• Transactions on Control, Automation and Systems Engineering
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• v.1 no.1
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• pp.8-15
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• 1999

One of the main reason advocating redundant manipulators' superiority in application is that they can afford to optimize a dexterity measure, for example the manipulability measure. However, to obtain the gradient of the manipulability is not an easy task in case of general manipulator with high degrees of redundancy. This article proposes a method to compute the gradient of the manipulability, based on recursive algorithm to compute the Jacobian and its derivative using Denavit-Hartenberg parameters only. To characterize the null motion of redundant manipulators, the null space matrix using square minors of the Jacobian is also proposed. With these capabilities, the inverse kinematics of a redundant manipulator system can be done automatically. The result is easily extended to dual manipulator system using the relative kinematics.

• Structural Engineering and Mechanics
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• v.5 no.3
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• pp.283-295
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• 1997

This paper presents a high precision integration method for the dynamic response analysis of structures with holonomic constraints. A detail recursive scheme suitable for algebraic and differential equations (ADEs) which incorporates generalized forces is established. The matrix exponential involved in the scheme is calculated precisely using $2^N$ algorithm. The Taylor expansions of the nonlinear term concerned with state variables of the structure and the generalized constraint forces of the ADEs are derived and consequently, their particular integrals are obtained. The accuracy and effectiveness of the present method is demonstrated by two numerical examples, a plane truss with circular slot at its tip point and a slewing flexible cantilever beam which is currently interesting in optimal control of robot manipulators.

• Proceedings of the KIEE Conference
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• 2000.07a
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• pp.274-275
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• 2000

This paper introduces new ordering algorithms using the graph of data structure and forward/backward substitution of LU decomposition using recursive function. The performance of the algorithm is compared with Tinney's algorithm using 14 bus systems. Test results show that the new fill-in element of Jacobian matrix using the proposed ordering algorithm is same as that of Tinner scheme 3 and the forward/backward substitution can reduce the computation time

• ETRI Journal
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• v.10 no.4
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• pp.89-98
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• 1988

We consider an N duplicate-server system, where each server consists of two reconfigurable duplicated units which are subject to breakdowns. This system is studied analytically using generating functions, and also numerically using the matrix-geometric procedure. Using the generating function approach we obtain a recursive expression of the queuelength distribution for N=1. This expression in difficult to generalize to N>1. The numerical method is applicable for any value of N. For any N, we also obtain the condition for stability and the availability of the system.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.33A no.11
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• pp.120-127
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• 1996

In the WKB analysis, we propose the new forms of the trial eigenfunctions which not only converge at the turning points but also approximate to the conventional WKB solutions away from the turning points. The eigenvalue equation of multiple waveguides with graded index profile are derived by using the proposed WKB analysis and the transfer matrix method. The drived equation sare represented in the recursive form. The results of the eigenvalue equation sare comapred with those of the FDM, one of the well-known computational methods, for a three-waveguide coupler.

• ETRI Journal
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• v.32 no.2
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• pp.222-229
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• 2010

A conventional pseudorandom sequence generator creates only 1 bit of data per clock cycle. Therefore, it may cause a delay in data communications. In this paper, we propose an efficient implementation method for a pseudorandom sequence generator with parallel outputs. By virtue of the simple matrix multiplications, we derive a well-organized recursive formula and realize a pseudorandom sequence generator with multiple outputs. Experimental results show that, although the total area of the proposed scheme is 3% to 13% larger than that of the existing scheme, our parallel architecture improves the throughput by 2, 4, and 6 times compared with the existing scheme based on a single output. In addition, we apply our approach to a $2{\times}2$ multiple input/multiple output (MIMO) detector targeting the 3rd Generation Partnership Project Long Term Evolution (3GPP LTE) system. Therefore, the throughput of the MIMO detector is significantly enhanced by parallel processing of data communications.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.3
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• pp.211-217
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• 2011

This paper proposes a quasi-optimal linear DOA (Direction-of-Arrival) estimator which is necessary for the development of a real-time robot auditory system tracking moving acoustic source. It is well known that the use of conventional nonlinear filtering schemes may result in the severe performance degradation of DOA estimation and not be preferable for real-time implementation. These are mainly due to the inherent nonlinearity of the acoustic signal model used for DOA estimation. This motivates us to consider a new uncertain linear acoustic signal model based on the linear prediction relation of a noisy sinusoid. Using the suggested measurement model, it is shown that the resultant DOA estimation problem is cast into the NCRKF (Non-Conservative Robust Kalman Filtering) problem [12]. NCRKF-based DOA estimator provides reliable DOA estimates of a fast moving acoustic source in spite of using the noise-corrupted measurement matrix in the filter recursion and, as well, it is suitable for real-time implementation because of its linear recursive filter structure. The computational efficiency and DOA estimation performance of the proposed method are evaluated through the computer simulations.

• Journal of Mechanical Science and Technology
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• v.18 no.2
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• pp.193-202
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• 2004

This paper presents a computer method for the dynamic analysis of a system of rigid bodies in plane motion. The formulation rests upon the idea of replacing a rigid body by a dynamically equivalent constrained system of particles. Newton's second law is applied to study the motion of the resulting system of particles without introducing any rotational coordinates. A velocity transformation is used to transform the equations of motion to a reduced set. For an open-chain, this process automatically eliminates all of the non-working constraint forces and leads to an efficient integration of the equations of motion. For a closed-chain, suitable joints should be cut and few cut-joints constraint equations should be included. An example of a closed-chain is used to demonstrate the generality and efficiency of the proposed method.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 1999.11a
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• pp.248-251
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• 1999

We extend the sue of the method of least square to develop a recursive algorithm for the design of adaptive transversal filters such that, given the least-square estimate of this vector of the filter at iteration n-1, we may compute the updated estimate of this vector at i(oration n upon the arrival of new data. The RLS algorithm may be viewed as a special case of the Kalman filter. Indeed this special relationship between the RLS algorithm and the Kalman filter is considered. We begin the development of the RLS algorithm by reviewing some basic relations that pertain to the method of least squares. Then, by exploiting a relation in matrix algebra known as the matrix inversion lemma, we develop the RLS algorithm. An important feature of the RLS algorithm is that it utilizes information contained in the input data, extending back to the instant of time when the algorithm is initiated. The resulting rate of convergence is therefore typically an order of magnitude faster than the simple LMS algorithm. This improvement in performance, however, Is achieved at the expensive of a large increase in computational complexity.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.2
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• pp.133-138
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• 2015

This paper presents a performance improvement of gray level co-occurrence matrix(GLCM) based on the nonuniform quantization, which is generally used to analyze the texture of images. The nonuniform quantization is given by Lloyd algorithm of recursive technique by minimizing the mean square error. The nonlinear intensity levels by performing nonuniformly the quantization of image have been used to decrease the dimension of GLCM, that is applied to reduce the computation loads as a results of generating the GLCM and calculating the texture parameters by using GLCM. The proposed method has been applied to 30 images of $120{\times}120$ pixels with 256-gray level for analyzing the texture by calculating the 6 parameters, such as angular second moment, contrast, variance, entropy, correlation, inverse difference moment. The experimental results show that the proposed method has a superior computation time and memory to the conventional 256-level GLCM method without performing the quantization. Especially, 16-gray level by using the nonuniform quantization has the superior performance for analyzing textures to another levels of 48, 32, 12, and 8 levels.