• Journal of the Korea Institute of Military Science and Technology
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• v.10 no.3
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• pp.161-172
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• 2007

This article suggests an inverse kinematics analysis of a two degree of freedom spatial parallel motion simulator and design methodology of the robust PID controller. The parallel motion simulator consists of a fixed base and a moving frame connected by two serial chains, with each serial chain containing one revolute joint and two passive spherical joint. First, an inverse kinematics problems are solved in order to find the joint variable necessary to bring the end effector to track the desired trajectory. Second, an inverse optimal PID controller is proposed to track trajectories in the face of uncertainty. And the $H_{\infty}$ optimality and robust stability of the closed-loop system is acquired through the PID controller. Finally numerical results show the effectiveness of the PID controller that is designed by square/linear tuning laws.

• International journal of advanced smart convergence
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• v.10 no.3
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• pp.149-156
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• 2021

Today, 3D softwares have become an essential tool in all areas of Video, including Movies, Animations, CFs, Motion Graphics and Games. One of the most commonly used fields is the 3D character video part. However, these 3D character animations and motion graphics softwares are difficult to learn and too much to learn, making it difficult to learn them all in a university education with a limited time of four years. In this paper, many Inverse kinematics tools, which are essential in the 3D character animations and motion graphics field, compare and analyze the strengths and weaknesses of each tool, focusing on Bone, Character Studio, and Character Animation Toolkit, which are most commonly used in work fields. And use Delphi techniques for 3D experts to secure objectivity. Therefore, for universities that require large amounts of teaching in a limited time, I propose an analysis of which of the above three Inverse Kinetics tools is advantageous for students to select and focus on for efficient education.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.2
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• pp.229-236
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• 2005

This paper is contribute to Inverse continuous wavelets transform(ICWT) which permits to determine real 'time-scale' plan. The application of ICWT is not yet represented because of the numerical difficulty. If the signal can be reconstructed stably by ICWT, the multi scale filter bank system which composed by analysis and synthesis process can be designed. In this work, we represent the ICWT which leads to nearly perfect reconstruction of signal and the multi-scale filter bank system.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.220-222
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• 2006

This paper presents intelligent digital redesign method of global approach for hybrid state space fuzzy-model-based controllers. For effectiveness and stabilization of continuous-time uncertain nonlinear systems under discrete-time controller, Takagi-Sugeno(TS) fuzzy model is used to represent the complex system. And global approach design problems viewed as a convex optimization problem that we minimize the error of the norm bounds between nonlinearly interpolated lineal operators to be matched. Also, by using the bilinear and inverse bilinear approximation method, we analyzed nonlinear system's uncertain parts more precisely. When a sampling period is sufficiently small, the conversion of a continuous-time structured uncertain nonlinear system to an equivalent discrete-time system have proper reason. Sufficiently conditions for the global state-matching of the digitally controlled system are formulated in terms of linear matrix inequalities (LMIs). Finally, a T-S fuzzy model for the chaotic Lorentz system is used as an example to guarantee the stability and effectiveness of the proposed method.

• Journal of the Korean Solar Energy Society
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• v.37 no.6
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• pp.79-91
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• 2017

The meteorological data of 1 hour interval are required to write a typical weather data for building energy simulation. However, many meterological data are missing and the interpolation method to recover the missing data is required. Especially, lots of meterological data are replicated by linear interpolation method because the changes are not significant. While, the wind velocity fluctuates with the time or locations, so linear interpolation method is not appropriate in interpolation of the wind velocity data. In this study, three interpolation methods, using surrounding wind velocity data, Inverse Distance Weighting (IDW), Revised Inverse Distance Weighting (IDW-r), were analyzed considering the characteristics of wind velocity. The Revised Inverse Distance Weighting method, proposed in this study, showed the highest reliability in restoration of the wind velocity data among the analyzed methods.

• Journal of the Korean Geotechnical Society
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• v.15 no.4
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• pp.153-166
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• 1999

Since the reliability of results by the existing analyzing method is low, in the case of for excavation performed in urban area whose stability is of great importance, construction control based on field monitoring is always necessary. But the field monitoring reflects only the behavior of construction process that has already been carried out, and it has limitations in predicting the behavior of the expected construction process, which is practically more important for construction control. In this study, construction control system for excavation which can predict the behavior of the expected processes during construction with high degree of accuracy, is developed by adopting inverse analysis. The inverse analied applied field monitoring results to excavation analysis can improve the reliability of predicted results. The developed system uses an elasto-plastic soil spring model for the excavation analysis and the minimization of least squared errors between measured displacements and calculated displacements for the inverse analysis. All the required processes for construction control can be performed as an integrated work within the system reflecting real time application and user's convenience. Their applicabilitis are confirmed by two case studies.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.754-758
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• 1996

In this paper, a new method of position synchronizing control is proposed for multi-axes driving system. The proposed synchronizing control system is constituted with speed and synchronizing controller. The structure of synchronizing control system is varied by sign of synchronizing error. When a disturbance input becomes added to one axis, this axis becomes slave axis. The other axis is master axis. Therefore, master axis is not influenced by the disturbance. The speed controller of the first axis is designed by $H_{\infty}$ control theory. The speed controller of the second axis is designed by inverse dynamics of speed control system of the first axis. The speed control system designed with $H_{\infty}$ controller guarantees low sensitivity for the disturbance as well as robustness against model uncertainties. Especially, the synchronizing controller is designed to keep position error to minimize by controlling speed of slave axis. The effectiveness of the proposed method is successfully confirmed through several experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2448-2450
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• 2005

A robotic external fixation system for the surgery of bone deformity correction was developed to simulate the execution process of mal-unioned femur by the adjustment of the joints of the fixation system. An inverse kinematics analysis algorithm was developed to calculate the necessary rotations and translations at each joint of the robotic system. The computer graphic model was developed for validation of the analysis result and visualization of the surgical process. For given rotational and angular deformity case, the surgical execution process using the robotic system was well matched with the pre-operative planning. The final residual rotational deformities were within $1.0^{\circ}{\sim}1.6^{\circ}$ after surgical correction process. The presented robotic system with computer-aided planning can be useful for knowledge-based fracture treatment and bone deformity correction under external fixation.

• International Journal of Control, Automation, and Systems
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• v.4 no.3
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• pp.302-307
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• 2006

The aim of applying Functional Electrical Stimulation (FES) is to restore a person's motor function by directly supplying the controlled electrical currents to the site of the paralyzed muscles. However, most clinically utilized FES systems have adapted an open-loop control scheme. Recently the closed-loop control scheme has been considered for setting up the FES system, but due to the inherent nonlinearities in the musculoskeletal system, the nonlinearities were not fully compensated and it caused the oscillatory responses for tracking the output variables. In this study, a nonlinear controller model that has two inverse compensation units is proposed with the compromising feedback linearization method and this will eventually be used to design the FES control system for stimulating a knee joint musculoskeletal system.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.20 no.1
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• pp.65-73
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• 2007

In the inverse perturbation method, enormous computational resource was required to obtain reliable results, because all unspecified DOFs were considered as unknown variables. Thus, in the present study, a reduced system method is used to condense the unspecified DOFs by using the specified DOFs, and to improve the computational efficiency as well as the solution accuracy. In most of the conventional reduction methods, transformation errors occur in the transformation matrix between the unspecified DOFs and the specified DOFs. Thus it is hard to obtain reliable and accurate solution of inverse perturbation problems by reduction methods due to the error in the transformation matrix. This numerical trouble is resolved in the present study by adopting iterative improved reduced system(IIRS) as well as by updating the transformation matrix at every step. In this reduction method, system accuracy is related to the selection of the primary DOFs and Iteration time. And both are dependent to each other So, the two level condensation method (TLCS) is selected as Selection method of primary DOFs for increasing accuracy and reducing iteration time. Finally, numerical verification results of the present iterative inverse perturbation method (IIPM) are presented.