• 대한전자공학회논문지
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• 제25권2호
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• pp.152-161
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• 1988

In this paper, a direct method for obtaining the trajectory set points is investigated in discrete-time, which is different from the other conventional schemes. We consider the tracking of a straight line path, where the trajectory set points for manipulator control are determined exactly on the straight line path. For the purpose of the munimum-time operation of manipulators, the problem is formulated as a maximization of the Cartesian distance between two consecutive servo time instants. The maximization is subject to the smoothness and torque constraints. Several algorithms are developed and utilized to maximize the Cartesian distance. The proposed approach has been simulated on a VAX-11/780 computer to verify its performance.

• International Journal of Control, Automation, and Systems
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• 제4권3호
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• pp.318-324
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• 2006

The mobile manipulator is expected to work in partially defined or unstructured environments. In our global/local approach to path planning, joint trajectories are generated for a desired Cartesian space path, designed by the global path planner. For a local path planner, inverse kinematics for a redundant system is used. Joint displacement limit for the manipulator links is considered in the motion planner. In an event of failure to obtain feasible trajectories, the task cannot be accomplished. At the point of failure, a deviation in the Cartesian space path is obtained and a replanner gives a new path that would achieve the goal position. To calculate the deviation, a nonlinear optimization problem is formulated and solved by standard Sequential Quadratic Programming (SQP) method.

• 드라이브 ㆍ 컨트롤
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• 제14권3호
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• pp.25-31
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• 2017

This study presents a methodology for simulating a unified approach that controls interaction force between tool and objective by using a synthesis method of robot interacting control law for stabilizing the transient process of motion. Root locus is used to analyze stabilization of motion deviation characteristics. Based on responses of motion deviation, contact force is derived to satisfy exponential stability and we generate control input with respect to motion trajectories and interaction force. Moreover, simulation is applied to experimental application of a Cartesian robot driven by two stepper motors, and the noise of feedback signals is considered as presence of system inaccuracies, and the unified approach of interaction force control is examined precisely.

• 대한전기학회논문지:시스템및제어부문D
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• 제52권1호
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• pp.22-30
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• 2003

A Coordinate-Transformation Extended Robust Kalman Filter (CERKF) designed in the Krein space is proposed, and then applied to a nonlinear incoming ballistic missile tracking system with parameter uncertainties. First, the Extended Robust Kalman filter (ERKF) is proposed to handle the nonlinearity of measurement equation which occurs whenever the polar coordinate system is transformed into the Cartesian coordinate system. Moreover, linearization error inevitably occurs and deteriorates the tracking performance, which is considerably reduced by the proposed CERKF. Through the simulation results, we show that the proposed CERKF, which uses the measurement coordinate system, has less RMS error than the previous ERKF which is designed in the Krein space using the Cartesian system. We also verify that the robustness and the stability of the proposed filter are guaranteed in two radars: the phased way radar and the scanning radar

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.519-524
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• 1998

This paper presents a robust control scheme of free-joint manipulators to overcome actuator failures and uncertain-ties in Cartesian space where tasks are planned. The control scheme has the adaptation law for the upper bound on the norm of uncertainties through the Lyapunov function approach. To solve the dynamic singularity problem in the controller, the singular and nonsingular regions are investigated based on a computer simulation. Then a singularity-free Cartesian trajectory planning is achieved in order to guarantee the availability of the control scheme. To illustrate the validity of the proposed control scheme, simulation results for a three-link planar robot arm with a free joint are shown.

• 대한화학회지
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• 제29권3호
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• pp.205-212
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• 1985

2,2'-bipyridyl crown ether에 관한 allosteric 효과를 분자진동연구방법을 사용하여 연구하였는데, 방법으로는 mass-weighted-cartesian 좌표방법을 사용하였다. Crown ether의 pore opening 운동에 관여하는 모드로는 235, 234, 188 그리고 178cm$^{-1}$에 해당되는 파수가 얻어졌고, biphenyl축을 통한 회전운동이 crown ether에 영향을 미치는 rotational vibration 운동은 168, 104 그리고 67cm$^{-1}$에서 파수가 얻어졌다. 특히 178cm$^{-1}$의 모드는 allosteric효과를 가장 많이 포함한 것으로 생각되어 진다.

• 전기학회논문지
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• 제67권6호
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• pp.767-772
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• 2018

Recently, some meta-heuristic algorithms, such as GA(Genetic Algorithm) and GP(Genetic Programming), have been used to optimize CNN(Convolutional Neural Network). The CNN, which is one of the deep learning models, has seen much success in a variety of computer vision tasks. However, designing CNN architectures still requires expert knowledge and a lot of trial and error. In this paper, the recent attempts to automatically construct CNN architectures are investigated and analyzed. First, two GA based methods are summarized. One is the optimization of CNN structures with the number and size of filters, connection between consecutive layers, and activation functions of each layer. The other is an new encoding method to represent complex convolutional layers in a fixed-length binary string, Second, CGP(Cartesian Genetic Programming) based method is surveyed for CNN structure optimization with highly functional modules, such as convolutional blocks and tensor concatenation, as the node functions in CGP. The comparison for three approaches is analysed and the outlook for the potential next steps is suggested.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2006년도 학술발표회 논문집
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• pp.628-636
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• 2006

This paper presents 3D infinite elements in Cartesian coordinates for the elastodynamic problem in multi-layered half-space. Five kinds of infinite elements are developed by using approximate expressions of multiple wave components for the wave function in exterior far-field soil region. They are horizontal, horizontal-corner, vertical, vertical-corner and vertical-horizontal-corner elements. The elements can be used for the multi-wave propagating problem. Numerical example analyses are presented for rigid disk, square footings and embedded footing on homogeneous and layered half-space. The numerical results obtained show the effectiveness of the proposed infinite elements.

• International Journal of Naval Architecture and Ocean Engineering
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• 제7권3호
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• pp.610-625
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• 2015

In this paper the wave run-up around a circular column in regular waves is numerically calculated to investigate the applicability of the Modified Marker-Density (MMD) method to prediction of wave run-up around an offshore platform. The MMD method is one of the methods to define the highly nonlinear free surface. The governing equations are the Navier-Stokes equations and the continuity equation which are computed in Cartesian grid system. To validate incident waves generated by numerical simulation, those are compared with the solutions of the Stokes $5^{th}$ order wave theory. The wave run-up simulations are performed varying the steepness and period of incident waves as referred experimental data. The numerical results are compared to the experimental data and the results show good agreements.

• 천문학회보
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• 제44권1호
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• pp.46.1-46.1
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• 2019

We present an accurate and efficient method to calculate the gravitational potential of an isolated system in three-dimensional Cartesian and cylindrical coordinates subject to vacuum (open) boundary conditions. Our method consists of two parts: an interior solver and a boundary solver. The interior solver adopts an eigenfunction expansion method together with a tridiagonal matrix solver to solve the Poisson equation subject to the zero boundary condition. The boundary solver employs James's method to calculate the boundary potential due to the screening charges required to keep the zero boundary condition for the interior solver. A full computation of gravitational potential requires running the interior solver twice and the boundary solver once. We develop a method to compute the discrete Green's function in cylindrical coordinates, which is an integral part of the James algorithm to maintain second-order accuracy. We implement our method in the {\tt Athena++} magnetohydrodynamics code, and perform various tests to check that our solver is second-order accurate and exhibits good parallel performance.