• 한국전산유체공학회:학술대회논문집
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• 1999.05a
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• pp.35-47
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• 1999

The development of a parallelized aerodynamic simulation process involving moving bodies is presented. The implementation of this process is demonstrated using a fully systemized Chimera methodology for steady and unsteady problems. This methodology consist of a Chimera hole-cutting, a new cut-paste algorithm for optimal mesh. interface generation and a two-step search method for donor cell identification. It is fully automated and requires minimal user input. All procedures of the Chimera technique are parallelized on the Cray T3E using the MPI library. Two and three-dimensional examples are chosen to demonstate the effectiveness and parallel performance of this procedure.

• Structural Engineering and Mechanics
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• v.4 no.6
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• pp.589-600
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• 1996

An explicit 4th order time integration scheme for solving the convection-diffusion equation is discussed in this paper. A system of ordinary differential equations are derived first by discretizing the spatial derivatives of the relevant PDE using the finite difference method. The integration of the ODEs is then carried out using a 4th order scheme and a self-adaptive technique based on the spatial grid spacing. For a non-uniform spatial grid, different time step sizes are used for the integration of the ODEs defined at different spatial points, which improves the computational efficiency significantly. A numerical example is also discussed in the paper to demonstrate the implementation and effectiveness of the method.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2001.05a
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• pp.238-242
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• 2001

In this paper, we proposed an optimal identification method of the membership functions and the numbers of fuzzy rule base for the stabilization controller of the Thermal process control system by RVEGA. Although fuzzy logic controllers and expert systems have been successfully applied in many complex industrial process, they must rely on experts knowledges. So it is difficult in determination of the linguistic state space, definition of the membership functions of each linguistic term and the derivation of the control rules. To verify the validity of this RVEGA-based fuzzy controller, Thermal process control system, with strong nonlinear dynamics, was selected for application of this algorithm and compare with PI controller, and the empirically improved fuzzy controller.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.488-494
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• 2001

Many literatures, so far, have concentrated on approaches employing dependent coordinates set resulting in computational burden of constraint forces, which is needless in many cases. Some researchers developed methods to remove or calculate it efficiently. But systematic generation of the motion equation using independent coordinates set by Kane's equation is possible for any closed loop system. Independent velocity transformation method builds the smallest size of motion equation, but needs practically more complicated code implementation. In this study, dependent velocity matrix is systematically transformed into independent one using dependent-independent transformation matrix of each body group, and then motion equation free of constraint force is constructed. This method is compared with the other approach by counting the number of multiplications for car model with 15 d.o.f..

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.256-261
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• 2002

In this paper, it is presented a new scheme of adaptive-neuro control system to implement real-time control of robot manipulator. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. Through simulation, the proposed adaptive-neuro control scheme is proved to be a efficient control technique for real-time control of robot system using DSPs.

• Journal of the Korea Society for Simulation
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• v.13 no.1
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• pp.11-23
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• 2004

The decomposition of a structuring element for a morphological operation reduces the amount of the computation required for executing the operation. In this paper, we present a new technique for the decomposition of convex structuring elements for morphological operations. We formulated the linear constraints for the decomposition of a convex polygon in discrete space, then the constraints are applied to the decomposition of a convex structuring element. Also, a cost function is introduced to represent the optimal criteria for decomposition. We use linear integer programming technique to find the combination of basis structuring elements which minimizes the amount of the computation required for executing the morphological operation. Formulating different cost functions for different implementation methods and computer architectures, we can determine the optimal decompositions which guarantee the minimal amounts of computation on different computing environment.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.4
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• pp.337-343
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• 2005

In this paper, experimental studies of force control of the crack tracking robot are presented. The crack tracking robot should maintain constant contact with the road to perform cleaning process of the crack effectively. Regulating desired force on the road requires a sophisticated force control algorithm. Here, two main force control algorithms such as the impedance force control and the explicit force control are used. Performances of two force control algorithms are compared.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.2
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• pp.209-214
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• 1998

In this paper, we are dealing with the problem of controlling unknown nonlinear dynamical system by using neural networks. A novel error self-recurrent(ESR) neural model is presented to perform black-box identification. Through the various outcome of the experiment, a new neural network is seen to be considerably faster than the BP algorithm and has advantages of being less affected by poor initial weights and learning rate. These characteristics make it flexible to design the controller in real-time based on neural networks model. In addition, we design an adaptive PID controller that Keyser suggested by using ESR neural networks, and present a method on the implementation of adaptive controller based on neural network for practical applications. We obtained good results in the case of robot manipulator experiment.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.1
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• pp.91-97
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• 2000

In this paper, the illuminator is designed to recognize the shape and the existence of holes of radiation fin in the point that the light reflection characteristics are different according to the roughness of the material. The threshold value, the positions of holes and the black pixel nembers in the positon are obtained under the illuminator, in accordance with the reference image, by applying binary conversion and hole segmentation algorithm, as they are suggested in this paper, The existence and shape of hole are recognized by calculating the distance and feature value in the test image, which is obtained from the parameters of reference image. It is programmed to apply to GUI(Graphic User the Interface) in windows. More than 98% of recognition rate is shown, as it is applied to three different sizes of the radiation fin.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.8
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• pp.774-779
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• 2012

We design and implement a RTT (Round Trip Time) based TCP (Transmission Control Protocol) for USN (Ubiquitous Sensor Network). We adopt a basic update algorithm for window size from FAST TCP that uses the queuing delay at link as the congestion measure. The designed TCP estimates the queuing delay at link from the measured RTT in the network layer, and updates the window size based on the estimated queuing delay. The designed TCP allows to utilize the full capacity of USN links and avoids the waste of the given link capacity that is common without the flow control in the transport layer. The experiment results show that the window size of the sender converges within a small range of variations without any packet loss, and verify the stability and performance of the designed TCP.