• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.12
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• pp.2333-2338
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• 2011

In this paper, we develope a wavelet transform based time-frequency domain reflectometry (WTFDR) for the fault localization of underground power cable. The conventional TFDR (CTFDR) is more accurate than other reflectometries to localize the cable fault. However, the CTFDR has some weak points such as long computation time and hard implementation because of the nonlinearity of the Wigner-Ville distribution used in the CTFDR. To solve the problem, we use the complex wavelet transform (CWT) because the CWT has the linearity and the reference signal in the TFDR has a complex form. To confirm the effectiveness and accuracy of the proposed method, the actual experiments are carried out for various fault types of the underground power cable.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.12
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• pp.133-142
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• 1999

We introduce the algorithms of 2-D and 3-D position estimation using 2-D vision sensors. The sensors used in this research issue red laser slit light to the body. So, it is very convenient to obtain the coordinates of corner point or edge in sensor coordinate. Since the measured points are normally not fixed in the body coordinate, the additional conditions, that corner lines or edges are straight and fixed in the body coordinate, are used to find out the position and orientation of the body. In the case of 2-D motional body, we can find the solution analytically. But in the case of 3-D motional body, linearization technique and least mean squares method are used because of hard nonlinearity.

• International Journal of Control, Automation, and Systems
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• v.5 no.1
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• pp.35-42
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• 2007

This paper presents an INS(Inertial Navigation System) grade, surface micro-machined differential resonant accelerometer(DRXL) manufactured by an epitaxially grown thick poly silicon process. The proposed DRXL system generates a differential digital output upon an applied acceleration, in which frequency transition is measured due to gap dependent electrical stiffness change. To facilitate the resonance dynamics of the electromechanical system, the micromachined DRXL device is packaged by using the wafer level vacuum sealing process. To test the DRXL performance, a nonlinear self-oscillation loop is designed based on the extended describing function technique. The oscillation loop is implemented using discrete electronic elements including precision charge amplifier and hard feedback nonlinearity. The performance test of the DRXL system shows that the sensitivity of the accelerometer is 24 Hz/g and its long term bias stability is about 2 mg($1{\sigma}$) with dynamic range of ${\sigma}70g$.

• Proceedings of the Korea Concrete Institute Conference
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• 1995.10a
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• pp.193-197
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• 1995

Computer-based methods have often been used in the structural analysis. But, regardless of the progress in the technique of structural analysis, there are inevitable limitations in consideration of the material and eometric nonlinearity and prediction of failure loads. Model analysis of concrete structure can supplement this kind of limitations to reasonably predict behavior of the structure. Similitude requirement in the reinforced concrete structure is often hard to be secured because of peculiar uncertainty of concrete. In this study, small scale model of subway box structure was constructed using strength model and results of model of subway box structure was constructed using strength model and results of model test and computer-based analysis were compared.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.107.1-107
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• 2001

In this paper, a digital signal processing circuit for Position Sensitive Detectors(PSDs) is introduced to substitute the conventional analog signal processing circuit and to compensate disadvantages of the PSD. In general, the analog circuits have the problems such as noise accumulation, sensitivity for environmental changes, and high cost for manufacturing. Moreover, the intrinsic nonlinearity problem of the PSD makes it hard to measure the position accurately because it is difficult to be overcome the problem by using the conventional analog circuits, which can be solved by using the digital signal processing circuit. The circuit is implemented by using a Field Programmable Gate Array (FPGA). The Pulse Amplitude Modulation(PAM) method is used for reducing the environmental noise effect, and a linear interpolation logic is used to compensate the ...

• Journal of Advanced Marine Engineering and Technology
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• v.22 no.2
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• pp.232-240
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• 1998

This paper deals with a hybrid position/force control of a robot which is moving on the constrained object with constant force. The proposed controller is composed of a position and force controller. The position controller has a nonlinear compensator which is based on the dynamic robot model and the force controller is attached by feedforward element. A direct drive robot with hard nonlinearity which is controlled by the proposed algorithm has moved on the constrained object with a high stiffness and low stiffness. The results show that the proposed controller has more vibration suppression effects which is occurred to the constrained object with a high stiffness, than a existing feedback controller, and accurate force control can be obtained by comparatively a small feedback gain.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.456-459
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• 2003

This paper deal with the biped walking stability by inverted pendulum type balancing joints. This model is hard to interpretation for the nonlinearity caused by upper direction movement then conventional model which have roll and prismatic joints. We can interpret this model by a linear approximation or interpolation method. This paper use a linear approximation method that can decide a movement of upper direction. Inverted pendulum type balancing joints have a advantage of less movement for keep stability and similar with human than conventional model and this model can be used for humanoid robot. We can see a stability of biped by ZMP(Zero Moment Point). Genetic algorithm is used for trajectory planning that is important for stable walking of biped.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.4
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• pp.118-127
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• 1993

A nonlinear control design method called the QJQG/LTR method is presented for the depth control of underwater vehicles with the deadzone of the flow control valve. And, it is shown how the design plant model can be formulated in the QLQG/LTR depth control system design for underwater vehicles which have the triple integrator. In order to show the effectiveness of this control system, the linear LQG/LTR control system neglected the deadzone effect and the nonlinear QLQG/LTR control system considered it are compared. It is found that the QLQG/LTR control system is relatively insensitive to the input magnitude, even if there exists a hard nonlinearity in the plant.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1259-1263
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• 2004

This paper describes position estimation algorithm using neural network for the navigation of the vision-based wheeled mobile robot (WMR) in a corridor with taking ceiling lamps as landmark. From images of a corridor the lamp's line on the ceiling in corridor has a specific slope to the lateral position of the WMR. The vanishing point produced by the lamp's line also has a specific position to the orientation of WMR. The ceiling lamps have a limited size and shape like a circle in image. Simple image processing algorithms are used to extract lamps from the corridor image. Then the lamp's line and vanishing point's position are defined and calculated at known position of WMR in a corridor. To estimate the lateral position and orientation of WMR from an image, the relationship between the position of WMR and the features of ceiling lamps have to be defined. But it is hard because of nonlinearity. Therefore, data set between position of WMR and features of lamps are configured. Neural network are composed and learned with data set. Back propagation algorithm(BPN) is used for learning. And it is applied in navigation of WMR in a corridor.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.4
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• pp.608-612
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• 2012

To reduce these costs and time by finite element analysis program has been much research (3~4). At virtual CAE program as like Abaques, Ansys, Ls-dyna and Nastran, the input data of material is got bellow coupon test. In case of carbon composite, it is also put in lamina/laminate properties. There have big problem. If you want to simulate FW(filament winding or wind blade) how do you input material data. Each area of FW is different stacking conditions. It's too hard that each area is tested for inputting lamina or laminate properties. The composite structure increasing load is applied occurred as the matrix dependence of the crack-induced nonlinearity and nonlinear mobility appears since the initial damage. And uni-direction for this research applies the theory to have been confined to. On this study, we are going to get basically fiber properties and matrix than carbon composite properties for simulating according stacking method by GENOA-MCQ. It is help to simulate easily composite material. Also Calculate the matrix nonlinear for simulating non-linear.