• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1785-1789
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• 1991

Recently, a number of papers on adaptive control scheme of manipulators are proposed. Slotine and Li[1] showed an adaptive control scheme for robot manipulator. The controller was described in closed form. And later Niemeyer and Slotine discussed about a computational implementation of the controller in recursive form[2]. Walker proposed another adaptive control scheme which can be implemented by a recursive-form controller[4]. Closed-form description is used for the analysis or design of adaptive control systems while recursive-form realization is used for implementation of the controller. The relation between the closed-form realization and the recursive-form one seems to be inadequately referred. Hence, it makes sense to consider the relation between the closed-form description and the recursive-form one. In this paper, first, we make a simple derivation of an closed-form dynamics description of a robot arm from its recursive-form description. And then we derive the closed-form realization of Walker's scheme applied to manipulators having no kinematic loop. We clarify the difference between the Walker's scheme and Slotine's and evaluate the convergence under the controllers.

• The Journal of the Acoustical Society of Korea
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• v.18 no.2
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• pp.61-65
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• 1999

This paper derives a sufficient condition on the stability of recursive third-order Volterra filters based on their filter coefficients. A Volterra filter is very effective in modeling nonlinear systems with memory. However, it is well-known that the nonrecursive Volterra filter requires a large number of filter coefficients to describe a nonlinear system. For this reason, recursive Volterra filters are usually considered because the recursive implementation requires a smaller number of coefficients compared to the nonrecursive one. Unfortunately, the main problem of the recursive Volterra filters is their inherent instablility. In this paper. we present a simple condition for the output of a recursive discrete-time third-order Volterra filter to be bounded whenever the input signal to the recursive Volterra filter is bounded by a finite constant.

• Research in Mathematical Education
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• v.7 no.4
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• pp.211-222
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• 2003

Recursive thinking is iterative, self-referential, and building on itself continuously. Moreover, it is becoming a more prominent feature of the mathematical scope because of the availability of computers and languages like Logo, Excel, and Pascal that support recursion. This study investigates the way to create students' recursive thinking in mathematics classroom and to use various methods to solve problems using a spreadsheet, the Excel program where technology could be accessible.

• Journal of the Korean Statistical Society
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• v.30 no.2
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• pp.281-290
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• 2001

Symmetric estimation and recursive mean adjustment are considered to construct tests for the doble unit root hypothesis for both parametric and semiparametric time series models. It is shown that simultaneous application of symmetric estimation and recursive mean adjustment yields the most powerful test. Moreover, size property of the semiparametric test based on the simultaneous application is bet among all semiparametric tests.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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• pp.570-573
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• 2000

A control law for a SCARA robot manipulator is designed using recursive torque methods. This scheme uses previous torques and error dynamics to generate torque controls at the present time and adopts relatively simple numerical and control algorithms that can be easily realizable. In order to evaluate the performance and robustness of the suggested control system, the 2-link SCARA robot manipulator is practically implemented using a dSPACE interface. It is found that the recursive controller has a good tracking performance in spite of the presence of payload disturbances.

• Journal of the Korean Institute of Navigation
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• v.20 no.4
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• pp.99-109
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• 1996

Though median filter is used for removing noise and smoothing image. But, the result of it has distortion around edge. And then, this paper proposes new noise removing algorithm by recursive morphological processing. Basic operation is same each other, but there is some different processing method between recursive morphology and general morphology theory. This recursive morphological filter can be viewed as the weighted order static filter, and then it has a weighted SE(structuring element). Especially using this algorithm to remove the 10% gaussian noise, this paper confirmed that PSNR is improved about 0.642~1.5757 db reserving edge well better than the results of the traditional median filter.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.2B
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• pp.108-117
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• 2007

Recursive DNS is configured as primary or secondary DNS on user PC and performs domain name resolution corresponding user's DNS query. At present, the amount of DNS traffic is occupied high rate in the total internet traffic and the internet traffic would be increased by failure of IPv6 DNS queries and responses as IPv6 transition environment. Also, existing Recursive DNS service mechanisms is unstable on malicious user's attack same as DoS/DDoS Attack and isn't provide to user trust DNS service fail-over. In this paper, we propose IPv6 Recursive DNS service mechanisms for based on anycast for improving stability. It is that fail-over Recursive DNS is configured IPv6 Anycast address for primary Recursive DNS's foil-over. this mechanisms increases reliability and resiliency to DoS/DDoS attacks and reduces query latency and helps minimize DNS traffic as inducing IPv6 address.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.16 no.7
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• pp.2257-2285
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• 2022

Cyber-physical systems (CPS) have been growing exponentially due to improved cloud-datacenter infrastructure-as-a-service (CDIaaS). Incremental expandability (scalability), Quality of Service (QoS) performance, and reliability are currently the automation focus on healthy Tier 4 CDIaaS. However, stable QoS is yet to be fully addressed in Cyber-physical data centers (CP-DCS). Also, balanced agility and flexibility for the application workloads need urgent attention. There is a need for a resilient and fault-tolerance scheme in terms of CPS routing service including Pod cluster reliability analytics that meets QoS requirements. Motivated by these concerns, our contributions are fourfold. First, a Distributed Non-Recursive Cloud Model (DNRCM) is proposed to support cyber-physical workloads for remote lab activities. Second, an efficient QoS stability model with Routh-Hurwitz criteria is established. Third, an evaluation of the CDIaaS DCN topology is validated for handling large-scale, traffic workloads. Network Function Virtualization (NFV) with Floodlight SDN controllers was adopted for the implementation of DNRCM with embedded rule-base in Open vSwitch engines. Fourth, QoS evaluation is carried out experimentally. Considering the non-recursive queuing delays with SDN isolation (logical), a lower queuing delay (19.65%) is observed. Without logical isolation, the average queuing delay is 80.34%. Without logical resource isolation, the fault tolerance yields 33.55%, while with logical isolation, it yields 66.44%. In terms of throughput, DNRCM, recursive BCube, and DCell offered 38.30%, 36.37%, and 25.53% respectively. Similarly, the DNRCM had an improved incremental scalability profile of 40.00%, while BCube and Recursive DCell had 33.33%, and 26.67% respectively. In terms of service availability, the DNRCM offered 52.10% compared with recursive BCube and DCell which yielded 34.72% and 13.18% respectively. The average delays obtained for DNRCM, recursive BCube, and DCell are 32.81%, 33.44%, and 33.75% respectively. Finally, workload utilization for DNRCM, recursive BCube, and DCell yielded 50.28%, 27.93%, and 21.79% respectively.

• The Journal of the Acoustical Society of Korea
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• v.29 no.6
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• pp.374-380
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• 2010

It is known that the problem of FIR filtering with noisy input and output data can be solved by a total least squares (TLS) estimation. It is also known that the performance of the TLS estimation is very sensitive to the ratio between the variances of the input and output noises. In this paper, we propose a convex combination algorithm between the ordinary recursive LS based TLS (RTLS) and the ordinary recursive LS (RLS). This combined algorithm is robust to the noise variance ratio and has almost the same complexity as the RTLS. Simulation results show that the proposed algorithm performs near TLS in noise variance ratio ${\gamma}{\approx}1$ and that it outperforms TLS and LS in the rage of 2 < $\gamma$ < 20. Consequently, the practical workability of the TLS method applied to noisy data has been significantly broadened.

• 전기의세계
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• v.24 no.1
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• pp.70-74
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• 1975

A model computer is designed and using this model computer it is demonstrated that computable functions are equivalent to recursive functions. It is also shown that iteratively defined computable functions can be transformed to recursively defined computable functions and that recursive programming is possible in principle, when iterative programming is possible.