• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.12-12
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• 2000

This paper consider a new weighted model reduction using block diagonal solutions of Lyapunov inequalities. With the input and/or output weighting function, the stability of reduced order system is quaranteed and a priori error bound is proposed. to achieve this, after finding the solutions of two Lyapunov inequalities and balancing the full order system, we find the reduced order systems using the direct truncation and the singular perturbation approximation. The proposed method is compared with other existing methods using numerical example.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 G
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• pp.3083-3085
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• 1999

This paper presents an algorithm that the mobile robot track accurately a moving object with information from a CCD camera mounted on mobile robot. Singular Value Decomposition is adapted to remove the measurement noise of a Raw data of CCD. The mobile robot estimate the trajectory using Kalman filter and track the path of a moving object with a servo motor. Computer simulation results are showed that the efficient tracking system for the mobile robot is designed properly.

• 제어로봇시스템학회논문지
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• 제6권1호
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• pp.81-90
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• 2000

Parallel manipulator is suitable for the high precise task because it than has higher stiffness, larger load capacity and more excellent precision, due to the closed-lop structure, than serial manipulator. But the controller design for parallel manipulator is difficult because the parallel manipulator has both the complexity of structure and the interference of actuators. The precision improvement of parallel manipulator using a classical linear control scheme is difficult because the parallel manipulator has the tough nonlinear characteristics. In this paper, firstly, the kinematic analysis of a parallel manipulator used at the experiments is performed so as to show the controllability. The analysis of internal singular configuration of the workspace is performed using the kinematic isotropic index so a sto show the limitation of control performance of a simple linear controller with fixed control gains. Secondly, a control scheme is designed by using an adaptive fuzzy logic controller so that active joints of the parallel manipulator track more precisely the desired input trajectory. This adaptive fuzzy logic controller so that active joints of the parallel manipulator track more precisely the desired input trajectory. This adaptive fuzzy logic controller is often used for the control of nonlinear system because it has both the inference ability and the learning ability. Lastly, the effeciency of designed control scheme is demonstrated by the real-time control experiments with IBM PC interface logic H/W and S/W of my won making. The experimental results was a success.

• 한국식품과학회지
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• 제35권3호
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• pp.423-428
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• 2003

신소재로 각광 받고 있는 chitosan의 낮은 수용성을 극복하기 위하여 chitosan 유도체인 eugenolchicosan(EuCs)을 제조하여 식품유화제로서의 적용을 위한 최적조건을 탐색하였다. 증류수와 옥배유의 혼합비율이 2:3(v/v)일 때 W/O형 유화계를 형성하였으며 유화안정성이 가장 높았다. 유화제로 사용한 EuCs는 단독으로 투입하였을 경우 첨가 농도가 0.18%(w/v)일 때 유화계가 가장 효율적으로 안정하였으며, 2종류 유화제(EuCs/polyoxyethylene sorbitan monolaurate)에 의한 유화안정성 상승효과를 확인할 수 있었지만 EuCs 단독사용 실험구와 유사한 ESI 값을 갖는 것으로 확인되었다. 저장온도에 따른 유화안정성 변화를 살펴본 결과, $25{\sim}65^{\circ}C$에서는 유화계가 매우 안정하였지만 $75^{\circ}C$ 이상의 저장온도에서 160분이 경과하면서 유화안정성이 급격하게 감소하는 경향을 나타내었다. 한편, 균질화 정도는 균질화 속도 11,000 rpm에서 10초 이상인 경우에 유화안정성이 최고에 도달하는 것으로 판명되었다. 또한, 본 논문에서 제조하여 유화핵 제조시 사용한 EuCs의 돌연변이원성은 음성으로 나타났으며, 유해성 금속은 검출되지 않았다. 따라서, EuCs는 W/O형 유화계 형성에 적합하면서도 안전성이 확보된 식품유화제로서의 적용가능성이 높은 것으로 판단되었다.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2018년도 추계학술대회
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• pp.301-303
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• 2018

서비스 로봇에서는 산업용 로봇에서 많이 사용하던 로봇 머니퓰레이터 대신에 여유자유도형 인간형 로봇 팔이 사용어야한다. 여유자유도 인간형 로봇팔은 산업용 로봇 팔에 비하여 자유도 수가 많아서 특이점 및 장애물 회피에 더욱 우수한 성능을 가지고 있어 정해지지 않은 복잡한 환경에서 동작해야 하는 서비스 로봇에 적합하다. 여유 자유도 로봇 팔의 제어 문제는 구동 알고리즘에서 역기구학 및 자코비언을 사용하기 때문에 복잡한 연산 및 그 계산량이 많다는 것이 문제가 된다. 본 연구에서는 이러한 문제를 해결하기 위해 수치해석적인 역기구학 해법 및 가중 의사역 행열 제어 알고리즘을 제안하며 이를 시스템으로 구현하여 실험으로 효용성을 입증하였다.

• 천문학회보
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• 제40권1호
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• pp.77.1-77.1
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• 2015

We present our recent work published in the MNRAS (Lee and Kim, 2014). Numerical studies of the imaging and caustic properties of the singular isothermal sphere (SIS) under a wide range of external shear (from 0.0 to 2.0) are presented. Using a direct inverse mapping formula for this lensing system, we investigate various lensing properties for both low-shear (i.e. ${\gamma}$<1.0) and high-shear (i.e. ${\gamma}$ >1.0) cases. We systematically analyse the effective lensing cross-sections of double-lensing and quadruple-lensing systems, based on the radio luminosity function obtained by the Jodrell-VLA Astrometric Survey (JVAS) and the Cosmic Lens All-Sky Survey (CLASS). We find that the limit of a survey selection bias (i.e. between brighter and fainter images) preferentially reduces the effective lensing cross-sections of two-image lensing systems. By considering the effects of survey selection bias, we demonstrate that the long-standing anomaly over the high quads-to-doubles ratios (i.e. 50~70 % for JVAS and CLASS) can be explained by the moderate effective shear of 0.16~0.18, which is half that of previous estimates. The derived inverse-mapping formula could make the SIS + shear lensing model useful for galaxy-lensing simulations.

• ETRI Journal
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• 제40권4호
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• pp.421-434
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• 2018

The application of deep neural networks (DNNs) to connect the world with cyber physical systems (CPSs) has attracted much attention. However, DNNs require a large amount of memory and computational cost, which hinders their use in the relatively low-end smart devices that are widely used in CPSs. In this paper, we aim to determine whether DNNs can be efficiently deployed and operated in low-end smart devices. To do this, we develop a method to reduce the memory requirement of DNNs and increase the inference speed, while maintaining the performance (for example, accuracy) close to the original level. The parameters of DNNs are decomposed using a hybrid of canonical polyadic-singular value decomposition, approximated using a tensor power method, and fine-tuned by performing iterative one-shot hybrid fine-tuning to recover from a decreased accuracy. In this study, we evaluate our method on frequently used networks. We also present results from extensive experiments on the effects of several fine-tuning methods, the importance of iterative fine-tuning, and decomposition techniques. We demonstrate the effectiveness of the proposed method by deploying compressed networks in smartphones.

• Journal of Electrical Engineering and Technology
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• 제8권6호
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• pp.1530-1541
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• 2013

The coexistence and extinction of species are important concepts for biological systems and can be distinguished by an investigation of stability. When determining local stability of nonlinear systems, Lyapunov indirect method based on the Jacobian linearization has been widely employed due to its simplicity. Despite such popularity, it is not applicable to singular systems whose Jacobian has at least one eigenvalue that is equal to zero. In such singular cases, an appropriate Lyapunov function should be sought to determine the stability of systems, which is rather difficult and quite involved. In this paper, we seek for a simple criterion to determine stability of the equilibrium that is located at the boundary of the positive orthant, when one of eigenvalues of the Jacobian is zero. The goal of the paper is to present a generalized condition for the equilibrium to attract all trajectories that starting from initial condition in the positive orthant and near the equilibrium. Unlike the Lyapunov direct method, the proposed method requires just a simple algebraic computation for checking the stability of the critical point. Our approach is applied to various biological systems to show the effectiveness of the proposed method.

• Smart Structures and Systems
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• 제11권1호
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• pp.19-34
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• 2013

The objective of this paper is to develop on-line system parameter estimation and damage detection technique from the response measurements through using the Recursive Covariance-Driven Stochastic Subspace identification (RSSI-COV) approach. To reduce the effect of noise on the results of identification, discussion on the pre-processing of data using recursive singular spectrum analysis (rSSA) is presented to remove the noise contaminant measurements so as to enhance the stability of data analysis. Through the application of rSSA-SSI-COV to the vibration measurement of bridge during scouring experiment, the ability of the proposed algorithm was proved to be robust to the noise perturbations and offers a very good online tracking capability. The accuracy and robustness offered by rSSA-SSI-COV provides a key to obtain the evidence of imminent bridge settlement and a very stable modal frequency tracking which makes it possible for early warning. The peak values of the identified $1^{st}$ mode shape slope ratio has shown to be a good indicator for damage location, meanwhile, the drastic movements of the peak of $2^{nd}$ mode slope ratio could be used as another feature to indicate imminent pier settlement.

• Advances in nano research
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• 제9권4호
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• pp.295-307
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• 2020

The vibrational characteristics of Multi-Phase Nanocomposite (MPC) reinforced annular/circular plate under initially stresses are presented using the state-space formulation based on three-dimensional elasticity theory (3D-elasticity theory) and Differential Quadrature Method (DQM). The MPC reinforced annular/circular plate is under initial lateral stress and composed of multilayers with Carbon Nanotubes (CNTs) uniformly dispersed in each layer, but its properties change layer-by-layer along the thickness direction. The State-Space based Differential Quadrature Method (SS-DQM) is presented to examine the frequency behavior of the current structure. Halpin-Tsai equations and fiber micromechanics are used in the hierarchy to predict the bulk material properties of the multi-scale composite. A singular point is investigated for modeling the circular plate. The CNTs are supposed to be randomly oriented and uniformly distributed through the matrix of epoxy resin. Afterward, a parametric study is done to present the effects of various types of sandwich circular/annular plates on frequency characteristics of the MPC reinforced annular/circular plate using 3D-elasticity theory.