• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.2
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• pp.276-283
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• 2012

In this paper, a practical quasi-optimal DOA(direction of arrival) estimator is proposed in order to develop a one-axis gimbaled ultrasonic source tracker for mobile robot applications. With help of the gimbal structure, the ultrasonic moving source tracking problem can be simply reduced to the DOA estimation. The DOA estimation is known as one of the representative long-pending nonlinear filtering problems, but the conventional nonlinear filters might be restrictive in many actual situations because it cannot guarantee the reliable performance due to the use of nonlinear signal model. This motivates us to reformulate the DOA estimation problem in the linear robust state estimation setting. Based on the assumption that the received ultrasonic signals are noisy sinusoids satisfying linear prediction property, a linear uncertain measurement model is newly derived. To avoid the DOA estimation performance degradation caused by the stochastic parameter uncertainty contained in the linear measurement model, the recently developed NCRKF (non-conservative robust Kalman filter) scheme [1] is utilized. The proposed linear DOA estimator provides excellent DOA estimation performance and it is suitable for real-time implementation for its linear recursive filter structure. The effectiveness of the suggested DOA estimation scheme is demonstrated through simulations and experiments.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.05a
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• pp.155-157
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• 2012

In this paper, we propose a nonlinear 3D image correlator using computational reconstruction of 3D images based on integral imaging. In the proposed method, the elemental images for reference 3D object and target 3D object are recorded through the lens array. The recorded elemental images are reconstructed as reference plane image and target plane images using the computational integral imaging reconstruction algorithm and the nonolinear correlation between them is performed for object recognition. To show the usefulness of the proposed method, the preliminary experiments are carried out and the experimental results are presented compared with the conventional results.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.12
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• pp.1193-1200
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• 2015

An effective swing trajectory of legged robots is different from the swing trajectories of humans or animals because of different dynamic characteristics. Therefore, it is important to find optimal parameters through experiments. This paper proposes a real-time nonlinear programming (RTNLP) method for optimization of the swing trajectory of the legged robot. For parameterization of the trajectory, the swing trajectory is approximated to parabolic and cubic spline curves. The robotic leg is position-controlled by a high-gain controller, and a cost function is selected such that the sum of the motor inputs and tracking errors at each joint is minimized. A simplified dynamic model is used to simulate the dynamics of a robotic leg. The purpose of the simulation is to find the feasibility of the optimization problem before an actual experiment occurs. Finally, an experiment is carried out on a real robotic leg with two degrees of freedom. For both the simulation and the experiment, the design variables converge to a feasible point, reducing the cost value.

• Journal of information and communication convergence engineering
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• v.14 no.1
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• pp.51-56
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• 2016

In this paper, we present a three-dimensional (3-D) automatic target recognition system based on optical integral imaging reconstruction. In integral imaging, elemental images of the reference and target 3-D objects are obtained through a lenslet array or a camera array. Then, reconstructed 3-D images at various reconstruction depths can be optically generated on the output plane by back-projecting these elemental images onto a display panel. 3-D automatic target recognition can be implemented using computational integral imaging reconstruction and digital nonlinear correlation filters. However, these methods require non-trivial computation time for reconstruction and recognition. Instead, we implement 3-D automatic target recognition using optical cross-correlation between the reconstructed 3-D reference and target images at the same reconstruction depth. Our method depends on an all-optical structure to realize a real-time 3-D automatic target recognition system. In addition, we use a nonlinear correlation filter to improve recognition performance. To prove our proposed method, we carry out the optical experiments and report recognition results.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.6
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• pp.848-859
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• 2004

Mechanical testing methods to determine the material constants for large deformation nonlinear finite element analysis were demonstrated for natural rubber. Uniaxial tension, uniaxial compression, equi-biaxial tension and pure shear tests of rubber specimens are performed to achieve the stress-strain curves. The stress-strain curves are obtained after between 5 and 10 cycles to consider the Mullins effect. Mooney and Ogden strain-energy density functions, which are typical form of the hyperelastic material, are determined and compared with each other. The material constants using only uniaxial tension data are about 20% higher than those obtained by any other test data set. The experimental equations of shear elastic modulus on the hardness and maximum strain are presented using multiple regression method. Large deformation finite element analysis of automotive transmission mount using different material constants is performed and the load-displacement curves are compared with experiments. The selection of material constant in large deformation finite element analysis depend on the strain level of component in service.

• Proceedings of the Korean Society for Bioinformatics Conference
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• 2005.09a
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• pp.421-426
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• 2005

In this paper, we investigate the nonlinear dynamic behavior of TPP (thiamine pyrophosphate) riboswitches in E. coli (Escherichia coli). TPP riboswitches are highly conserved RNA regulatory elements, embedded within the 5’'untranslated region of three TPP biosynthesis operons. The three operons thiCEFSGH, thiMD, and thiBPQ are involved in the biosynthesis, salvage, and transport of TPP, respectively. TPP riboswitches modulate their expressions in response to changing TPP concentration, without involving protein cofactors. Interestingly, the expression of thiMD is regulated at the translational level, while that of thiCEFSGH at both levels of transcription and translation. We develop a mathematical model of the TPP riboswitch’s regulatory system possessed by thiCEFSGH and thiMD, so as to simulate the time-course experiments of TPP biosynthesis in E. coli. The simulation results are validated against three sets of reported experimental data in order to gain insight into the nature of steady states and the stability of TPP riboswitches, and to explain the biological significance of regulating at level of transcription or translation, or even both. Our findings suggest that in the TPP biosynthesis pathway of E. coli, the biological effect of down-regulating thiCEFSGH operon at the translational level by TPP riboswitch is less prominent than that at the transcriptional level.

• Journal of Korean Society of Water and Wastewater
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• v.34 no.2
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• pp.139-147
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• 2020

This paper suggests a nonlinear pressure consideration scheme through an unsteady pipe network analyzer for leakage detection with a portable pressure wave generator. In order to evaluate the performance of a proposal scheme, linear input pattern has been simulated and experiments had been carried out under both no leakage and one leakage conditions in a reservoir-pipeline-valve system. This method using portable pressure wave generator showed that a leakage can be detected from a reflection where a leakage is originated through time domain analysis. Meaningful similarity in pressure response between nonlinear input pattern and experimental results were found both no leakage and a leakage conditions.

• Journal of the Earthquake Engineering Society of Korea
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• v.13 no.2
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• pp.29-36
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• 2009

The present study emphasizes a nonlinear model to predict the shear behaviour of reinforced concrete interior beam-column joints. To model the shear behaviour of a panel zone in the beam-column joint, a modified softened truss model theory for in-plane shear prediction was introduced. This relationship was changed to define the characteristics for the rotational spring to represent the shear deformation in the joint by an equivalent moment-rotation relationship from the joint equilibrium. The analysis model was compared with experiments on reinforced concrete interior beam-column joints that were subjected to axial and shear forces, and the current model was found to accurately predict not only the shear force but also the shear deformation in the joint.

• Journal of Korean Institute of Industrial Engineers
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• v.27 no.3
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• pp.315-327
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• 2001

This paper considers the problem of operation sequencing in nonlinear process planning, which is the problem of selecting and sequencing operations required to produce a part with the objective of minimizing the sum of operation processing costs and machine, setup and tool change costs. Main constraints are the precedence relations among operations. The problem can be decomposed into two subproblems: operation selection and operation sequencing. We suggest four simulated annealing algorithms, which solve the two subproblems iteratively until a good solution is obtained. Here, the operation selection problem can be solved using a shortest path algorithm. Application of the algorithms is illustrated using an example. Also, to show the performances of the suggested algorithms, computational experiments were done on randomly generated test problems and the results are reported. In particular, one of the suggested algorithms outperforms an existing simulated annealing algorithm.

• Ocean Systems Engineering
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• v.4 no.3
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• pp.201-213
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• 2014

Wave run-up is an important issue in offshore engineering, which is tightly related to the loads on the marine structures. In this study, a series of physical experiments have been performed to investigate the wave run-up around a vertical cylinder in transitional water depth. The wave run-ups of regular waves, irregular waves and focused waves have been presented and the characteristics in frequency domain have been investigated with the FFT and wavelet transform methods. This study focuses on the nonlinear features of the wave run-up and the interaction between the wave run-up and the cylinder. The results show that the nonlinear interaction between the waves and the structures might result wave run-up components of higher frequencies. The wave run-ups of the moderate irregular waves exhibit 2nd order nonlinear characteristics. For the focused waves, the incident waves are of strong nonlinearity and the wavelet coherence analysis reveals that the wave run-up at focal moment contains combined contributions from almost all the frequency components of the focused wave sequence and the contributions of frequency components up to 4th order harmonic levels are recommended to be included.