• The Journal of Korean Institute of Communications and Information Sciences
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• v.35 no.5C
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• pp.415-422
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• 2010

In this paper, we derive exact closed-form formulas, in terms of Meijer's G-function, for the ergodic capacity of space-time block codes (STBCs) from generalized linear complex orthogonal designs (GLCODs) and generalized coordinate interleaved orthogonal designs (GCIODs) in quasi-static frequency-nonselective i.i.d. Nakagami-m fading channels. The derived analytical results show an excellent agreement with Monte-Carlo simulation results. Thus, a useful means for analyzing and predicting the ergodic capacity performance of STBCs from GLCODs or GCIODs can be provided in various antenna configurations and different channel conditions without extensive Monte-Carlo simulations. We present some numerical results to verify the accuracy of the derived formulas.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1999.06a
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• pp.175-181
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• 1999

The present work is an attempt to calculate the steady state pressure and perturbed pressure of journal bearings that has a helical groove. A coordinate is fitted to the helical groove and governing equation is derived by applying generalized coodinate system to the divergence formulation method. This method makes it possible to deal with an arbitrary configuration of a lubricated surface. The dynamical response of shaft-bearing system is calculated using the bearing reaction force and external force.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.4
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• pp.103-111
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• 2003

The Denavit-Hartenberg symbolic notation provides the framework for the convenient and systematic method for the robot manipulator kinematics, but is limited its use to the lower pair mechanism or to the single loop mechanisms. The Sheth-Uicker notation is its revised and generalized version to be extended fur the entire domain of the link mechanism including the higher pairs. This paper proposes the method that uses the Sheth-Uicker notation fur the robot kinematics modeling. It uses the instantly coincident coordinate system and the closed loop chain fur the coordinate transformation. It enables us to model the velocity kinematics of the robot that has the complex structures such as the ternary links and the wheels in a systematic and rational way. As an implementation of the proposed method, the Jacobian matrices were obtained for not only the robot with two legs and a torso, but a manipulator on a mobile platform.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.8
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• pp.1974-1984
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• 1994

This paper presents a relative coordinate formulation for constrained mechanical systems. Relative coordinates are defined along degrees of freedom of a joint. Graph theoretic analyses are performed to identify topological paths in mechanical systems. Cut constraints are generated to handle closed loop systems. Equations of motion are derived in the Cartesian space and transformed to the joint space. Relative generalized coordinates are corrected to satisfy the cut constraints by a parametrizatiom method.

• Tribology and Lubricants
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• v.26 no.5
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• pp.283-290
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• 2010

In this study, the stiffness and damping coefficients of herringbone grooved air journal bearings are studied. A generalized coordinate transformation method to handle the complex geometry of incompressible fluid bearing is modified for compressible fluid. The modified equations are discretized by the base of finite difference method. A new computer program using Visual C++ language is developed. The load carrying capacity and stiffness and damping coefficients are calculated according to the design parameters like groove depth or the number of grooves and compared to that of plain air journal bearings.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.1
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• pp.271-276
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• 1995

This paper presents a systematic method for the dynamic analysis of flexible mechanical systems containing closed kinematic loops. Kinematics between pairs of contiguous flexible bodies is described with the joint coordinates and the deformation modal coordinates. The cut-joint constraint equations associated with the closed kinematic loops are derived, simply using the geometric conditions. The equations of motions are initially written in terms of the joint and modal coordinates using the velocity transformation technique. Lagrange multipliers associated with the cut-joint constraints for closed-loop systems are then eliminated systematically using the generalized coordinate partitioning method, resulting to a minimal set of equations of motion.

• Proceedings of the KSR Conference
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• 1998.05a
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• pp.299-306
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• 1998

Design sensitivity analysis of a mechanical system is an essential tool for design optimization and trade-off studies. This paper presents an efficient algorithm for the design sensitivity analysis of railway vehicle systems, using the direct differentiation method. The cartesian coordinate is employed as the generalized coordinate. The governing equations of the design sensitivity analysis are formulated as the differential equations. Design sensitivity analysis of railway vehicle systems is performed to show the validity and efficiency of the proposed method.

• Nonlinear Functional Analysis and Applications
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• v.27 no.2
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• pp.433-448
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• 2022

The Cartan's second curvature tensor Pⁱ_jkh is a positively homogeneous of degree-1 in yⁱ, where yⁱ represent a directional coordinate for the line element in Finsler space. In this paper, we discuss the decomposition of Cartan's second curvature tensor Pⁱ_jkh in two spaces, a generalized 𝔅P-recurrent space and generalized 𝔅P-birecurrent space. We obtain different tensors which satisfy the recurrence and birecurrence property under the decomposition. Also, we prove the decomposition for different tensors are non-vanishing. As an illustration of the applicability of the obtained results, we finish this work with some illustrative examples.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.159-162
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• 1997

This paper describes robust stabilization of nonlinear single-input uncertain systems without matching conditions. We consider nonlinear systems with a vector of unknown constant parameters perturbed about a known value. The approach utilizes the generalized controller canonical form to lump the unmatched uncertainties recursively into the matched ones. This can be achieved via nonlinear coordinate transformations which depend not only on the states of the nonlinear system but also on the control input. Then the dynamic robust control law is derived and the stability result is also presented.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.12
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• pp.1966-1973
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• 2001

The Jacobian matrix of the equations of motion of a system using velocity transformation technique is derived via variation methods to apply the implicit integration algorithm, DASSL. The concept of generalized coordinate partitioning is used to parameterize the constraint set with independent generalized coordinates. DASSL is applied to determine independent generalized coordinates and velocities. Dependent generalized coordinates, velocities, accelerations and Lagrange multipliers are explicitly retained in the formulation to satisfy all of the governing kinematic and dynamic equations. The derived Jacobian matrix of a system is proved to be valid and accurate both analytically and through solution of numerical examples.