• Journal of the Korean Society for Precision Engineering
• /
• v.22 no.8 s.173
• /
• pp.34-41
• /
• 2005

Generally, it is not easy to get a suitable controller for multi variable systems. If the modeling equation of the system can be found, it is possible to get LQR control as an optimal solution. This paper suggests an LQR learning method to design LQR controller without the modeling equation. The proposed algorithm uses the same cost function with error and input energy as LQR is used, and the LQR controller is trained to reduce the function. In this training process, the Jacobian matrix that informs the converging direction of the controller Is used. Jacobian means the relationship of output variations for input variations and can be approximately found by the simple experiments. In the simulations of a hydrofoil catamaran with multi variables, it can be confirmed that the training of LQR controller is possible by using the approximate Jacobian matrix instead of the modeling equation and this controller is not worse than the traditional LQR controller.

• Journal of applied mathematics & informatics
• /
• v.29 no.3_4
• /
• pp.813-829
• /
• 2011

In this article, we present a numerical scheme for solving singularly perturbed (i.e. highest -order derivative term multiplied by small parameter) Burgers-Huxley equation with appropriate initial and boundary conditions. Most of the traditional methods fail to capture the effect of layer behavior when small parameter tends to zero. The presence of perturbation parameter and nonlinearity in the problem leads to severe difficulties in the solution approximation. To overcome such difficulties the present numerical scheme is constructed. In construction of the numerical scheme, the first step is the dicretization of the time variable using forward difference formula with constant step length. Then, the resulting non linear singularly perturbed semidiscrete problem is linearized using quasi-linearization process. Finally, differential quadrature method is used for space discretization. The error estimate and convergence of the numerical scheme is discussed. A set of numerical experiment is carried out in support of the developed scheme.

• Journal of Korean Society of Forest Science
• /
• v.6 no.1
• /
• pp.1-5
• /
• 1967

We studied on the bark Percentage of red pine (Pinus denssiflora S & Z) and tarch (Larix Kaemdferi sargent) and obtained the results as follows: (1) For diameter classes from 8 to 38 cm in red pine. the linear equation adopts the relation of the bark percentage to the diameter more accurately than the logarithmic equation. (2) The difference between the regression equation of the bark percentage between red pine and Larch is significant and the correlation cofficient in red Pine is high so that standard error of red Pine is lower than its value of Larch. We established, therefore the tables of bark percentage for each species by applying the following regression equations. red Pine Y=10.08205-0.08794x Larch Y=10.3527-0.17071x.

• Journal of Navigation and Port Research
• /
• v.43 no.4
• /
• pp.231-236
• /
• 2019

As ships become bigger, faster, and diverse, transportation has increased the usage of marine vehicles. However, ship accidents are increasing. Ship accidents cause loss of life and property as well as environmental disasters. The occurrence of ship accidents causes enormous economic and environmental impacts. Notably, in the case of passenger ships, methods for preventing ship accidents are being discussed to avoid losing numerous human lives. The purpose of this study is to provide essential data for evacuation before reaching the dangerous time by predicting the time to reach the risk of capsizing based on the heeling angle of the passenger ship. Based on sinking accidents between 2012 and 2016, we set up specific scenarios and simulated the PRR1 data using commercial software MOSES V20. In the case of the linear equation, the simulation results showed a low error rate because the simulation data showed the linear graph. In the case of the quadratic equation, the error rate was low at the beginning but showed a high error rate at the subsequent angle.

• Asian Journal of Turfgrass Science
• /
• v.23 no.1
• /
• pp.77-90
• /
• 2009

Near Infrared Reflectance Spectroscopy(NIRS) is a quick, accurate, and non-destructive method to measure multiple nutrient components in plant leaves. This study was to acquire a liner regression equation by evaluating the nutrient contents of 'CY2' creeping bentgrass rapidly and accurately using NIRS. In particular, nitrogen fertility is a primary element to keep maintaining good quality of turfgrass. Nitrogen, moisture, carbohydrate, and starch were assessed and analyzed from 'CY2' creeping bentgrass clippings. A linear regression equation was obtained from accessing NIRS values from NIR spectrophotometer(NIR system, Model XDS, XM-1100 series, FOSS, Sweden) programmed with WinISI III project manager v1.50e and ISIscan(R) (Infrasoft International) and calibrated with laboratory values via chemical analysis from an authorized institute. The equation was formulated as MPLS(modified partial least squares) analyzing laboratory values and mathematically pre-treated spectra. The accuracy of the acquired equation was confirmed with SEP(standard error of prediction), which indicated as correlation coefficient($r^2$) and prediction error of sample unacquainted, followed by the verification of model equation of real values and these monitoring results. As results of monitoring, $r^2$ of nitrogen, moisture, and carbohydrate in 'CY2' creeping bentgrass was 0.840, 0.904, and 0.944, respectively. SEP was 0.066, 1.868, and 0.601, respectively. After outlier treatment, $r^2$ was 0.892, 0.925, and 0.971, while SEP was 0.052, 1.577, and 0.394, respectively, which totally showed a high correlation. However, $r^2$ of starch was 0.464, which appeared a low correlation. Thereof, the verified equation appearing higher $r^2$ of nitrogen, moisture, and carbohydrate showed its higher accuracy of prediction model, which finally could be put into practical use for turf management system.

• International Journal of Automotive Technology
• /
• v.6 no.4
• /
• pp.375-381
• /
• 2005

This paper presents linear algebraic equations in the form of recursive formula to compute elastokinematic characteristics of a suspension system. Conventional methods of elastokinematic analysis are based on nonlinear kinematic constrant equations and force equilibrium equations for constrained mechanical systems, which require complicated and time-consuming implicit computing methods to obtain the solution. The proposed linearized elastokinematic equations in the form of recursive formula are derived based on the assumption that the displacements of elastokinematic behavior of a constrained mechanical system under external forces are very small. The equations can be easily computerized in codes, and have the advantage of sharing the input data of existing general multi body dynamic analysis codes. The equations can be applied to any form of suspension once the type of kinematic joints and elastic components are identified. The validity of the method has been proved through the comparison of the results from established elastokinematic analysis software. Error estimation and analysis due to piecewise linear assumption are also discussed.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.54 no.4
• /
• pp.235-242
• /
• 2005

In this paper, we consider the H$\infty$ tracking control of linear system with a limited actuator capacity. The considered reference is a general time-varying one with bounded magnitude and rate. By adopting a similarity transform and a new sto variable, we convert the original system equation to new one which has a tracking error as a part of the new state variable. First, we obtain a result on the low-gained H$\infty$ tracking control which never permits the actuator saturation. Next, we give a result on scheduled H$\infty$ tracking control which uses the actuator capacity more effectively. All results are in the form of linear matrix inequalities(LMI) which can be easily checked their feasibility. Finally, we give a numerical example to show the validity and usefulness of our results.

• Proceedings of the KIEE Conference
• /
• 1998.11a
• /
• pp.186-188
• /
• 1998

This paper describe the dynamic equation of Linear Pulse Motor(LPM)and the method of microstep drive and newly proposed control method for Linear Pulse Motor(LPM). A microstep drive is generally used for the high resolution positioning system. But high thrust distortion and imbalance in LPM make torque ripple that cause position error in microstep drive. In this paper the new control method is proposed and applied to hybrid LPM which is made by KERI. In the experimental results. it is shown the validity of the proposed control scheme.

• Korean Journal of Computational Design and Engineering
• /
• v.14 no.1
• /
• pp.18-24
• /
• 2009

This paper proposes an analytical method of evaluating the maximum error by modeling the exact tool path for the tool traverse singular region in five-axis machining. It is known that the NC data from the inverse kinematics transformation of 5-axis machining can generate singular positions where incoherent movements of the rotary axes can appear. These lead to unexpected errors and abrupt operations, resulting in scoring on the machined surface. To resolve this problem, previous methods have calculated several tool positions during a singular operation, using inverse kinematics equations to predict tool trajectory and approximate the maximum error. This type of numerical approach, configuring the tool trajectory, requires much computation time to obtain a sufficient number of tool positions in a region. We have derived an analytical equation for the tool trajectory in a singular area by modeling the tool operation into a linear and a nonlinear part that is a general form of the tool trajectory in the singular area and that is suitable for all types of five-axis machine tools. In addition, we have evaluated the maximum tool-path error exactly, using our analytical model. Our algorithm can be used to modify NC data, making the operation smoother and bringing any errors to within tolerance.

• 전기의세계
• /
• v.22 no.4
• /
• pp.11-16
• /
• 1973

This paper presents an optimum control of the field resistance for the self-excited DC shunt generator to keep a constant terminal voltage in case of the load change or the torque variation in the system. The non-linearity of the system is linearized by applying the small signal technique and the linearized equation is solved by the maximum principle with the digital computer. The optimal control value of the field resistance for the step error of the generator output voltage is obtained and the transient voltage characteristics in the system are investigated.