivative feedback. It is shown that the problem is closely related with a type of so-called high-order Sylvester matrix equations. Through establishing two general parametric solutions to this type of matrix equations, two complete parametric methods for the proposed eigenstructure assignment problem are presented. Both methods give simple complete parametric expressions for the feedback gains and the closed-loop eigenvector matrices. The first one mainly depends on a series of singular value decompositions, and is thus numerically very simple and reliable; the second one utilizes the right factorization of the system, and allows the closed-loop eigenvalues to be set undetermined and sought via certain optimization procedures. An example shows the effect of the proposed approaches.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.12
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• pp.95-104
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• 1997

We consider controller design problem to enhance shift quality for automatic transmission. A dynamic modeling related to shifting (mainly 2-3 up-shift) is constructed and nonlinear robust controllers are designed to reduce output torque during shifting. Suggesting a new hydraulic circuit enabling the direct clutch drive, the control activity is extended and more implementable than the conventional design. The designed robust controllers overcome the unmodeled dynamics and the uncertainty embending in the system. Moreover, the dynamic effect between the clutch pressure and the PWM valve duty is considered via singular perturbation technique.

• International Journal of Control, Automation, and Systems
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• v.5 no.5
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• pp.508-514
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• 2007

Properties and potential applications of the block pulse response circulant matrix (PRCM) and its singular value decomposition (SVD) are investigated in relation to MIMO control and identification. The SVD of the PRCM is found to provide complete directional as well as frequency decomposition of a MIMO system in a real matrix form. Three examples were considered: design of MIMO FIR controller, design of robust reduced-order model predictive controller, and input design for MIMO identification. The examples manifested the effectiveness and usefulness of the PRCM in the design of MIMO control and identification. irculant matrix, SVD, MIMO control, identification.

• Structural Engineering and Mechanics
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• v.48 no.2
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• pp.241-255
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• 2013

The receding contact problem for two elastic layers whose elastic constants and heights are different supported by two elastic quarter planes is considered. The lower layer is supported by two elastic quarter planes and the upper elastic layer is subjected to symmetrical distributed load whose heights are 2a on its top surface. It is assumed that the contact between all surfaces is frictionless and the effect of gravity force is neglected. The problem is formulated and solved by using Theory of Elasticity and Integral Transform Technique. The problem is reduced to a system of singular integral equations in which contact pressures are the unknown functions by using integral transform technique and boundary conditions of the problem. Stresses and displacements are expressed depending on the contact pressures using Fourier and Mellin formula technique. The singular integral equation is solved numerically by using Gauss-Jacobi integration formulation. Numerical results are obtained for various dimensionless quantities for the contact pressures and the contact areas are presented in graphics and tables.

• Journal of applied mathematics & informatics
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• v.22 no.1_2
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• pp.49-65
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• 2006

A robust numerical method for a singularly perturbed second-order ordinary differential equation having two parameters with a discontinuous source term is presented in this article. Theoretical bounds are derived for the derivatives of the solution and its smooth and singular components. An appropriate piecewise uniform mesh is constructed, and classical upwind finite difference schemes are used on this mesh to obtain the discrete system of equations. Parameter-uniform error bounds for the numerical approximations are established. Numerical results are provided to illustrate the convergence of the numerical approximations.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.301-305
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• 1996

$\mu$ theory can handle the parametric uncertainty and produces more non-conservative controller than H$_{\infty}$ control theory. However an existing solution of the theory, D-K iteration, creates a controller of huge order and cannot handle the real or mixed real-complex perturbation sets. In this paper, we use genetic algorithms to solve these problems of the D-K iteration method. The Youla parameterization is used to obtain all stabilizing controllers and the genetic algorithms determines the values of the state feedback gain, the observer gain, and Q parameter to minimize $\mu$, the structured singular value, of given system. From an example, we show that this method produces lower order controller which controls a real parameter-perturbed plant than D-K iteration method.

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.315-318
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• 2003

This paper proposes a switching control method applicable to any affine, 2nd order nonlinear system with single input. The key contribution is to develop a control design method which uses a piecewise continuous Lyapunov function non-increasing at every discontinuous point. The proposed design method requires no restrictions except full state availability. To obtain a non-increasing, piecewise continuous Lyapunov function, we change the sign of off-diagonal term s of the positive definite matrix composing the former Lyapunov function according to the sign of the Inter-connection term. And we use the solution of inequalities which guarantee each Lyapunov function is non-increasing at any discontinuous point.

• KSBB Journal
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• v.16 no.4
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• pp.381-388
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• 2001

A program for integrated gene expression profile analysis such as hierarchical clustering, K-means, fuzzy c-means, self-organizing map(SOM), principal component analysis(PCA), and singular value decomposition(SVD) was made for DNA chip data anlysis by using Matlab. It also contained the normalization method of gene expression input data. The integrated data anlysis program could be effectively used in DNA chip data analysis and help researchers to get more comprehensive analysis view on gene expression data of their own.

• Nuclear Engineering and Technology
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• v.39 no.3
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• pp.221-230
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• 2007

Wavelet theory was applied to detect a singularity in a reactor power signal. Compared to Fourier transform, wavelet transform has localization properties in space and frequency. Therefore, using wavelet transform after de-noising, singular points can easily be found. To test this theory, reactor power signals were generated using the HANARO(a Korean multi-purpose research reactor) dynamics model consisting of 39 nonlinear differential equations contaminated with Gaussian noise. Wavelet transform decomposition and de-noising procedures were applied to these signals. It was possible to detect singular events such as a sudden reactivity change and abrupt intrinsic property changes. Thus, this method could be profitably utilized in a real-time system for automatic event recognition(e.g., reactor condition monitoring).