• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.85.4-85
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• 2001

A learning controller is presented for repetitive walking motion of biped robot. The learning control scheme learns the approximate inverse dynamics input of biped walking robot and uses the learned input pattern to generate an input profile of different walking motion from that learnt. In the learning controller, the PID feedback controller takes part in stabilizing the transient response of robot dynamics while the feedforward learning controller plays a role in computing the desired actuator torques for feedforward nonlinear dynamics compensation in steady state. It is shown that all the error signals in the learning control system are bounded and the robot motion trajectory converges to the desired one asymptotically. The proposed learning control scheme is ...

• Progress in Medical Physics
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• v.4 no.2
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• pp.37-47
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• 1993

The quality of radiation for a high energy x-ray beam can be specified by its attenuation curve in a selected material. The inverse Laplace transform of the attenuation curve can be used as an approximate indication of the energy spectrum of the beam. We have made a comparative investigation of the estimated spectrum obtained by the Laplace transform analysis of the transmitted exposure data measured in an absorption study of a 6MV x-ray beam. Two of existing transform pair models have been investicated and discussed.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.874-879
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• 1992

It is shown that there exists a nonlinear mappping which transforms features and their changes to the desired camera motion without measurement of the relative distance between the camera and the part, and the nonlinear mapping can eliminate several difficulties encountered when using the inverse of the feature Jacobian as in the usual feature-based visual feedback controls. And instead of analytically deriving the closed form of such a nonlinear mapping, a fuzzy membership function (FMF) based neural network is then proposed to approximate the nonlinear mapping, where the structure of proposed networks is similar to that of radial basis function neural network which is known to be very useful in function approximations. The proposed FMF network is trained to be capable of tracking moving parts in the whole work space along the line of sight. For the effective implementation of proposed IMF networks, an image feature selection processing is investigated, and required fuzzy membership functions are designed. Finally, several numerical examples are illustrated to show the validities of our proposed visual servoing method.

• The KIPS Transactions:PartA
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• v.8A no.3
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• pp.227-234
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• 2001

In this paper we propose a block-type parallel preconditioner for solving large sparse nonsymmetric linear systems, which we expect to be scalable. It is Multi-Color Block SOR preconditioner, combined with direct sparse matrix solver. For the Laplacian matrix the SOR method is known to have a nondeteriorating rate of convergence when used with Multi-Color ordering. Since most of the time is spent on the diagonal inversion, which is done on each processor, we expect it to be a good scalable preconditioner. We compared it with four other preconditioners, which are ILU(0)-wavefront ordering, ILU(0)-Multi-Color ordering, SPAI(SParse Approximate Inverse), and SSOR preconditiner. Experiments were conducted for the Finite Difference discretizations of two problems with various meshsizes varying up to $1025{\times}1024$. CRAY-T3E with 128 nodes was used. MPI library was used for interprocess communications, The results show that Multi-Color Block SOR is scalabl and gives the best performances.

• Journal of the Korean Institute of Navigation
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• v.21 no.1
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• pp.109-118
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• 1997

In this paper, applications of multilayer neural networks to control of flexible robot beam are considered. The multilayer nerual networks can be used to approximate any continuous function to a desired degree of accuracy and the weights are updated by Gradient Method. When a flexible beam is rotated by a motor through the fixed end, transverse vibration may occur. The motor torque should be controlled insuch a way that the motor rotates by a specified angle, while simultaneously stabilizing vibration of the flexible manipulators so that is arrested as soon as possbile at the end of rotation. Accurate control of lightweight beam during the large changes in configuration common to robotic tasks requires dynamic models that describe both rigid body motions, as well as the flexural vibrations. Therefore, a linear dynamic state-space model of for a single link flexible robot beam is derived and PD controller, LQP controller, and inverse dynamical neural networks controller are composed. The effectiveness the proposed control system is confirmed by computer simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.9
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• pp.806-811
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• 2012

In this paper Hartley functions are used to approximate the solutions of continuous time linear dynamical system. The Hartley function and its integral operational matrix are first presented, an efficient algorithm to solve the Stein equation is proposed. The algorithm is based on the compound matrix and the inverse of sum of matrices. Using the structure of the Hartley's integral operational matrix, the full order Stein equation should be solved in terms of the solutions of pure algebraic matrix equations, which reduces the computation time remarkably. Finally a numerical example is illustrated to demonstrate the validity of the proposed algorithm.

• Honam Mathematical Journal
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• v.37 no.3
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• pp.299-315
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• 2015

In this paper, we study the first-order system least-squares (FOSLS) spectral method for parabolic partial differential equations. There were lots of least-squares approaches to solve elliptic partial differential equations using finite element approximation. Also, some approaches using spectral methods have been studied in recent. In order to solve the parabolic partial differential equations in parallel, we consider a parallel numerical method based on a hybrid method of the frequency-domain method and first-order system least-squares method. First, we transform the parabolic problem in the space-time domain to the elliptic problems in the space-frequency domain. Second, we solve each elliptic problem in parallel for some frequencies using the first-order system least-squares method. And then we take the discrete inverse Fourier transforms in order to obtain the approximate solution in the space-time domain. We will introduce such a hybrid method and then present a numerical experiment.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.36 no.2
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• pp.129-139
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• 1987

In this paper the programming language for Hero-1 robot is developed using Apple II micro computer. The language is composed of main monitor mode, editing mode, execution mode, and debugging mode. The main monitor mode is a main flow of the whole language system and controls starting and terminating procedures of operating the controller, and monitors the others. The editing mode has capability to make a user's maniqulation program. Trajectory planning algorithms(point-to-point motion and linear approximate motion)have been realized in the robot language, and in the case of point-to-point motion, inverse kinematics have been solved for the desired point.

• Nuclear Engineering and Technology
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• v.4 no.2
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• pp.102-108
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• 1972

Time-dependent neutron transport equation with delayed neutrons is analytic-ally solved in the case of isotropic scattering with constant cross sections. The equations in the two divided time regions are obtained from the original equation by the asymptotic method. It is shown that the approximate solutions in each time region are uniformly valid in time to the order of the inverse magnitude of the velocity.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.10 no.4
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• pp.257-267
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• 2017

Compressed Sensing(CS) deals with linear inverse problems. The theoretical results of CS have had an impact on inference problems and presented amazing research achievements in the related fields including signal processing and information theory. However, in order for CS to be applied in practical environments, there are two significant challenges to be solved. One is to guarantee in real time recovery of CS signals, and the other is that the signals have to be sparse. To this end, the latest researches using deep learning technology have emerged. In this paper, we consider CS problems based on deep learning and discuss the latest research results. And the approaches for CS signal reconstruction using deep learning show superior results in terms of recovery time and performance. It is expected that the approaches for CS reconstruction using deep learning shown in recent studies can not only raise the possibility of utilization of CS, but also be highly exploited in the fields of signal processing and communication areas.