• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.238-242
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• 1994

Shuster's algorithm for spin-axis determination is extended to include sensor bias and mounting angle as its solve-for parameters. The relation between direct and derived measurements bias is obtained by linearizing their kinematic equations. A one-step least-square estimation technique referred to as the 'closed form' solution is used, and the solution provides a more refined and decent initial guess for the subsequent filtering process contained within the differential correction module. The modified algorithm is applied for attitude determination of a GEO communication satellite in transfer orbit, and its results are presented.

• Journal of the Society of Naval Architects of Korea
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• v.51 no.2
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• pp.148-153
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• 2014

Submerged bodies such as autonomous underwater vehicles (AUV) or remotely operated vehicles (ROV) are widely used in various fields of exploring underseas. Those bodies keep ballasting and deballasting for stable navigation and operation. Identifying the internal volumetric spaces of the bodies is a primary step for such an operation. Unfortunately, most CAD models given to the engineer do not properly represent the compartments since each face of a compartment exists as an independent entity rather than as a face that belongs to the compartment. In this paper, an algorithm that automatically identify the faces as a group that forms a closed volumetric space, i.e., a compartment is presented. A submerged body is sliced into a number of cross sections. Each sliced section is analyzed to yield closed loops that are sections of the compartment. Then, the associated closed loops are gathered along the longitudinal direction to form a compartment. The algorithm presented is shown to provide a practical and reasonable solution that can readily be used in various applications.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.22 no.8
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• pp.573-578
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• 2010

Topological matrix which reflects characteristics of network connectivity has been widely used in efficient solving for complicated flow network. Using topological matrix, one can easily define continuity at each node of flow network and make algorithm to automatically generate continuity equation of matrix form. In order to analyze flow network completely it is required to satisfy energy conservation in closed loops of flow network. Fundamental cycle retrieving algorithm based on graph theory automatically constructs energy conservation equation in closed loops. However, it is often accompanied by NP-complete problem. In addition, it always needs fundamental cycle retrieving procedure for every structural change of flow network. This paper proposes alternative mathematical method to analyze flow network without fundamental cycle retrieving algorithm. Consequently, the new mathematical method is expected to reduce solving time and prevent error occurrence by means of simplifying flow network analysis procedure.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.12 no.1
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• pp.92-98
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• 2001

When analyzing the scatting problem of multi-layered planar structures using closed-form Green's function, one of the main difficulties is that the numerical integrations for the evaluation of diagonal matrix elements converge slowly and are not so stable. Accordingly, even when the integration fur the singularity of type $e^{-jkr}/{\gamma}$, corresponding to the source dipole itself, is performed using such a method, this difficulty persists in the integration corresponding to the finite number of complex images. In order to resolve this difficulty, a new technique based upon the Gaussian quadrature in polar coordinates for the evaluation of the two-dimensional generalized exponential integral is presented. Stability of the algorithm and convergence is discussed. Performance is demonstrated for the example of a microstrip patch antenna.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.2
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• pp.562-576
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• 2020

The power allocation optimization problem is investigated for improving the physical-layer security in two-way relaying networks, where a full-duplex relay based half-jamming protocol (HJP-FDR) is considered. Specially, by introducing a power splitter factor, HJP-FDR divides the relay's power into two parts: one for forwarding the sources' signals, the other for jamming. An optimization problem for power split factor is first developed, which is proved to be concave and closed-form solution is achieved. Moreover, we formulate a power allocation problem to determine the sources' power subject to the total power constraint. Applying the achieved closed-form solutions to the above-mentioned problems, a two-stage strategy is proposed to implement the overall power allocation. Simulation results highlight the effectiveness of our proposed algorithm and indicate the necessity of optimal power allocation.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.18 no.3
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• pp.355-359
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• 1993

This paper presents a derivation of the optimum convergence constant to yield the most rapid convergence under a desired mean-square error (MSE) for echo canceller using the LMS algorithm. For white input data, the optimum convergence constant is a simple closed-form function of the number of filter taps, the input signal variance, the initial MSE, and the desired MSE. This characteristic makes it easily designed in many practical applications. Computer simulations are also employed to show the correctness and effectiveness of the derived results.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.12
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• pp.1026-1032
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• 2003

A biped walking robot which is developed as a platform for researching walking algorithm is briefly introduced. The developed walking robot has 6 degrees of freedom per one leg. The origins of the last three axis do not intersect at a point, so the kinematic analysis is cubmersome with the conventional method. In the former version of the robot, Jacobian-based inverse kinematics method is used. However, the Jacobian-based inverse kinematics method has drawbacks for the application in which knee is fully extended such as stair-case walking. The reason far that is the Jacobian becomes ill-conditioned near the singular points and the method is not able to give adequate solutions. So, a method for giving a closed-form inverse kinematics solution is proposed. The proposed method is based on careful consideration of the kinematic structure of the biped walking robot.

• International Journal of Control, Automation, and Systems
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• v.5 no.2
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• pp.138-146
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• 2007

The analysis and design method for achieving robust stabilization of Decentralized Dynamic Surface Control (DDSC) is presented for a class of interconnected nonlinear systems. While a centralized design approach of DSC was developed in [1], the decentralized approach to deal with large-scale interconnected systems is proposed under the assumption that interconnected functions among subsystems are unknown but bounded. To provide a closed-loop form with provable stability properties, augmented error dynamics for N nonlinear subsystems with DDSC are derived. Then, the reachable set for errors of the closed-loop systems will be approximated numerically in the form of an ellipsoid in the framework of convex optimization. Finally, a numerical algorithm to calculate the $L_2$ gain of the augmented error dynamics is presented.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.4
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• pp.39-43
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• 2004

A typical theme of active vision systems is gaze-fixing of a camera. Here gaze-fixing of a camera means by steering orientation of a camera so that a given point on the object is always at the center of the image. For this we need to combine a function to analyze image data and a function to control orientation of a camera. This paper presents an algorithm for gaze-fixing of a camera where image analysis and orientation control are designed in a frame. At this time, for avoiding difficulties in implementing and aiming for real-time applications we design the algorithm to be a simple closed-form without using my information related to calibration of the camera or structure estimation.

• Proceedings of the IEEK Conference
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• 1999.11a
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• pp.1155-1158
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• 1999

In this paper, we consider the optimal control of detection threshold to minimize the conditional mean-square state estimation error for the probabilistic data association (PDA) filter. Earlier works on this problem involved the cumbersome graphical optimization algorithm or time-consuming numerical optimization algorithm. Using the numerical approximation of information reduction factor, we obtained the closed-form optimal detection threshold. This results are very useful for real-time implemenation.