• Smart Structures and Systems
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• v.14 no.3
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• pp.377-395
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• 2014

Vibration-based fault detection and condition monitoring of rotating machinery, using statistical process control (SPC) combined with statistical pattern recognition methodology, has been widely investigated by many researchers. In particular, the discrete wavelet transform (DWT) is considered as a powerful tool for feature extraction in detecting fault on rotating machinery. Although DWT significantly reduces the dimensionality of the data, the number of retained wavelet features can still be significantly large. Then, the use of standard multivariate SPC techniques is not advised, because the sample covariance matrix is likely to be singular, so that the common multivariate statistics cannot be calculated. Even though many feature-based SPC methods have been introduced to tackle this deficiency, most methods require a parametric distributional assumption that restricts their feasibility to specific problems of process control, and thus limit their application. This study proposes a nonparametric multivariate control chart method, based on multiscale wavelet scalogram (MWS) features, that overcomes the limitation posed by the parametric assumption in existing SPC methods. The presented approach takes advantage of multi-resolution analysis using DWT, and obtains MWS features with significantly low dimensionality. We calculate Hotelling's $T^2$-type monitoring statistic using MWS, which has enough damage-discrimination ability. A bootstrap approach is used to determine the upper control limit of the monitoring statistic, without any distributional assumption. Numerical simulations demonstrate the performance of the proposed control charting method, under various damage-level scenarios for a bearing system.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2331-2336
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• 2005

This paper proposes a new haptic device using a parallel mechanism with gimbal type actuators. This device has three legs actuated by 2-DOF gimbal mechanisms, which make the device simple and light by fixing all the actuators to the base. Three extra sensors are placed at passive joints to obtain a unique solution of the forward kinematics problem. The proposed haptic device is developed for an operator to use it on a desktop in due consideration of the size of an average Korean. The proposed haptic device has a small workspace for on operator to use it on a desktop and more sensitivity than a serial type haptic device. Therefore, the motors of the proposed haptic device are fixed at the base plate so that the proposed haptic device has a better dynamic bandwidth due to a low moving inertia. With this conceptual design, optimization of the design parameters is carried out. The objective function is defined by the fuzzy minimum of the global design indices, global force/moment isotropy index, global force/moment payload index, and workspace. Each global index is calculated by a SVD (singular value decomposition) of the force and moment parts of the jacobian matrix. Division of the jacobian matrix assures a consistency of the units in the matrix. Due to the nonlinearity of this objective function, Genetic algorithms are adopted for a global optimization.

• International Journal of Fluid Machinery and Systems
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• v.5 no.3
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• pp.117-125
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• 2012

In the present experimental study, the authors try to clarify the characteristics of the flow around and inside a cross-flow impeller in a typical geometry, over a wide parameter range of an aspect ratio $L/D_2$. In order to eliminate the complicated casing factors, the impeller rotates in open space without any casings. As a result, by using hot wire anemometer measurements and by conventional flow visualisations with a particle image velocimetry technique, the authors show that both the outflow rate and the maximum vorticity attain the maximum for $L/D_2$ = 0.6. In order to investigate the aspect-ratio effect, we further reveal minute fluctuating pressures on an impeller end wall for a singular $L/D_2$ = 0.6. Especially in these pressure measurements, the eccentric vortex is prevented to revolute by the insertion of a tongue, in order to consider the spatial structure of flow more precisely.

• Transactions of the Korean Society of Mechanical Engineers
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• v.9 no.5
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• pp.683-690
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• 1985

본 논문에는 Euler매개변수를 회전좌표계로 사용하여 구속된 3차원 기계시스템의 역동학력 해 을 수행한 연구결과가 수록되었다. 해석을 위해 문제에 등장하는 비선형 Holonomic구속조건식 들과 운동방정식들을 Cartesian일반좌표계을 사용하여 표시하였으며, 일반좌표계를 구성하는 각 강체의 좌표계로는 변위를 나타내기 위한 3개의 좌표와 회전을 나타내기 위한 4개의 Euler매 개변수가 사용되었다. 구속조건식들과 미분방정식 형태의 운동방정식들을 결합하여 시스템 전 체의 운동방정식을 유도하기 위해 Lagrange승수 기법을 사용하였다. 각 강체의 주어진 시간에 서의 위치, 속도, 가속도는 기구학적 해석(kinematic analysis)을 통해 얻어지고, 이 자료들을 전 체운동방정식에 대입하여 Lagrnage승수의 값을 계산하여 6개의 자유도를 가진 로봇 기구를 원 하는대로 운전하는에 필요한 각 관절의 토오크를 계산하였으며, 계산결과가 정확하다는 사실이 입증되었다. 연구결과 Euler매개변수를 회전좌표로 사용할 경우 특이 경우(singular case)가 발 생하지 않으며, 이 방법은 역동력학 해석용 다목적 전산프로그램 개발에 광범위하게 응용될 수 있음이 밝혀졌다.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1458-1463
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• 2003

This paper presents an improved identification algorithm of active magnetic bearing rotor systems considering sensor and actuator dynamics. An AMB rotor system has both real and complex poles so that it is very hard to identify them together. In previous research, a linear transformation through a fictitious proportional feedback was used in order to shift the real poles close to the imaginary axis. However, the identification result highly depends on the fictitious feedback gain, and it is not easy to identify the additional dynamics including sensor and actuators at the same time. First, this paper discusses the necessity and a selection criterion of the fictitious feedback gain. An appropriate feedback gain minimizes dominant SVD(Singular Value Decomposition) error through maximizing rank deficiency. Second, more improvement in the identification is achieved through separating the common additional dynamics in all elements of frequency response matrix. The feasibility of the proposed identification algorithm is proved with two theoretical AMB rotor models. Finally, the proposed scheme is compared with previous identification methods using experimental data, and a great improvement in model quality and large amount of time saving can be achieved with the proposed method.

• The KIPS Transactions:PartA
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• v.8A no.3
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• pp.261-268
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• 2001

With the rapid growth of the Internet, various web-based businesses are creating a new environment in an imaginary space. However, this expanding Internet and user increase cause an overflow of transmission and numerous subordinate problems. To solve these problems, a parallel cluster system is produced using different methods. This thesis recommends a multi0distribution cluster group. It constructs a MPP dynamic distribution sub-cluster group using numerous low-priced and low-speed systems. This constructed sub-cluster group is then connected with a singular virtual IP to finally serve the needs of clients (users). This multi-distribution cluster group consists of an upper structure based on LVS and a dynamic serve cluster group centered around an SC-server. It conducts the workloads required from users in a parallel process. In addition to the web service, this multi-distribution cluster group can efficiently be utilized for the calculations which require database controls and a great number of parallel calculations as well as additional controls with result from the congestion of service.

• Journal of Information Processing Systems
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• v.5 no.1
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• pp.5-10
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• 2009

Text data has always accounted for a major portion of the world's information. As the volume of information increases exponentially, the portion of text data also increases significantly. Text classification is therefore still an important area of research. LDA is an updated, probabilistic model which has been used in many applications in many other fields. As regards text data, LDA also has many applications, which has been applied various enhancements. However, it seems that no applications take care of the input for LDA. In this paper, we suggest a way to map the input space to a reduced space, which may avoid the unreliability, ambiguity and redundancy of individual terms as descriptors. The purpose of this paper is to show that LDA can be perfectly performed in a "clean and clear" space. Experiments are conducted on 20 News Groups data sets. The results show that the proposed method can boost the classification results when the appropriate choice of rank of the reduced space is determined.

• Journal of The Korean Astronomical Society
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• v.27 no.2
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• pp.103-117
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• 1994

To extend the work of Gott, Park, and Lee (1989), statistical properties of gravitational lensing in a wide variety of cosmological models involving non-zero cosmological constant is investigated, using the redshifts of both lens and source and observed angular separation of images for gravitational lens systems. We assume singular isothermal sphere as lensing galaxy in homogenous and isotropic Friedmann­Lemaitre-Robertson- Walker universe, Schechter luminosity function, standard angular diameter distance formula and other galaxy parameters used in Fukugita and Turner (1991). To find the most adequate flat cosmological model and put a limit on the value of dimensionless cosmological constant $\lambda_0$, the mean value of the angular separation of images, probability distribution of angular separation and cumulative probability are calculated for given source and lens redshifts and compared with the observed values through several statistical methods. When there is no angular selection effect, models with highest value of $\lambda_0$ is preferred generally. When the angular selection effects are considered, the preferred model depends on the shape of the selection functions and statistical methods; yet, models with large $\lambda_0$ are preferred in general. However, the present data can not rule out any of the flat universe models with enough confidence. This approach can potentially select out best model. But at the moment, we need more data.

• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.237-246
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• 2011

Robots have been used in many fields due to its performance improvement and variety of its functionality, to the extent which robots can replace human tasks. Individual feature and better performance of robots are expected and required to be created. As their performances and functions have increased, systems have gotten more complicated. Multi mobile robots can perform complex tasks with simple robot system and algorithm. But multi mobile robots face much more complex driving problem than singular driving. To solve the problem, in this study, driving algorithm based on the energy method is applied to the individual robot in a group. This makes a cluster be in a formation automatically and suggests a cluster the automatic driving method so that they stably arrive at the target. The energy method mentioned above is applying attractive force and repulsive force to a special target, other robots or obstacles. This creates the potential energy, and the robot is controlled to drive in the direction of decreasing energy, which basically satisfies lyapunov function. Through this method, a cluster robot is able to create a formation and stably arrives at its target.

• Advances in aircraft and spacecraft science
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• v.1 no.4
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• pp.427-441
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• 2014

Orbit-raising is an important step to place spacecraft from parking orbits into working orbits. Attitude control system design is crucial in the success of orbit-raising. Several text books have discussed this design and focused mainly on the traditional methods based on single-input single-output (SISO) transfer function models. These models are not good representations for many orbit-raising control systems which have multiple thrusters and each thruster has impact on the attitude defined by all outputs. Only one published article is known to use a more suitable multi-input multi-output (MIMO) Euler angle model in spacecraft orbit-raising attitude control system design. In this paper, a quaternion based MIMO model for the orbit-raising attitude control system design is proposed. The advantages of using quaternion based model for orbit-raising control system designs are (a) there is no need for mathematical transformations because the attitude measurements are normally given by quaternion, (b) quaternion based model does not depend on rotational sequences, which reduces the chance of human errors, and (c) the singular point of reduced quaternion model is the farthest from the operational point where linearization is performed. We will show that performance of quaternion model based design will be as good as the performance of Euler angle model based design for orbit-raising problem.