• Advances in aircraft and spacecraft science
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• 제7권3호
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• pp.215-228
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• 2020

As is shown in the paper, the Koltunov-Rzhanitsyn singular kernel of heredity (when constructing mathematical models of the dynamics problem of the hereditary theory of viscoelasticity) adequately describes real mechanical processes, best approximates experimental data for a long period of time. A mathematical model of the problem of the flutter of viscoelastic plates moving in a gas with a high supersonic velocity is given. Using the Bubnov-Galerkin method, discrete models of the problem of the flatter of viscoelastic plates flowed over by supersonic gas flow are obtained. A numerical method is developed to solve nonlinear integro-differential equations (IDE) for the problem of the hereditary theory of viscoelasticity with weakly singular kernels. A general computational algorithm and a system of application programs have been developed, which allow one to investigate the nonlinear dynamic problems of the hereditary theory of viscoelasticity with weakly singular kernels. On the basis of the proposed numerical method and algorithm, nonlinear problems of the flutter of viscoelastic plates flowed over in a gas flow at an arbitrary angle are investigated. In a wide range of changes in various parameters of the plate, the critical velocity of the flutter is determined. It is shown that the singularity parameter α affects not only the oscillations of viscoelastic systems, but the critical velocity of the flutter as well.

• 제어로봇시스템학회논문지
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• 제10권10호
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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.

• 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.

• International Journal of Railway
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• 제2권3호
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• pp.118-123
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• 2009

Railway track alignment Standards set a minimum lenght value for straight and circular alignments (art. 5.2.9.), in order to ensure passenger ride comfort in railway vehicles of which dynamic oscillations will thus have to be limited. The transitions between alignments can cause abrupt changes (usually called discontinuities or singular points of the alignment) of curvature, of rate of change of curvature or of rate of change of cant. A passenger is likely to experience effects due to the excitation of the elastic suspension of the vehicle which generates oscillations that are damped as the vehicle moves away from the singularity. The amplitude of these oscillations should be adequately attenuated by the damping of the suspension system within the interval between two successive singular points, especially to avoid resonances. Therefore minimum lengths between two successive singular points are stated in alignment standards. Nevertheless, these nonnative values can be overly conservative in some cases. As an alternative, track alignment designers could try to assess how much the excitation has been attenuated between two successive singular points and thus assess at which point a new singularity may be present without affecting ride comfort. Although such assessment can be made with commercial SW packages which simulate the dynamic behavior of a vehicle considered as a set of rigid bodies interconnected with elastic elements simulating the suspension systems (such as SIMPACK, ADAMS or VAMPIRE), a simplified and user-friendly computation method (based upon the analytical solution of differential equations governing the phenomenon) is made available in this paper to track design engineers, not always used to working with full dynamic models.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.749-752
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• 1988

In this paper, the delay margins of the LQ and the LQG regulators are obtained in the time domain. These margins are represented in terms of the singular values of system matrices and the solutions of a Riccati equation and a Lyapunov one. And their asymptotical properties when gains tend to infinity are investigated.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.333-333
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• 2000

When the generalized singular perturbation method is used for model reduction, the state variables of the original system is reconstructed from the reduced order model. The state reduction error is defined, which shows how well the reconstructed state variables approximate the state variables of the original system equation.

• 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.

• 제어로봇시스템학회논문지
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• 제2권1호
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• pp.35-44
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• 1996

A design method for a teleoperator robot system is presented in this paper. The control system consists of two phases; approach phase and contact one. The end-effector position of the estimated slave robot and the contact force between the end-effector and wall are displayed on the monitors at control site, using which the operator controls the teleoperator system. The approach phase controller is designed using Smith's principle and the contact one designed based upon the structured singular value ${\mu}$ in order to increase the robustness of the system. The uncertainatices such as communication time delay and the variations of system parameters are considered as a muliplicative pertubation. Computer simulations are conducted in order to evaluate the performance of the proposed design method. It is found that desirable control performance, especially in the contact phase, is obtained if the control mode is switched into contact phase when the estimated position of the slave robot end-effector is in front of the wall.

• 대한조선학회논문집
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• 제45권5호
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• pp.469-476
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• 2008

In this paper, it is shown that an input-output (I/O) feedback linearized controller can be designed rationally by utilizing the time-scale properties of heave and pitch for an underwater vehicle. It is assumed that the dynamics of the vehicle is restricted to the vertical plane. An output-feedback control is designed, which stabilizes steady cruising paths. It is shown that the vehicle dynamics with acceleration as output becomes minimum phase. The dynamics can be transformed into a reduced system through a kind of partial linearization and singular perturbation technique. The reduced system is not only minimum phase but also exactly I/O linearizable via feedback. The I/O dynamic characteristics of the heave and pitch modes can be made linear and decoupled. Furthermore it becomes independent of cruising condition such as vehicle velocity. This study may help for designing autopilot systems for underwater vehicles.

• 한국정보통신학회논문지
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• 제10권4호
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• pp.752-757
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• 2006

고속데이터 전송이 요구되는 경우, OFDM(Orthogonal Frequency Division Multiplexing)은 다중경로에 의해 발생되는 주파수 선택성 페이딩에 쉽게 대처할 수 있다는 장점 때문에 다양한 고속 무선 통신 시스템에 채택되어왔다. 본 논문에서는 최적의 적응 비트로딩 알고리즘을 제안하고, 이를 확인하기 위해 SISO(Single Input Single Output)-OFDM 시스템에 이 알고리즘을 적용하고 고정 변조를 사용하는 SISO-OFDM과 비교 분석 하였다. 특히 다중 경로페이딩 채널에서 채널을 알고 있는 경우, MIMO(Multiple Input Multiple Output) 시스템의 적응 비트로딩을 시험하기 위해, 특이치 분해(SVD : Singular Value Decomposition)를 사용하여 MIMO 채널을 SISO 채널로 병렬 분해하여, 제안한 적응비트로딩 알고리즘을 적용하였다. 시뮬레이션 결과, 적응 비트로딩 MIMO-OFDM 시스템은 SISO-OFDM 시스템 보다 BER 성능이 우수함을 확인하였다.