• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.677-688
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• 2008

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode control method, an impedance control law is derived for the slow dynamics. The asymptotic stability of the overall system is guaranteed using a combined control law comprising the impedance control law and a feedback control law for the fast dynamics. As first time, base flexibility was analyzed accurately in this paper for flexible base moving manipulator (FBMM). General dynamic decoupling, whole system stability guarantee and new composed robust control method were proposed. This proposed Sliding Mode Impedance Control Method (SMIC) was simulated for two FBMM models. First model is a simple FBMM composed of a 2 DOFs planar manipulator and a single DOF moving base with flexibility in between. Second FBMM model is a complete advanced 10 DOF FBMM composed of a 4 DOF manipulator and a 6 DOF moving base with flexibility. This controller provides desired position/force control accurately with satisfactory damped vibrations especially at the point of contact. This is the first time that SMIC was addressed for FBMM.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.8
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• pp.638-651
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• 2000

When the bandwidth resources in a packet-switched network are shared among sessions by MAX-MIN flow control each session is required to transmit its data into the network subject to the MAX-MIN fair rate which is solely determined by network loadings. This passive behavior of sessions if fact can cause seri-ous QoS(Quality of Service) degradation particularly for real-time multimedia sessions such as video since the rate allocated by the network can mismatch with what is demanded by each session for its QoS. In order to alleviate this problem we extend the concept of MAX-MIN fair bandwidth allocations as follows: Individual bandwidth demands are guaranteed if the network can accommodate them and only the residual network band-width is shared in the MAX-MIN fair sense. On the other hand if sum of the individual bandwidth demands exceeds the network capacity the shortage of the bandwidth is shared by all the sessions by reducing each bandwidth guarantee by the MAX-MIN fair division of the shortage. we present a novel flow control algorithm to achieve this extended MAX-MIN fairness and show that this algorithm can be implemented by the existing ATM ABR service protocol with minor changes. We not only analyze the steady state asymptotic stability and convergence rate of the algorithm by appealing to control theories but also verify its practical performance through simulations in a variety of network scenarios.

• The Korean Journal of Applied Statistics
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• v.20 no.1
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• pp.183-194
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• 2007

The problem of calculating the sample sizes for comparing two independent binomial proportions is studied, when one of two probabilities or both are smaller than 0.05. The use of Whittemore(1981)'s corrected sample size formula for small response probability, which is derived based oB multiple logistic regression, demonstrates much larger sample sizes compared to those by the asymptotic normal method, which is derived for the comparison of response probabilities belonging to the normal range. Therefore, applied statisticians need to be careful in sample size determination with small response probability to ensure intended power during a planning stage of clinical trials. The results of this study describe that the use of the sample size formula in the textbooks might sometimes be risky.

• The Korean Journal of Applied Statistics
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• v.26 no.3
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• pp.431-440
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• 2013

We consider the problem of estimating the parameters of heavy tailed distributions. In general, maximum likelihood estimation(MLE) is the most preferred method of parameter estimation because it has good properties such as asymptotic consistency, normality and efficiency. However, MLE is not always the best solution because MLE is unstable or does not exist in some cases. This paper proposes another parameter estimation method, non-linear least squares(NLS) and compares its performance to MLE. The NLS estimator is achieved by minimizing sum of squared difference between empirical cumulative distribution function(CDF) and a theoretical distribution function. In this article, we compare the NLS method to MLE using simulated data from heavy tailed distributions. The NLS method is shown to perform better than MLE in Burr distribution when the sample size is small; in addition, it performs well in a Frechet distribution.

• Journal of the Society of Naval Architects of Korea
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• v.53 no.1
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• pp.62-68
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• 2016

A simple calculation tool for added resistance in waves is developed to utilize for initial design or embedded module for navigation support system. In order to select an appropriate calculation method for added resistance in waves, three methods (drift method, integrated pressure method, radiated energy method) based on strip method are applied to Wigley I and KVLCC2. The methods for added resistance in waves give the underestimated results because it is difficult to consider nonlinear effects due to reflected wave. We apply asymptotic (Faltinsen's method) and empirical formula (NMRI's method) to improve the accuracy for short wave length region. In comparison with experimental results, the combination of radiated energy method and short wave correction method of NMRI is the most reasonable. However, a simple sum of results calculated by two methods gives rise to the overestimation of added resistance for short wave length region because added resistance of radiated energy method exits in total reflection region. To overcome this problem, modified radiated energy method is proposed using correction coefficient defined by reflection coefficient of NMRI's method. Finally, added resistance in regular waves is composed of added resistance of modified radiated energy method and that of short wave correction method of NMRI. Estimated added resistance in regular waves is validated by comparison with experimental results of other research groups.

• Journal of the Society of Naval Architects of Korea
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• v.29 no.2
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• pp.38-47
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• 1992

The motion response of a ship moored in a rectangular harbor excited by long waves has been studied theoretically and experimentally. Within the framework of potential theory, matched asymptotic expansion techniques are exployed to analyze the problem. The fluid domain is divided into the ocean and the harbor regions for the analysis of wave response in a harbor without ship. The wave responses in both the ocean and the harbor sides are solved first independently in terms of Green's functions, which are the solutions of the Helmholtz equation satisfying appropriate boundary conditions. Slender body approximations are used to obtain the velocity jumps across the ship, which are associated with the symmetric motion modes of the ship. Unknowns contained in each solution are finally determined by matching at an intermediate zone between two neighboring regions. Theoretical results predict the ship motion qualitatively well. The main source of quantitative discrepancies is presumably due to real fluid effects such as separation at the harbor entrance and friction on harbor boundaries.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.42 no.6
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• pp.9-14
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• 2005

In this paper, we consider the synthesis of non-fragile $H_{\infty}$ state feedback controllers for singular systems and static state feedback controller with multiplicative uncertainty. The sufficient condition of controller existence, the design method of non-fragile $H_{\infty}$ controller, and the measure of non-fragility in controller are presented via LMI(linear matrix inequality) technique. Also, the sufficient condition can be rewritten as LMI form in terms of transformed variables through singular value decomposition, some changes of variables, and Schur complements. Therefore, the obtained non-fragile $H_{\infty}$ controller guarantees the asymptotic stability and disturbance attenuation of the closed loop singular systems within a prescribed degree. Moreover, the controller design method can be extended to the problem of robust and non-fragile $H_{\infty}$ controller design method for singular systems with parameter uncertainties. Finally, a numerical example is given to illustrate the design method.

• Journal of the Korean Data and Information Science Society
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• v.21 no.6
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• pp.1171-1180
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• 2010

It is well known that the asymptotic convergence rates of nonparametric regression estimator gets worse as the dimension of covariates gets larger. One possible way to overcome this problem is reducing the dimension of covariates by using single index models. Two coefficient estimation methods in single index models are introduced. One is semiparametric least square estimation method, which tries to find approximate solution by using iterative computation. The other one is weighted average derivative estimation method, which is non-iterative method. Both of these methods offer the parametric convergence rate to normal distribution. However, practical comparison of these two methods has not been done yet. In this article, we compare these methods by examining the variances of estimators in various models.

• Bulletin of the Society of Naval Architects of Korea
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• v.23 no.4
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• pp.25-34
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• 1986

A two-dimensional linear method has been developed for the motion and the second-order steady force arising from the hydrodynamic coupling between waves and currents in the presence of a body of arbitrary shape. Interaction between the incident wave and current in the absence of the body lies in the realm beyond our interest. A Fredholm integral equation of the second kind is employed in association with the Haskind's potential for a steadily moving source of pulsating strength located in or below the free surface. The numerical calculations at the preliminary stage showed a significant fluctuation of the hydrodynamic forces on the surface-piercing body. The problem is approximately solved by using the asymptotic Green function for $U^2{\rightarrow}0$. The original Green function, however, is applied for the fully submerged body. Numerical calculations are made for a submerged and for a half-immersed circular cylinder and extensively for the mid-ship section of a Lewis-form. Some of the results are compared with other analytical results without any available experimental data. The current has strong influence on roll motion near resonance. When the current opposes the waves, the roll response are generally negligible in the low frequency region. The current has strong influence on roll motion near resonance. When the current opposes the wave, the roll response decreases. When the current and wave come from the same direction, the roll response increases significantly, as the current speed increases. The mean drift forces and moment on the submerged body are more affected by current than those on the semi-immersed circular cylinder or on the ship-like section in the encounter frequency domain.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.4
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• pp.455-462
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• 2010

We investigate the worst case complexity regarding the number of comparisons for a simple and stable merging algorithm. The complexity analysis shows that the algorithm performs O(mlog(n/m)) comparisons for two sequences of sizes m and n $m{\leq}n$. So, according to the lower bound for merging $\Omega$(mlog(n/m)), the algorithm is asymptotically optimal regarding the number of comparisons. For proving the worst case complexity we divide the domain of all inputs into two disjoint cases. For either of these cases we will extract a special subcase and prove the asymptotic optimality for these two subcases. Using this knowledge for special cases we will prove the optimality for all remaining cases. By using this approach we give a transparent solution for the hardly tractable problem of delivering a clean complexity analysis for the algorithm.