• Journal of the Korea Computer Graphics Society
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• v.16 no.2
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• pp.9-17
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• 2010

Minkowski sum of two polyedra is an operation to compute the sum of all pairs of points contained in the polyhedra. It has been a very useful tool to solve many geometric problems arising in the areas of robotics, NC machining, solid modeling, and so on. However, very few algorithms have been proposed to compute Minkowski sum of polyhedra, because computing Minkowski sum boundaries is susceptible to roundoff errors. We propose an algorithm to robustly compute the Minkowski sum boundaries by employing the controlled linear perturbation scheme to prevent numerically ambiguous and degenerate cases from occurring. According to our experiments, our algorithm computes the Minkowski sum boundaries with the precision of $10^{-14}$ by perturbing the vertices of the input polyhedra up to $10^{-10}$.

• Journal of the Korea Computer Graphics Society
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• v.17 no.3
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• pp.9-19
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• 2011

Computing triangle-triangle intersections has been a fundamental task required for many 3D geometric problems. We propose a novel robust GPU algorithm to efficiently compute intersections in a large triangle set. The algorithm has three stages:k-d tree construction, triangle pair generation, and exact intersection computation. All three stages are executed on GPU except, for unsafe triangle pairs. Unsafe triangle pairs are robustly handled by CLP(controlled linear perturbation) on a CPU thread. They are identified by floating-point filtering while exact intersection is computed on GPU. Many triangles crossing a split plane are duplicated in k-d tree construction, which form a lot of redundant triangle pairs later. To eliminate them efficiently, we use a split index which can determine redundancy of a pair by a simple bitwise operation. We applied the proposed algorithm to computing 3D Minkowski sum boundaries to verify its efficiency and robustness.

• Atmosphere
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• v.23 no.2
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• pp.161-169
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• 2013

We examine the effects of the sea surface temperature (SST) distribution on heavy snowfall over the Yellow Sea using high-resolution SST products and WRF (Weather Research and Forecasting) model simulations in 30 December 2010. First, we evaluate the model by comparing the simulated and observed fresh snowfall over the Korean peninsula (Ho-Nam province). The comparison shows that the model reproduces the distributions and magnitudes of the observed snowfall. We then conduct sensitivity model simulations where SST perturbations by ${\pm}1.1^{\circ}C$ relative to baseline SST values (averaged SST for $5{\sim}15^{\circ}C$) are uniformly specified over the region of interest. Results show that ${\pm}1.1^{\circ}C$ SST perturbation simulations result in changes of air temperature by $+0.37/-0.38^{\circ}C$, and by ${\pm}0.31^{\circ}C$ hPa for sea level pressure, respectively, relative to the baseline simulation. Atmospheric responses to SST perturbations are found to be relatively linear. The changes in SST appear to perturb precipitation variability accounting for 10% of snow and graupel, and 18% of snowfall over the Yellow Sea and Ho- Nam province, respectively. We find that anomalies of air temperature, pressure, and hydrometeors due to SST perturbation propagate to the upper part of cloud top up to 500 hPa and show symmetric responses with respect to SST changes.

• Korean Journal of Applied Biomechanics
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• v.17 no.2
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• pp.41-50
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• 2007

The purpose of this study was to examine the effects of Task-oriented training on the balance, lapse time and MVC(Maximum Voluntary Contraction) of CVA(cerebral vascular accident) patients. The active balance equipment was used to measure of the static balance, lapse time and task-oriented training. The EMG technique was used to record muscle activitie of affected side of gluteus medius and vastus medialis. The raw EMG data were filtered with band pass filter (60Hz) to remove artifacts and then low pass filtered (20Hz) to find the linear envelope which resemble muscle tension curve. The experiment had been conducted at the department of physical therapy in J hospital in M city during 8weeks. The thirty patients experienced the stroke were participated: training group (15), control group (15). They were ambulatory with or without an assistive device. They were assessed on central perturbation(mm) in the static balance, lapse time(s) and MVC test(mV). The data were analyzed using repeated measured ANOVA. The results were as follows: After Task-oriented training, central perturbation and lapse time was significantly differences in both groups(p<.001), and MVC in gluteus medius were no significant differences in both groups, but vastus medialis was significant differences in both groups (p<.001).

• Journal of the Society of Naval Architects of Korea
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• v.45 no.5
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• pp.469-476
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• 2008

In this paper, it is shown that an input-output (I/O) feedback linearized controller can be designed rationally by utilizing the time-scale properties of heave and pitch for an underwater vehicle. It is assumed that the dynamics of the vehicle is restricted to the vertical plane. An output-feedback control is designed, which stabilizes steady cruising paths. It is shown that the vehicle dynamics with acceleration as output becomes minimum phase. The dynamics can be transformed into a reduced system through a kind of partial linearization and singular perturbation technique. The reduced system is not only minimum phase but also exactly I/O linearizable via feedback. The I/O dynamic characteristics of the heave and pitch modes can be made linear and decoupled. Furthermore it becomes independent of cruising condition such as vehicle velocity. This study may help for designing autopilot systems for underwater vehicles.

• Journal of the Earthquake Engineering Society of Korea
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• v.6 no.6
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• pp.55-64
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• 2002

For nonlinear analysis of sloshing of fluid in rectangular tanks, a new method using the perturbation approach is presented. The results by presented method show good agreement with results in previous study. The importance of nonlinear sloshing analysis is demonstrated by comparing nonlinear behaviors of sloshing in broad and tall tanks with different site conditions. In general, the results by nonlinear analysis are greater than those by linear analysis. Specially, the nonlinear behavior is significant in softer soil site and broad tank. Therefore, nonlinear behavior analysis has to be considered in the design of large liquid storage tanks.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.506-506
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• 2000

To improve control performance of a non-linear system, many other researches have used the sliding mode control algorithm. The sliding mode controller is known to be robust against nonlinear and unmodeled dynamic terms. However. this algorithm raises the inherent chattering caused by excessive switching inputs around the sliding surface. Therefore, in order to solve the chattering problem and improve control performance, this study has developed the sliding mode controller with a perturbation estimator using the observer-based fuzzy adaptive network generates the control input for compensating unmodeled dynamics terms and disturbance. And, the weighting parameters of the fuzzy adaptive network are updated on-line by adaptive law in order to force the estimation errors to converge to zero. Therefore, the combination of sliding mode control and fuzzy adaptive network gives rise to the robust and intelligent routine. For evaluating control performance of the proposed approach. tracking control simulation is carried out for the hydraulic motion simulator which is a 6-degree of freedom parallel manipulator.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.20 no.2
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• pp.121-128
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• 2011

As high precision industries such as semiconductor, TFT-LCD manufacturing and MEMS continue to grow, the demand for higher DOF precision stages has been increasing. In general, the stages should accommodate a prescribed range of payloads in order to position various precision manufacturing/inspection instruments. Therefore a nonlinear controller using sliding motion is developed, which bears mass perturbation and makes the upper plate of the stage move in 6 DOF. For the application of the nonlinear control, an observer is also developed based on expected noise covariance. To eliminate the steady state error of step response, integral terms are inserted into the state-space model. The linear term of the controller is designed using optimization scheme in which parameters can be weighted according to their physical significance, whereas the nonlinear term of the controller is designed using trial and error method. A comprehensive simulation study proves that the designed controller is robust against mass perturbation and completely eliminates steady state errors.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.13 no.6
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• pp.88-98
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• 2014

A moving mass on a skewed linear guideway model to analyze the friction-induced stick-slip behavior of ball-screw-driven slides is proposed. To describe the friction force, a friction coefficient function is modelled as a third-order polynomial of the relative velocity between the slide mass and a guideway. A nonlinear differential equation of motion is derived and an approximate solution is obtained using a perturbation method for the amplitudes and base frequencies of both pure-slip and stick-slip oscillations. The results are presented with time responses, phase plots, and amplitude plots, which are compared adequately with those obtained by Runge Kutta 4th-order numerical integration, as long as the difference between the static and kinematic friction coefficients is small. However, errors in the results by the approximate solution increase and are not negligible if the difference between the friction coefficients exceeds approximately 40% of the static friction coefficient.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.13 no.1
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• pp.119-127
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• 1999

In this paper, a robust direct adaptive contrdler is presented in a linear time-invariant. Continuous systems with unmodeded dynamics and bounded disturbance using a rmdified control law and the adaptive law to Compensate for the drawback of ${\sigma}$-modification algorithm. The proposed algorithm is awlied to a plant with unrmdeled dynamics represented as a singular perturbation. Boundness of all signals in overall system is guaranteed with mathematical analysis. simulation results are presented the effectiveness foc the first-order plant even in the presence of unmodelled dynamics or bounded disturbance simulatneousIy.eousIy.