• The Journal of the Acoustical Society of Korea
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• v.16 no.3
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• pp.81-85
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• 1997

In this paper, a recursive estimation algorithm for FIR systems is proposed using the 3rd and 4th order cumulants. To obtain the Overdetermined Recursive Instrumental Variable(ORIV) method type algorithm, we transform the 3'th and 4'th order cumulant relationship to a certain matrix form which is consist of only output data. From the matrix form, we induce the proposed algorithm procedure following the ORIV method. The proposed algorithm provides improved estimation accuracy with smaller data and can be applied to a time varying system as well. In addition, it reduces the estimation error due to the additive Gaussian noise compared to conventional 2'rd order based algorithms since it only uses higher than 2'rd order cumulant. Simulation results are presented to compare the performance with other HOS-based algorithms.

• The Journal of the Acoustical Society of Korea
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• v.14 no.3
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• pp.37-48
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• 1995

This paper presents an sstimation of ARMA coefficients of noisy ARMA system using generalized total least square (GTLS) method. GTLS problem for ARMA system is defined as minimizing the errors between the noisy output vectors and estimated noisy-free output. The GTLS problem is solved in closed form by eigen-problem and the perturbation analysis of GTLS is presented. Also its recursive solution (recursive GTLS) is proposed using the power method and the covariance formula of the projected output error vector into the input vector space. The simulation results show that GTLS ARMA coefficients estimator is an unbiased estimator and that recursive GTLS achieves fast convergence.

• Structural Engineering and Mechanics
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• v.2 no.4
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• pp.395-402
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• 1994

An improved finite element-transfer matrix method is applied to the transient analysis of plates with large displacement under various excitations. In the present method, the transfer of state vectors from left to right in a combined finite element-transfer matrix method is changed into the transfer of generally incremental stiffness equations of every section from left to right. Furthermore, in this method, the propagation of round-off errors occurring in recursive multiplications of transfer and point matrices is avoided. The Newmark-${\beta}$ method is employed for time integration and the modified Newton-Raphson method for equilibrium iteration in each time step. An ITNONDL-W program based on this method using the IBM-PC/AT microcomputer is developed. Finally numerical examples are presented to demonstrate the accuracy as well as the potential of the proposed method for dynamic large deflection analysis of plates with random boundaries under various excitations.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.10-13
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• 1995

This paper considers the linear-quadratic optimal regulator problem for nonstandard singularly perturbed systems making use of the recursive technique. We first derive a generalized Riccati differential equation by the Hamilton-Jacobi equation. In order to obtain the feedback gain, we must solve the generalized algebraic Riccati equation. Using the recursive technique, we show that the solution of the generalized algebraic Riccati equation converges with the rate of convergence of O(.epsilon.). The existence of a bounded solution of error term can be proved by the implicit function theorem. It is enough to show that the corresponding Jacobian matrix is nonsingular at .epsilon. = 0. As a result, the solution of optimal regulator problem for nonstandard singularly perturbed systems can be obtained with an accuracy of O(.epsilon.$^{k}$ ). The proposed technique represents a significant improvement since the existing method for the standard singularly perturbed systems can not be applied to the nonstandard singularly perturbed systems.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.419-423
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• 1996

These days, industrial robots are required to have high speed and high precision in doing various tasks. Recently, the adaptive control algorithms for those nonlinear robots have been developed. With spatial vector space, these adaptive algorithms including recursive implementation are simply described. Without sensing joint acceleration and computing the inversion of inertia matrix, these algorithms which include P.D. terms and feedforward terms have global tracking convergence. In this paper, the feasibility of the proposed control method is illustrated by applying to 2 DOF SCARA robot in DSP(Digital Signal Processing).

• Honam Mathematical Journal
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• v.41 no.4
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• pp.823-835
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• 2019

A solution for Nevanlinna-Pick interpolation problem with low complexity is constructed via non-recursive method. More precisely, a stable rational function satifying the given interpolation data in the complex right half plane is found by solving a homogeneous interpolation problem related to a minial interpolation problem for the given data in the right half plane together with its mirror-image data.

• The Journal of Engineering Research
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• v.3 no.1
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• pp.85-95
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• 1998

In this study, we consider a recursive procedure to obtain the stationary probability distribution for analyzing Coxian queueing networks with finite queues. This network deals with multiple class customers. Due to the state space representing multiple class customers, the sub-matrices corresponding to states can not be square matrices and can not be inverted. Therefore, we introduce more complex recursive method to avoid the singular problem. The open queueing network that we study consists of 3 parallel first-level sources linked to a single second level queue. We consider two types of schemes for entering a queue. The first scheme is assumed to be the first-blocked-first-enter (FBFE) and the second scheme is the higher-priority-first-enter (HPFE). Arrival and service times are assume to have a Coxian distribution with two phases. Comparison between the resulting using Gauss-Seidel method and recursive procedure will be shown.

• Steel and Composite Structures
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• v.25 no.2
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• pp.127-139
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• 2017

In this paper, an exact analytical solution for simply supported sandwich plate which considers the permeation effect of adhesives is presented. The permeation layer is described as functionally graded material (FGM), the elastic modulus of which is assumed to be graded along the thickness following the exponential law. Based on the exact three-dimensional (3-D) elasticity theory, the solution of stresses and displacements for each layer is derived. By means of the recursive matrix method, the solution can be efficiently obtained for plates with many layers. The present solution obtained can be used as a benchmark to access other simplified solutions. The comparison study indicates that the finite element (FE) solution is close to the present one when the FGM layer in the FE model is divided into a series of homogeneous layers. However, the present method is more efficient than the FE method, with which the mesh division and computation are time-consuming. Moreover, the solution based on Kirchhoff-Love plate theory is greatly different from the present solution for thick plates. The influence of the thickness of the permeation layer on the stress and displacement fields of the sandwich plate is discussed in detail. It is indicated that the permeation layer can effectively relieve the discontinuity stress at the interface.

• Journal of Mechanical Science and Technology
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• v.15 no.3
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• pp.320-326
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• 2001

A Robust controller is designed for cascaded nonlinear uncertain systems that can be decomposed into two subsystems; that is, a series connection of two nonlinear subsystems, such as a robot manipulator with actuators. For such systems, a recursive design is used to include the second subsystem in the robust control. The recursive design procedure contains two steps. First, a fictitious robust controller for the first subsystem is designed as if the subsystem had an independent control. As the fictitious control, a nonlinear H(sub)$\infty$ control using energy dissipation is designed in the sense of L$_2$-gain attenuation from the disturbance caused by system uncertainties to performance vector. Second, the actual robust control is designed recursively by Lyapunovs second method. The designed robust control is applied to a robotic system with actuators, is which the physical control inputs are not the joint torques, but electrical signals to the actuators.

• Journal of Mechanical Science and Technology
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• v.15 no.8
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• pp.1090-1096
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• 2001

In this paper, new methods for efficiently solving linear acceleration equations of multibody dynamic simulation exploiting sparsity for real-time simulation are presented. The coefficient matrix of the equations tends to have a large number of zero entries according to the relative joint coordinate numbering. By adequate joint coordinate numbering, the matrix has minimum off-diagonal terms and a block pattern of non-zero entries and can be solved efficiently. The proposed methods, using sparse Cholesky method and recursive block mass matrix method, take advantages of both the special structure and the sparsity of the coefficient matrix to reduce computation time. The first method solves the η$\times$η sparse coefficient matrix for the accelerations, where η denotes the number of relative coordinates. In the second method, for vehicle dynamic simulation, simple manipulations bring the original problem of dimension η$\times$η to an equivalent problem of dimension 6$\times$6 to be solved for the accelerations of a vehicle chassis. For vehicle dynamic simulation, the proposed solution methods are proved to be more efficient than the classical approaches using reduced Lagrangian multiplier method. With the methods computation time for real-time vehicle dynamic simulation can be reduced up to 14 per cent compared to the classical approach.