• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.7-11
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• 1991

The adaptive control of flexible joint manipulator is the focus of this paper. The full order flexible joint manipulator dynamic system does not allow the determination of a feedback linearization control as for rigid manipulators. This drawback is overcome by a model order reduction based on a singular perturbation strategy. The full order flexible joint manipulator dynamic model is adopted for derivation of the adaptive control law to damp out the elastic oscillations at the joints. It is shown that the joint position error will converge to zero asymptotically and that other signals remain bounded without precise knowledge of parameters of the manipulator and its joint flexibility.

• Water for future
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• v.26 no.1
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• pp.71-79
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• 1993

Nonlinear characteristics of air pressure variation and wave transformation of a fixed air-chamber structure are discussed theoretically and experimentally. Two analytical methods(method I and II) based on the perturbation method and Green's formula are employed in order to evaluate nonlinearities by the submerged and semi-submerged air-chamber structure. Moreover, an air compression model is newly developed to estimate the dynamic air pressure in the air-chamber inside the structure, assuming the Boyle-Charles's law with adiabatic process in the air pressure variation. Theoretical values of the method I considering evanescent mode waves at an fictious boundary, are in good agreement with those of method II employing the fictious boundary which is not affected by evanescent mode waves. Both theoretical values are shown to agree well with experimental values.

• Journal of KSNVE
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• v.4 no.4
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• pp.435-442
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• 1994

Self-Compensating Dynamic Balancer (SCDB) is composed of a circular disk with a groove containing spherical balls and a low viscosity damping fluid. To investigate the stability of the motion equations these equations are perturbed and the resulting perturbation equations are analyzed further to determine whether the perturbations grow or decay with dimensionless time. Based on the results of stability investigation, ball positions that result in a balanced system are stable above the critical speed for .betha.' = 3.8. At critical speed the perturbed motion is said to be stable for .betha.' = 23. However, the system is unstable below critical speed in any case of .betha.'.

• The Korean Journal of Applied Statistics
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• v.24 no.5
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• pp.963-977
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• 2011

PCA(Principal Component Analysis) is a well-studied statistical technique and an important tool for handling multivariate data. Although many algorithms exist for PCA, most of them are unsuitable for real time applications or high dimensional problems. Since it is desirable to avoid extensive matrix operations in such cases, alternative solutions are required to calculate the eigenvalues and eigenvectors of the sample covariance matrix. Erdogmus et al. (2004) proposed Recursive PCA(RPCA), which is a fast adaptive on-line solution for PCA, based on the first order perturbation theory. It facilitates the real-time implementation of PCA by recursively approximating updated eigenvalues and eigenvectors. However, the performance of the RPCA method becomes questionable as the size of newly-added data increases. In this paper, we modified the RPCA method by taking advantage of the mathematical relation of eigenvalues and eigenvectors of sample covariance matrix. We compared the performance of the proposed algorithm with that of RPCA, and found that the accuracy of the proposed method remarkably improved.

• Nuclear Engineering and Technology
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• v.18 no.2
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• pp.78-84
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• 1986

An equation of material number density sensitivity coefficient is derived using first-order perturbation theory. The beginning of cycle of Super-Phenix I is taken as the reference system for this study. Effective multiplication factor of the reference system is defined as system response function and fuel enrichment and fuel effective density are chosen for the variation of reference input data since they are described by material number density which is a component of Boltzmann operator. The nuclear computational code system (KAERI-26 group cross section library/1DX/2DB/PERT-V) is employed for this calculation. Sensitivity coefficient of fuel enrichment on effective multiplication factor is 4.576 and sensitivity coefficient of effective fuel density on effective multiplication factor is 0.0756. This work shows that sensitivity methodology is lesser timeconsuming and gives more informations on important design parameters in comparison with the direct iterative calulation through large computer codes.

• New Physics: Sae Mulli
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• v.68 no.11
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• pp.1262-1267
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• 2018

We introduce a new method to construct wormholes without adopting exotic matters in Einstein-Born-Infeld gravity with a negative cosmological constant. Contrary to the conventional method, the throat of the wormhole is located at the point where the metric solutions are joined smoothly. Thus, exotic matters are not needed to sustain the throat. We consider the behavior of a minimally coupled scalar field to study the stability of the new wormhole. If we define the quasinormal mode of the scalar field as the purely ingoing flux at the throat of the wormhole, the stability of wormhole can be discussed in analogy with the argument that we use for the stability of a black hole. Because an analytic solution can not be found, we suggest a formalism to find quasinormal modes numerically. The crucial difference from the black hole case is that the coefficient of the second-order derivative term of the radial equation is expanded from n = -1, which is contrary to the black hole case where it is expanded from n = 0.

• Journal of the Korean Chemical Society
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• v.46 no.6
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• pp.545-549
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• 2002

Many theories for polymeric liquids are based on the concepts of cell, hole, free volume or lattice etc. In the theories, van der Waals potential, Lennard-Jones 6-12 potential and their modified potentials are commonly used.In this work, Mie(p, 6) potential was applied to the Continuous Lattice Fluid Theory (which extends the discrete lattices of Lattice Fluid Theory to classically continuous lattices) and Dee-Walsch's Cell Theory (which modifies Flory's Equa-tion of State Theory). Both of them are known to be successful theories for polymeric liquids. Thus, PVT values chang-ing with p (the exponent in the repulsion potential) were calculated and compared with experimental values. And, calculated values of Lattice Fluid Theory, Flory's Equation of State Theory and Cho-Sanchez Theory using pertubation method were also compared. Through the calculated results, van der Waals potential, Lennard-Jones 6-12 potential and Mie(p, 6) potential for polymeric liquids were compared with each other.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.10
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• pp.1066-1074
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• 1990

In this paper, we attempt to control induction motors with high power efficiency as well as high dynamic performance by utilizing the recently developed theories : singular perturbation technique and noninteracting feedback control. Our controller consists of three subcontrollers` a saturation current controller, a decoupling controller, and a well-known flux simulator. The decoupling controller decouples rotor speed (or motor torque) and rotor flux linearly. Our controller does not need the rotor resistance that varies widely with the machine temperature. To illuminate the practical significance of our results, we present simulation and experimental results as well as mathematical performance analysis.

• Nuclear Engineering and Technology
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• v.21 no.1
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• pp.56-61
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• 1989

A simple, approximate method for determining the two-group adjoint flux based on the Borresen's coarse-mesh 1.5 group diffusion theory scheme is proposed. With the principle of the 1.5 group diffusion theory scheme, the method describes the thermal leakage term of the adjoint flux approximately by the geomerical buckling determined from the fast adjoint flux. The accuracy of the adjoint flux is investigated tv the comparison of the adjoint flux constructed from this method with a fine-mesh finite-difference KIDD computations. It is shown that the proposed method can predict the adjoint flux as good as the KIDD results. Possible applications of the present method are then suggested in conjunction with the application of the perturbation theory.

• Journal of the Korean earth science society
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• v.33 no.1
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• pp.11-31
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• 2012

Kaula's theory of satellite orbit and Kepler's law are re-visited. All the mathematical steps of derivation are thoroughly shown including the ones, which had been omitted in Kaula's original publication. Particularly in evaluations of the 15 independent Lagrange brackets, simplicity and clarity are attained by using orthogonal property of transformation matrix. Explanations of important physical concepts are included as well in the midway of derivation. One conceptual blunder of Kaula's is corrected.