• Journal of Ocean Engineering and Technology
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• v.25 no.5
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• pp.1-8
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• 2011

This paper proposes a controller design for an omnidirectional mobile platform (OMP) with three wheels using backstepping control. A kinematic model and dynamic model of the system are presented. Based on the dynamic modeling, a backstepping controller is designed to stabilize the OMP when following a desired path. The controller is designed based on a backstepping control theory. It includes two steps: first, a virtual state and a stability function are introduced. Second, Lyapunov functions for the system are chosen and an equation for the virtual control that makes the system stabile is obtained. The system stability is guaranteed by the Lyapunov stability theory. The simulation and experimental results are presented to demonstrate the effectiveness of the proposed controller.

• Computers and Concrete
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• v.19 no.2
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• pp.133-142
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• 2017

Two-stage concrete (TSC), also known as pre-placed aggregate concrete, is characterized by its unique placement technique, whereby the coarse aggregate is first placed in the formwork, then injected with a special grout. Despite its superior sustainability and technical features, TSC has remained a basic concrete technology without much use of modern chemical admixtures, new binders, fiber reinforcement or other emerging additions. In the present study, an experimental database for TSC was built. Different types of cementitious binders (single, binary, and ternary) comprising ordinary portland cement, fly ash, silica fume, and metakaolin were used to produce the various TSC mixtures. Different dosages of steel fibres having different lengths were also incorporated to enhance the mechanical properties of TSC. The database thus created was used to develop fuzzy logic models as predictive tools for the grout flowability and mechanical properties of TSC mixtures. The performance of the developed models was evaluated using statistical parameters and error analyses. The results indicate that the fuzzy logic models thus developed can be powerful tools for predicting the TSC grout flowability and mechanical properties and a useful aid for the design of TSC mixtures.

• ETRI Journal
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• v.38 no.1
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• pp.100-111
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• 2016

This paper presents a low-complexity channel-adaptive reconfigurable $4{\times}4$ QR-decomposition and M-algorithm-based maximum likelihood detection (QRM-MLD) multiple-input and multiple-output (MIMO) detector. Two novel design approaches for low-power QRM-MLD hardware are proposed in this work. First, an approximate survivor metric (ASM) generation technique is presented to achieve considerable computational complexity reduction with minor BER degradation. A reconfigurable QRM-MLD MIMO detector (where the M-value represents the number of survival branches in a stage) for dynamically adapting to time-varying channels is also proposed in this work. The proposed reconfigurable QRM-MLD MIMO detector is implemented using a Samsung 65 nm CMOS process. The experimental results show that our ASM-based QRM-MLD MIMO detector shows a maximum throughput of 288 Mbps with a normalized power efficiency of 10.18 Mbps/mW in the case of $4{\times}4$ MIMO with 64-QAM. Under time-varying channel conditions, the proposed reconfigurable MIMO detector also achieves average power savings of up to 35% while maintaining a required BER performance.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.12
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• pp.1220-1230
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• 2006

In this paper, we propose a flew technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.

• Phonetics and Speech Sciences
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• v.7 no.3
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• pp.131-138
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• 2015

In this paper, we propose L1-norm regularization for state vector adaptation of subspace Gaussian mixture model (SGMM). When you design a speaker adaptation system with GMM-HMM acoustic model, MAP is the most typical technique to be considered. However, in MAP adaptation procedure, large number of parameters should be updated simultaneously. We can adopt sparse adaptation such as L1-norm regularization or sparse MAP to cope with that, but the performance of sparse adaptation is not good as MAP adaptation. However, SGMM does not suffer a lot from sparse adaptation as GMM-HMM because each Gaussian mean vector in SGMM is defined as a weighted sum of basis vectors, which is much robust to the fluctuation of parameters. Since there are only a few adaptation techniques appropriate for SGMM, our proposed method could be powerful especially when the number of adaptation data is limited. Experimental results show that error reduction rate of the proposed method is better than the result of MAP adaptation of SGMM, even with small adaptation data.

• Transactions of the Korean Society of Mechanical Engineers
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• v.12 no.6
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• pp.1415-1427
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• 1988

The effect of injection angle and blowing rate on a film-cooled flat plate has been investigated experimentally. Three cases of 90.deg. injection, 35.deg. streamwise injection and 35.deg. spanwise injection are employed. The naphthalene sublimation technique in used to obtain local mass transfer coefficients. Thus heat transfer coefficients are evaluated using heat-mass transfer analogy. Schlieren photographs are taken to visualize the trajectory of injection fluid by introducing carbon dioxide gas through injection tubes. The experiments indicate that due to the injection the heat transfer coefficients increase significantly in the neighborhood of the infection holes, so the design of film cooled component must be based on the heat transfer coefficient with injection as well as film cooling effectiveness.

• KCI Concrete Journal
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• v.11 no.3
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• pp.181-189
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• 1999

An experimental study was performed on the Pull-out behavior of 90-deg standard hooks from the exterior beam-column connections. the effects of the number of hooked bars and fiber reinforcement of the joint area were investigated with the following conclusions : (1) Under the pull-out action of hooked bars. the damage and cracking of joint area the number of hooks pulling out from a joint increases; (2) Substitution of the transverse column (confining) reinforcement with steel fibers at the joint region effectively reduces the extent of cracking in exterior joints caused by the pull-out of hooked bars; (3) The pull-out strength and post-peak ductility of hooked bars are adversely influenced by the increase in number of hooks pulling out from an exterior joint. Current hooked bar anchorage design guidelines may be improved by considering the effect of the number of hooked bars on anchorage conditions at the exterior joints; and (4) The strength and ductility of hooked bars under pull-out forces are positively influenced by substituting the conventional confining reinforcement of exterior joints with steel fibers . The application of steel fibers to the exterior joints is an effective technique for improving the anchorage conditions of hooked bars, and also for reducing the congestion of reinforcement in the beam-column connections.

• Journal of Ocean Engineering and Technology
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• v.26 no.5
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• pp.25-30
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• 2012

This study examined the use of LIT (lock-in infrared thermography) to detect defects in the welded parts of ships and offshore structures. A quantitative analysis was used with the filtering and texture measurement of image processing techniques to find the optimized experimental condition. We verified the reliability of our methods by applying image processing techniques in order to normalize the evaluations of comparative images that showed a phase difference. In addition, it was found that a low to mid-range intensity of light exposure on the surface showed good results, whereas high exposure did not provide significant results. A lock-in frequency of around 0.1 Hz was satisfactory regardless of the intensity of the light source. In addition, making the integration time of the thermography camera inversely proportional to the intensity of the exposed light source during the experiment provided good results.

• Smart Structures and Systems
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• v.14 no.2
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• pp.191-207
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• 2014

In this research, an internal model based method is proposed to estimate the structural displacements and velocities under ambient excitation using only acceleration measurements. The structural response is assumed to be within the linear range. The excitation is assumed to be with zero mean and relatively broad bandwidth such that at least one of the fundamental modes of the structure is excited and dominates in the response. Using the structural modal parameters and partial knowledge of the bandwidth of the excitation, the internal models of the structure and the excitation can be respectively established, which can be used to form an autonomous state-space representation of the system. It is shown that structural displacements, velocities, and accelerations are the states of such a system, and it is fully observable when the measured output contains structural accelerations only. Reliable estimates of structural displacements and velocities are obtained using the standard Kalman filtering technique. The effectiveness and robustness of the proposed method has been demonstrated and evaluated via numerical simulations on an eight-story lumped mass model and experimental data of a three-story frame excited by the ground accelerations of actual earthquake records.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.7 no.7
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• pp.1369-1373
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• 2003

A linear power amplifier is particularly emphasized on the CDMA system using a linear modulation scheme, because IMD which cause adjacent channel interference and co channel interference is mostly generated in a nonlinear power amplifier. In this paper, a new type of linearization technique proposed. It is presented that balanced MESFET Predistortion linearizer added. Experimental result are present for Korea PCS frequency band. The implemented linearizer is applied to a 30㏈m class A power amplifier for simulation performance. Two-tone signals at 1850 MHz and 1851.23 MHz are injected into the main power amplifier. The main power amplifier with a 12.1㏈ gain and a P1㏈ of 30 ㏈m(two-tone) was utilized. The reduction of IMD is around 22㏈.