• 전자공학회논문지B
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• 제33B권11호
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• pp.1-10
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• 1996

In this paper, we suggest a new identification method based on the takagi-sugeno fuzzy model which prepresents an envrionmental stiffness and propose a method to decide PD gains of the PD controller. It is difficult to perform a compliance task due to characteristics of robot itself and uncertain work envronment. Therefore, in this paper, we identify the fuzzy rule by dividing the relationship of input-output data into several piecewise-linear equations using the hough transform which is the one this fuzzy model, we propose a method to design the pD gain. We show the validity of this method by the experiment of tracking the surface of the paper box as an example of variable environment using robot manipulator and force sensing system. As a performance index, we use the settling time, and perform an analysis between conventional PD contorllers and this controller.

• 대한수학회논문집
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• 제18권3호
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• pp.569-580
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• 2003

The Lotka-McKendrick equation which describes the evolution of a single population under the phenomenological conditions is developed from the well-known Malthus’model. In this paper, we introduce the Lotka-McKendrick equation for the description of the dynamics of a population. We apply a discontinuous Galerkin finite element method in age-time domain to approximate the solution of the system. We provide some numerical results. It is experimentally shown that, when the mortality function is bounded, the scheme converges at the rate of $h^2$ in the case of piecewise linear polynomial space. It is also shown that the scheme converges at the rate of $h^{3/2}$ when the mortality function is unbounded.

• 대한수학회보
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• 제51권1호
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• pp.139-156
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• 2014

In this paper, we investigate the error estimates of a quadratic elliptic control problem with pointwise control constraints. The state and the co-state variables are approximated by the order k = 1 Raviart-Thomas mixed finite element and the control variable is discretized by piecewise linear but discontinuous functions. Approximations of order $h^{\frac{3}{2}}$ in the $L^2$-norm and order h in the $L^{\infty}$-norm for the control variable are proved.

• Journal of Power Electronics
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• 제10권3호
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• pp.306-312
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• 2010

In this paper, the design of an optimum single input Fuzzy controller for application in dc to ac converters is presented. Contrary to conventional Fuzzy controllers, the proposed controller has a smaller number of rules and tuning parameters but is capable of performing identically to a conventional controller. These benefits lead to a simpler controller design. The controller is designed as a PI controller for small-signal disturbances. However, for optimum large-signal performance, heuristic tuning is used. The tuning is less complicated and hence optimum large-signal performance is achievable. The system is simulated and a hardware prototype was developed for comparison purposes.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.144-147
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• 2001

The planar tracked vehicle model used in this investigation consists of two kinematically decoupled subsystem, i.e., the chassis subsystem and the track subsystem. The chassis subsystem include the chassis frame, sprocket, idler and rollers, while the track subsystem is represented as a closed kinematic chain consisting of rigid links interconnected by revolute joints, In this paper, the recursive kinematic and dynamic formulation of the tracked vehicle is used to find the vertical forces and the distances of the certain track moved in the driving direction along the track. These distances and vertical forces obtained are used to calculate the sinkage of a terrain. The FEM is adopted to analyze the interaction between the tracked vehicle and terrain. The terrain is represented by a system of elements with specified constitutive relationships and considered as a piecewise linear elastic, plastic and isotropic material. When the tracked vehicle is moving with different speeds on the terrain, the elastic and plastic deformations and the maximum sinkage for the four different types of a isotropic soil are simulated.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2001년도 춘계학술대회논문집
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• pp.277-282
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• 2001

Partial rotor rub occurs when an obstacle on the stator of a rotating machinery disturbs the free whirling motion of a rotor, which is more common than full annular rub for the cases of rubbing in rotating machinery. The nonlinearity due to the intermittent contacts and friction during partial rotor rub makes the phenomenon complex. The several nonlinear phenomena of superharmonics, subharmonics, and jump phenomenon are demonstrated for the partial rub using an experimental apparatus in this study. A piecewise-linear model and a rebound model using the coefficient of restitution are investigated on the basis of experimental observations in order to adopt as an analytical model of the contact between the rotor and stator during whirling motion. The contact stiffness, coefficient of restitution, and friction coefficient for the contact during partial rub are calculated from the comparison between the numerical simulation and the experimental results. Also, the numerical simulations for the model of partial rub are done for the various system parameters of clearance, contact stiffness, and friction coefficient in order to find the nonlinear behavior of partial rotor rub.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2001년도 봄 학술발표회 논문집
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• pp.363-370
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• 2001

A computationally efficient algorithm to analyze a group pile behavior is proposed by consideration of both soil-pile and pile-cap interactions. Using toad transfer method the nonlinear characteristics of the soil-pile interaction for a single pile is modeled by piecewise linear soil springs (p-y, t-z, and q-z curves). Beam-column method, one of the most practical approaches, is used for numerical modeling of the soil-pile system. In addition to the group effect resulting from the soil-pile-soil interaction, for a more realistic analysis it is essential to consider the effect of pile-cap interaction including geometric configuration of the piles in a group and conectivity conditions between piles and the cap. This paper mainly focuses on the pile-cap interaction and the development of a rational numerical procedure of its incorporation with the beam-column method.

• 음성과학
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• 제10권3호
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• pp.263-277
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• 2003

One of major problems in speech recognition is performance degradation due to the mismatch between the training and test environments. Recently, Stereo-based Piecewise LInear Compensation for Environments (SPLICE), which is frame-based bias removal algorithm for cepstral enhancement using stereo training data and noisy speech model as a mixture of Gaussians, was proposed and showed good performance in noisy environments. In this paper, we propose several methods to improve the conventional SPLICE. First we apply Cepstral Mean Subtraction (CMS) as a preprocessor to SPLICE, instead of applying it as a postprocessor. Secondly, to compensate residual distortion after SPLICE processing, two-stage SPLICE is proposed. Thirdly we employ phonetic information for training SPLICE model. According to experiments on the Aurora 2 database, proposed method outperformed the conventional SPLICE and we achieved a 50% decrease in word error rate over the Aurora baseline system.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.425-426
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• 2006

Overdriving schemes are used to improve the response time of liquid crystal display. Typically they are implemented by using LUTs (look-up table) within an image processor. However, the size of LUT is limited by the physical memory size and system cost. In this paper, we present an improved method for LUT implementation using linear interpolation and piecewise least-square polynomial regression. Using the proposed method, the performance of LUT can be improved and memory size of that can be reduced.

• Structural Engineering and Mechanics
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• 제60권5호
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• pp.891-902
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• 2016

The beam structure with breathing cracks subjected to harmonic excitations was modeled by FEM based on Euler-Bernoulli theory, and a piecewise dynamical system was deduced. The precise integration method (PIM) was employed to propose an algorithm for analyzing the dynamic responses of the deduced system. This system was first divided into linear sub-systems, between which there are switching points resulted from the breathing cracks. The inhomogeneous terms due to the external excitations were tackled by introducing auxiliary variables to express the harmonic functions, hence the sub-systems are homogeneous. The PIM was then applied to solve the homogeneous sub-systems one by one. During the procedures, a predictor-corrector algorithm was presented to determine the switching points accurately. The presented method can provide solutions with an accuracy to a magnitude of $10^{-12}$ compared with exact solutions obtained by the theories of ordinary differential equations. The PIM results are much more accurate than Newmark ones with the same time step. Moreover, it is found that the PIM can maintain a high level of accuracy even when the time step increases within a relatively wide range.