• Bulletin of the Korean Mathematical Society
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• v.54 no.6
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• pp.2043-2051
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• 2017

Consider a sequence of compactly supported Hamiltonian diffeomorphisms ${\phi}_k$ of an exact symplectic manifold, all of which are "graphical" in the sense that their graphs are identified by a Darboux-Weinstein chart with the image of a one-form. We show by an elementary argument that if the ${\phi}_k$ $C^0$-converge to the identity, then their Calabi invariants converge to zero. This generalizes a result of Oh, in which the ambient manifold was the two-disk and an additional assumption was made on the Hamiltonians generating the ${\phi}_k$. We discuss connections to the open problem of whether the Calabi homomorphism extends to the Hamiltonian homeomorphism group. The proof is based on a relationship between the Calabi invariant of a $C^0$-small Hamiltonian diffeomorphism and the generalized phase function of its graph.

• Communications for Statistical Applications and Methods
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• v.21 no.5
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• pp.445-459
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• 2014

This paper investigates the dependence structure of Korean financial markets (stock, foreign exchange (FX) rates and bond) using copula-GARCH and dynamic conditional correlation (DCC) models. We examine GJR-GARCH with skewed elliptical distributions and four copulas (Gaussian, Student's t, Clayton and Gumbel) to model dependence among returns, and then employ DCC model to describe system-wide correlation dynamics. We analyze the daily returns of KOSPI, FX (WON/USD) and KRX bond index (Gross Price Index) from $2^{nd}$ May 2006 to $30^{th}$ June 2014 with 2,063 observations. Empirical result shows that there is significant asymmetry and fat-tail of individual return, and strong tail-dependence among returns, especially between KOSPI and FX returns, during the 2008 Global Financial Crisis period. Focused only on recent 30 months, we find that the correlation between stock and bond markets shows dramatic increase, and system-wide correlation wanders around zero, which possibly indicates market tranquility from a systemic perspective.

• Ocean Systems Engineering
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• v.1 no.4
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• pp.297-315
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• 2011

New applications of streamlined Autonomous Underwater Vehicles require an AUV capable of completing missions with both high-speed straight-line runs and slow maneuvers or station keeping tasks. At low, or zero, forward speeds, the AUV's control surfaces become ineffective. To improve an AUV's low speed maneuverability, while maintaining a low drag profile, through-body tunnel thrusters have become a popular addition to modern AUV systems. The effect of forward vehicle motion and sideslip on these types of thrusters is not well understood. In order to characterize these effects and to adapt existing tunnel thruster models to include them, an experimental system was constructed. This system includes a transverse tunnel thruster mounted in a streamlined AUV. A 6-axis load cell mounted internally was used to measure the thrust directly. The AUV was mounted in Memorial University of Newfoundland's tow tank, and several tests were run to characterize the effect of vehicle motion on the transient and steady state thruster performance. Finally, a thruster model was modified to include these effects.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.113-118
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• 1993

This paper represents mechanical compliance & ZMP(Zero Moment Point) control algorithm for IWR(Inha Walking Robot) system. In case of walking in different environments, a biped walking robot must vary its gait(walking period or step length, etc.) according to the environments. However, most of biped walking robots do not have the capability to change their gaits or need more complex control algorithm, because ZMP cannot be defined in their control algorithm. Therefore new linear type with balancing joint is proposed which is used as an aid in balancing & ZMP control itself. In IWR system, ZMP can be defined by solving differential equations and it does not need to be predefined ZMP trajectory. Furthermore we can input the desired ZMP position. In parallel with the development, we also considered a mechanical compliance for reducing the inverse kinematics, dynamics and the control complexity. It will figure out some powerful adaptation with 3D irregular terrains.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1496-1499
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• 1996

A nonlinear tracking control technique developed for the control of nonlinear systems has been applied to the autopilot design of missile system. The difficulties in the application of inversion based control methods such as input-output feedback linearization and sliding mode control due to nonminimum phase characteristics are discussed. To avoid the stability problem associated with unstable zero dynamics, the input-output feedback linearization is applied with output-redefinition method to normal acceleration control. The output-redefinition method gives an indirect way to apply the nonlinear controls to nonminimum phase plants by redefining the plant output such that the tracking control of the modified output ensures the asymptotic tracking of the original output. The numerical simulation shows satisfactory results both for nominal and for slightly perturbed missile systems adopting the sliding mode control technique. However, the robustness problem in this method is briefly investigated and verified with the simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.358-364
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• 2007

Intelligent walking modeling of humanoid robot using learning based neuro-fuzzy system is presented in this paper. Walking pattern, trajectory of the zero moment point (ZMP) in a humanoid robot is used as an important criterion for the balance of the walking robots but its complex dynamics makes robot control difficult. In addition, it is difficult to generate stable and natural walking motion for a robot. To handle these difficulties and explain empirical laws of the humanoid robot, we are modeling practical humanoid robot using neuro-fuzzy system based on the two types of natural motions which are walking trajectories on a t1at floor and on an ascent. Learning based neuro-fuzzy system employed has good learning capability and computational performance. The results from neuro-fuzzy system are compared with previous approach.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.8
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• pp.842-847
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• 2008

This paper proposes a new sliding-surface-based tracking control system for nonholonomic mobile robots with disturbance. To design a robust controller, we consider the kinematic model and the dynamic model of mobile robots with disturbance. We also propose a new sliding surface to solve the problem of previous study. That is, since the new sliding surface is composed of differentiable functions unlike the previous study, we can obtain the control law for arbitrary trajectories without any constraints. From the Lyapunov stability theory, we prove that the position tracking errors and the heading direction error converge to zero. Finally, we perform the computer simulations to demonstrate the performance of the proposed control system.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.973-980
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• 1988

This two-part paper presents a control method that allows for stable interaction of a robot manipulator with the environment. In part 1, we focus on the input ouput relationships (unstructured modeling) of the robot and environment dynamics. This analysis leads to a general condition for stability of the robot and environment taken as a whole. This stability condition, for stable maneuver, prescribes a finite sensitivity for robot and environment where sensitivity of the robot(or the environment) is defined as a mapping forces into displacement. According to this stability condition, smaller sensitivity either in robot or in environment leads to narrower stability range. In the limit, when both systems have zero sensitivity, stability cannot be guaranteed. These models do not have any particular structure, yet they can model a wide variety of industrial and research robot manipulators and environment dynamic behavior. Although this approach of modeling may not lead to any design procedure, it will allow us to understand the fundamental issues in stability when a robot interacts with an environment.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.834-838
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• 2013

This paper proposes a new ball robot which has a four axis structure and four motors that directly actuate the ball to move or to maintain the balance of the robot. For the Balancing control, it is possible to use non-model-based controller to control simply without complex formula. All the gains of the controller are heuristically adjusted during the experiments. The tilt angle is measured by IMU sensors, which is used to generate the control input of the roll and pitch controller to make the tilt angle zero. The performance of the designed control system has been verified through the real experiments with the developed ball robot.

• Journal of Mechanical Science and Technology
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• v.16 no.3
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• pp.376-385
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• 2002

Spray impingement and fuel film formation models with cavitation have been developed and incorporated into the computational fluid dynamics code, STAR-CD. The spray/wall interaction process was modeled by considering the effects of surface temperature conditions and fuel film formation. The behavior of fuel droplets after impingement was divided into rebound, spread and splash using the Weber number and parameter K(equation omitted). The spray impingement model accounts for mass conservation, energy conservation, and heat transfer to the impinging droplets. The fuel film formation model was developed by integrating the continuity, momentum, and energy equations along the direction of fuel film thickness. Zero dimensional cavitation model was adopted in order to consider the cavitation phenomena and to give reasonable initial conditions for spray injection. Numerical simulations of spray tip penetration, spray impingement patterns, and the mass of film-state fuel matched well with the experimental data. The spray impingement and fuel film formation models have been applied to study spray/wall impingement in high-speed direct injection diesel engines.