• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.439-445
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• 1990

All models of dynamical systems invariably have some measure of uncertainties associated with some of their dynamics. The recent approaches to establish robustness of stabilizing feedback control against the possible uncertainties have a serious limitation, that is their applicability only to the systems that satisfy the matching conditions. Such conditions are rarely met in general applications. If a particular system satisfies the matching conditions, the addition of an actuator will destroy the satisfaction of such conditions. In this paper, we develop robust control algorithm for uncertain multivariable systems in which the matching conditions are not necessarily met. We empoly Lyapunov's second method to derive robust stabilizing controllers which guarantee asymptotic stability against prescribed uncertainties. The derivation consists of transforming the original uncertain system to controllable canonical form and constructing a constant switching surface by designing the closed-loop characteristics as a function of the uncertainties. Numerical examples are discussed as illustrations.

• Journal of Communications and Networks
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• v.18 no.6
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• pp.873-883
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• 2016

In this paper, we focus on maximizing weighted sum energy efficiency (EE) for a multi-cell multi-user channel. In order to solve this non-convex problem, we first decompose the original problem into a sequence of parallel subproblems which can optimized separately. For each subproblem, a base station employs dirty paper coding to maximize the EE for users within a cell while regulating interference induced to other cells. Since each subproblem can be transformed to a convex multiple-access channel problem, the proposed method provides a closed-form solution for power allocation. Then, based on the derived optimal covariance matrix for each subproblem, a local optimal solution is obtained to maximize the sum EE. Finally, simulation results show that our algorithm based on non-linear precoding achieves about 20 percent performance gains over the conventional linear precoding method.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.20 no.2
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• pp.151-161
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• 2016

In this paper, we present a $C^3$ quartic B-spline approximation of circular arcs. The Hausdorff distance between the $C^3$ quartic B-spline curve and the circular arc is obtained in closed form. Using this error analysis, we show that the approximation order of our approximation method is six. For a given circular arc and error tolerance we find the $C^3$ quartic B-spline curve having the minimum number of control points within the tolerance. The algorithm yielding the $C^3$ quartic B-spline approximation of a circular arc is also presented.

• The Journal of Korea Robotics Society
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• v.2 no.2
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• pp.152-160
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• 2007

In this paper, two schemes are introduced for dynamic simulation of underwater robotic systems. One is principle of dynamical balance, which is an easy and powerful tool for formulating dynamic equations of composite systems such as underwater vehicle-manipulator system. In the dynamic modeling, this principle gives us the closed-form of dynamic equations on matrix Lie group. The other is geometric integration algorithm, called 4-th order explicit Munthe-Kaas method. By this method, the derived differential equations can be integrated preserving geometric structure. Adopting these two schemes, dynamic simulation of underwater vehicle- manipulator system can be conducted more easily and more reliably.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.17 no.3
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• pp.171-179
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• 2013

In this paper we present a method of circular arc approximation by quartic B$\acute{e}$zier curve. Our quartic approximation method has a smaller error than previous quartic approximation methods due to the alternation of the error function of our quartic approximation. Our method yields a closed form of error so that subdivision algorithm is available, and curvature-continuous quartic spline under the subdivision of circular arc with equal-length until error is less than tolerance. We illustrate our method by some numerical examples.

• Journal of the Optical Society of Korea
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• v.19 no.6
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• pp.619-628
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• 2015

In this paper, we consider a method for estimating a stripe-type defect and the reconstruction of a defect-free L/S type mask used in lithography. Comparing diffraction patterns of defected and defect-free masks, we derive equations for the estimation of the location and size of the defect. We construct an analytical model for this problem and derive closed form equations to determine the location and size using phase retrieval problem solving techniques. Consequently, we develop an algorithm that determines a defect-free mask pattern. An example shows the validity of the equations.

• Structural Engineering and Mechanics
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• v.12 no.3
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• pp.267-281
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• 2001

Transient and quasi-steady-state vertical vibrations of a multi-span beam steel bridge located on a single-track railway line are considered, induced by a superfast passenger train, moving at speed 120-360 km/h. Matrix dynamic equations of motion of a simplified model of the system are formulated partly in the implicit form. A recurrent-iterative algorithm for solving these equations is presented. Excessive vibrations of the system in the resonant zones are reduced effectively with passive dynamic absorbers, tuned to the first mode of a single bridge span. The dynamic analysis has been performed for a series of types of bridges with span lengths of 10 to 30 m, and with parameters closed to multi-span beam railway bridges erected in the second half of the $20^{th}$ century.

• Proceedings of the IEEK Conference
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• 2000.07b
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• pp.673-676
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• 2000

Adaptive Fourier analysis of sinusoidal signals in noise is of essential importance in many engineering fields. So far, many adaptive algorithms have been developed for this purpose. In particular, a filter bank based algorithm called constrained notch Fourier transform of its cost-efficiency and easily controllable performance. However, its performance deteriorates when the signal frequencies are not uniformly spaced. This paper proposes, at first, a new structure for the CNFT, referred to as modified CNFT (MCNFT), to compensate the performance degeneration of the CNFT for noisy sinusoidal signals with non-uniformly spaced frequencies. Next, a detailed performance analysis for the MCNFT is conducted. Closed form expression of steady-state mean square error (MSE) for the discrete Fourier coefficients (DFCs) is derived. Extensive simulations are presented to demonstrate the improved performance of the MCNFT and the validity of the analytical results.

• Structural Engineering and Mechanics
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• v.34 no.5
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• pp.597-609
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• 2010

A problem formulation and solution methodology for design optimization of laminated thin-walled composite beams of generic section is presented. Objective functions and constraint equations are given in the form of beam stiffness. For two different problems one for open section and the other for closed section, the objective function considered is bending stiffness about x-axis. Depending upon the case, one can consider bending, torsional and axial stiffnesses. The different search and optimization algorithm, known as Evolution Strategies (ES) has been applied to find the optimal fibre orientation of composite laminates. A multi-level optimization approach is also implemented by narrowing down the size of search space for individual design variables in each successive level of optimization process. The numerical results presented demonstrate the computational advantage of the proposed method "Evolution strategies" which become pronounced to solve optimization of thin-walled composite beams of generic section.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.35 no.6A
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• pp.538-546
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• 2010

This paper presents an overview of position-based routing algorithms. We analyze performances of routing algorithms such as Hybrid Opportunistic Forwarding (HOF), Opportunistic multi-hop routing (ExOR), Location based Geocasting and Forwarding (LGF), and Greedy Forwarding in nearest with forward Progress (GFP) routing algorithms to find the best one in terms of packet error rate and throughput efficiency over effects of fading and noise variance in wireless networks. The analyses in closed form expressions are confirmed by the simulation results, which fully agree to analysis results. Additionally, the simulation results indicate significant differences among algorithms when varying the average SNR or the number of relays.