• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.519-524
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• 1998

This paper presents a robust control scheme of free-joint manipulators to overcome actuator failures and uncertain-ties in Cartesian space where tasks are planned. The control scheme has the adaptation law for the upper bound on the norm of uncertainties through the Lyapunov function approach. To solve the dynamic singularity problem in the controller, the singular and nonsingular regions are investigated based on a computer simulation. Then a singularity-free Cartesian trajectory planning is achieved in order to guarantee the availability of the control scheme. To illustrate the validity of the proposed control scheme, simulation results for a three-link planar robot arm with a free joint are shown.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.2
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• pp.59-64
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• 2001

In this paper, we propose an alternate method for determining the uniqueness of the reconstruction of a complex sequence from its phase. Uniqueness constraints could be derived in terms of the zeros of a complex polynomial defined by the DFT of the sequence. However, rooting of complex polynomials of high order is a very difficult problem. Instead of finding zeros of a complex polynomial, the proposed uniqueness criteria show that non-singularity of a matrix can guarantee the uniqueness of the reconstruction of a complex sequence from its phase-only data. It has clear advantage over the rooting method in numerical stability and computational time.

• Journal of the Korea Institute of Military Science and Technology
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• v.27 no.4
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• pp.485-494
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• 2024

In this paper, polar converting logic of bank-to-turn with skidding is provided for small size UAV. In general, original polar converting logic has problems of singularity, safety and flight data analysis when acceleration commands diverge at the end of terminal guidance. To solve those problems, new methodology of polar converting logic of bank-to-turn with skidding is presented. It can easily solve singularity problem, increase safety and provide intuition of data analysis. Simulation and flight results are presented to verify proposed polar converting logic for bank-to-turn with skidding method.

• Journal of the Korean Mathematical Society
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• v.54 no.5
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• pp.1573-1594
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• 2017

This paper deals with the existence and energy estimates of solutions for a class of degenerate nonlocal problems involving sub-linear nonlinearities, while the nonlinear part of the problem admits some hypotheses on the behavior at origin or perturbation property. In particular, for a precise localization of the parameter, the existence of a non-zero solution is established requiring the sublinearity of nonlinear part at origin and infinity. We also consider the existence of solutions for our problem under algebraic conditions with the classical Ambrosetti-Rabinowitz. In what follows, by combining two algebraic conditions on the nonlinear term which guarantees the existence of two solutions as well as applying the mountain pass theorem given by Pucci and Serrin, we establish the existence of the third solution for our problem. Moreover, concrete examples of applications are provided.

• Structural Engineering and Mechanics
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• v.32 no.3
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• pp.407-427
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• 2009

A fundamental solution for the transient, quasi-static, plane problems of linear viscoelasticity is introduced for a specific material. An integral equation has been found for any problem as a result of dynamic reciprocal identity which is written between this fundamental solution and the problem to be solved. The formulation is valid for the first, second and mixed boundary-value problems. This integral equation has been solved by BEM and algorithm of the BEM solution is explained on a sample, mixed boundary-value problem. The forms of time-displacement curves coincide with literature while time-surface traction curves being quite different in the results. The formulation does not have any singularity. Generalized functions and the integrals of them are used in a different form.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.4
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• pp.241-250
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• 2022

This paper addresses the Feasible Angular Momentum(FAM) chart that can be used as an indicator for maneuverability analysis of spacecraft installed with control moment gyros(CMGs). Recently, as the demands for high agility of spacecraft has been increasing in order to perform the space mission given to spacecraft more effectively, interest in CMGs, which is a high torque generator is increasing. However, since the CMG has a singularity problem that does not generate the control torque in the specific directions, in this paper, we consider the two pairs of parallel control moment gyros(TPCMGs) that follows the roof-type configuration. The Gimbal space was newly defined except for the space where singularity can be generated and the space where torque error is generated due to the hardware limits. The feasible angular momentum space is defined as a FAM chart, and it is very meaningful that it is possible to analyze the spacecraft's rotational maneuverability effectively by deriving the spacecraft's 3-axis parameters in the corresponding gimbal space mathematically.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.29 no.5A
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• pp.457-465
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• 2009

This study presents a moving least squares (MLS) finite difference method for solving elastic crack problems with stress singularity at the crack tip. Near-tip functions are intrinsically employed in the MLS approximation to model near-tip field inducing singularity in stress field. employment of the functions does not lose the merit of the MLS Taylor polynomial approximation which approximates the derivatives of a function without actual differentiating process. In the formulation of crack problem, computational efficiency is considerably improved by taking the strong formulation instead of weak formulation involving time consuming numerical quadrature Difference equations are constructed on the nodes distributed in computational domain. Numerical experiments for crack problems show that the intrinsically enriched MLS finite difference method can sharply capture the singular behavior of near-tip stress and accurately evaluate stress intensity factors.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2863-2866
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• 2003

In nonlinear control fields, for irregular nonlinear systems, control form which consists of approximate tracking control law and exact tracking control law and which switches between two laws has been proposed recently. In this thesis, we design new switching control law which connect approximate linearization control law and exact linearization control law by fuzzy rules for irregular nonlinear system, ball and beam system. Fuzzy switching controller designed by fuzzy concept is proved that designed scheme overcomes singularities of irregular system, improves unstability problem of switching procedure, and has more efficient control value through simulation. Stability of fuzzy control system proved by Lyapunov's stability theorems.

• Proceedings of the Korean Nuclear Society Conference
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• 1996.05a
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• pp.282-287
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• 1996

We. develop in this study a wavelet transform method to apply to the flux reconstruction problem in reactor analysis. When we reconstruct pinwise heterogeneous flux by iterative methods, a difficulty arises due to the near singularity of the matrix as the mesh size becomes finer. Here we suggest a wavelet transform to tower the spectral radius of the near singular matrix and thus to converge by a standard iterative scheme. We find that the spectral radios becomes smatter than one after the wavelet transform is performed on sample problems.

• East Asian mathematical journal
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• v.39 no.1
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• pp.29-36
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• 2023

In this paper, we consider φ-Laplacian nonlocal boundary value problems with singular weight function which may not be in L¹(0, 1). The existence and nonexistence of positive solutions to the given problem for parameter λ belonging to some open intervals are shown. Our approach is based on the fixed point index theory.