• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.3
• /
• pp.249-256
• /
• 1999

The conventional robot manipulability is decomposed into linear manipulability and angular manipulability so that they may be analysed and visualized in easy way even in the case of 3 dimensional task space with 6 variables. After the Jacobian matrix is decomposed into linear part and angular part, constraint on joint velocities is transformed into linear task velocity and angular task velocity through the decomposed Jacobian matrices. Under the assumption of redundant robot manipulators, several optimization problems which utilize the redundancy are formulated to be solved by linear programming technique or sequential quadratic programming technique. After deriving the solutions of the optimization problems, we give graphical interpretations for the solutions.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.7 no.2
• /
• pp.123-129
• /
• 1983

The effect of the micro-internal stress which is induced in the ferrite grain by plastic constraint, on fracture behavior was investigated. The specimen used has combined microstructure with matrix of ferrite encapsulated by second phase of martensite. The micro-internal stress in the ferrite grain was estimated using a simple mechanical model, and its effect on micro and macro fracture behaviors was discussed. The results obtained are summarized as follows; The micro-internal stress promotes the formation of cleavage cracks in the ferrite during deformation. Consequently, it was concluded that the internal stress is one of the significant factors which cause the fracture ductility to decrease.

• The Journal of the Acoustical Society of Korea
• /
• v.24 no.1E
• /
• pp.21-27
• /
• 2005

Environmental mismatch has been one of important issues discussed in matched field processing for underwater source detection problem. To overcome this mismatch many algorithms professing robustness have been suggested. Feature extraction method (FEM) [Seong and Byun, IEEE Journal of Oceanic Engineering, 27(3), 642-652 (2002)] is one of robust matched field processing algorithms, which is based on the eigenvector estimation. Excluding eigenvectors of replica covariance matrix corresponding to large eigenvalues and forming an incoherent subspace of the replica field, the processor is formulated similarly to MUSIC algorithm. In this paper, by using the ocean experimental data, processing results of FEM and MVDR with white noise constraint (WNC) are presented for two levels of multi-tone source. Analysis of eigen-space of CSDM and FEM performance are also presented.

• Proceedings of the KIEE Conference
• /
• 2005.07d
• /
• pp.2564-2566
• /
• 2005

This paper presents an iterative linear matrix inequality (LMI) method for $H_2$ and $H_{\infty}$ optimal static output feedback (SOF) control, which is expressed in terms of LMIs subject to an additional rank condition. We propose a linear Penalty function to penalize the rank constraint so that static $H_2$ and $H_{\infty}$ synthesis results in solving a series of convex LMI optimization problems. Numerical experiments for various $H_2$ and $H_{\infty}$ SOF synthesis were performed to demonstrate the effectiveness of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.498-503
• /
• 1993

In this paper, a robust and reliable H$_{\infty}$ control problem is considered for linear uncertain systems with time-varying norm-bounded uncertainty in the state matrix, which performs well despite of actuator outages. Using linear static state feedback and the quadratic stabilization with H$_{\infty}$-norm bound, a robust and reliable H$_{\infty}$ controller is obtained that stabilizes the plant and guarantees an H$_{\infty}$-norm bound constraint on disturbance attenuation for all admissible uncertainties and normal state as well as faulty state of actuators. It provides a sufficient condition for robust and reliable stabilization with H$_{\infty}$-norm bound. Reliability is guaranteed provided actuator outages only occur within a prespecified subset of actuators.tors.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.573-576
• /
• 1996

We propose robust control scheme for flexible joint manipulator in the presence of nonlinearity and mismatched uncertainty. The control is designed based on Lyapunov approach. The robust control which is based on the computed torque scheme and state transformation via implanted control is introduced. The design procedure starts with the construction of linearized subsystems via the computed torque method and then uses state transformation. With this approach we do not impose an upper-bound constraint on the inertia matrix in case it is known. Thus, this control can be applied to arbitrary manipulators. The resulting robust control guarantees practical stability for both the transformed system and the original system. The transformation is only based on the possible bound of uncertainty.

• Proceedings of the KIEE Conference
• /
• 1999.07c
• /
• pp.1183-1185
• /
• 1999

The basic purpose of economic dispatch problem is that minimize fuel cost with inequality constraint of generator output. To solve this problem it is very important to express power loss equation that have quadratic function of generator output power included B-coefficient. This Paper presents a method in determining B-coefficient by use A-matrix that is calculated by loss re-distribution algorithm (LRDA) considering voltage dependent load model (VDLM)s. The Proposed algorithm is tested with IEEE 6 bus sample system, which shows the result in each cases by the change of load component factor.

• Proceedings of the KIEE Conference
• /
• 2004.07d
• /
• pp.2242-2244
• /
• 2004

This paper deals with the design of a reduced-order stabilizing controller for the linear system. The coupled lineal matrix inequality (LMI) problem subject to a rank condition is solved by a sequential semidefinite programming (SDP) approach. The nonconvex rank constraint is incorporated into a strictly linear penalty function, and the computation of the gradient and Hessian function for the Newton method is not required. The penalty factor and related term are updated iteratively. Therefore the overall procedure leads to a successive LMI relaxation method. Extensive numerical experiments illustrate the proposed algorithm.

• Journal of applied mathematics & informatics
• /
• v.20 no.1_2
• /
• pp.345-354
• /
• 2006

In this paper first, we find a canonical symmetrical trapezoidal(triangular) for the solution of the fuzzy linear system $A\tilde{x}=\tilde{b}$, where the elements in A and $\tilde{b}$ are crisp and arbitrary fuzzy numbers, respectively. Then, a model for fuzzy linear programming problem with fuzzy variables (FLPFV), in which, the right hand side of constraints are arbitrary numbers, and coefficients of the objective function and constraint matrix are regarded as crisp numbers, is discussed. A numerical procedure for calculating a canonical symmetrical trapezoidal representation for the solution of fuzzy linear system and the optimal solution of FLPFV, (if there exist) is proposed. Several examples illustrate these ideas.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.24 no.12
• /
• pp.3003-3009
• /
• 2000

In this paper, we propose a new efficient hybrid-mixed C(sup)0 curved beam element with the optimal interpolation functions determined from numerical tests, which gives very accurate locking-free two-node curved beam element. In the element level, the stress parameters are eliminated from the stationary condition and the nodeless degrees of freedom are also removed by static condensation so that a standard six-by-six stiffness matrix is finally obtained. The numeri cal benchmark problems show that the element with cubic displacement functions and quadratic stress functions is the most efficient.