• 한국정밀공학회지
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• 제11권5호
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• pp.88-97
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• 1994

We persent a method for kinematic calibration of open chain mechanisms based on the product of exponentials (POE) formula. The POE formula represents the forward kinematics of an open chain as a product of matrix exponentials, and is based on a modern geometric interpretation of classical screw theory. Unlike the kinematic parameters in the POE formula vary smoothly with changes in the joint axes;ad hoc methods designed to address the inherent singularities in the D-H parameters are therefore are therefore unnecessary. After introducing the POE formula, we derive a least-squares kinematic calibration algorithm for general open chain mechanisms. Simulation results with a 6-axis open chain are presented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.161-166
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• 1990

In this paper, Proposed the robust controller for robot manipulator plus actuator with dynamic parameter uncertainties. In general, errors and uncertainties system parameters exist more or less between the actual system and mathematical model. To reduce these trems, used Lyapunov stability theorem. The performance of the controller is evaluated for the three degree of freedom robot manipulator plus actuator model with uncertainties of parameters and model errors.

• Journal of the Korean Statistical Society
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• 제30권4호
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• pp.551-561
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• 2001

This paper deals with the asymptotic properties for statistical inferences of the parameters in nonlinear regression models. As an optimal criterion for robust estimators of the regression parameters, the regression quantile method is proposed. This paper defines the regression quintile estimators in the nonlinear models and provides simple and practical sufficient conditions for the asymptotic normality of the proposed estimators when the parameter space is compact. The efficiency of the proposed estimator is especially well compared with least squares estimator, least absolute deviation estimator under asymmetric error distribution.

• 대한전자공학회논문지
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• 제25권9호
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• pp.1046-1050
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• 1988

A direct adaptive control algorithm for discrete-time SISO systems with arbitrary zeros is presented in a general way by making use of reference model. A linear equation error model is formulated for estimating both the controller parameters and the auxiliary parameters. With this algorithm, asyptotic tracking within an arbitrarily small error can be achieved.

• 대한화학회지
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• 제8권1호
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• pp.15-19
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• 1964

Basicities of nine dimethylanilines have been determined in 50, 70, and 90 volume % ethanol, at $25^{\circ},\;30^{\circ},\;35^{\circ},\;and\;40^{\circ}C$. Temperature coefficients were found to be independent of solvent composition, while they showed a linear correlation with basicities of the compounds. Thermodynamic parameters obtained have been used in the discussion of substituent and solvent effects in conjunction with the general equation derived in the preceding papers.

• 전자공학회논문지B
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• 제29B권1호
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• pp.26-33
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• 1992

This paper presents lattice structure of bilinear filter and the conversion equations from lattice parameters to direct-form parameters. Billnear models are attractive for adaptive filtering applications because they can approximate a large class of nonlinear systems adequately, and usually with considerable parsimony in the number of coefficients required. The lattice filter formulation transforms the nonlinear filtering problem into an equivalent multichannel linear filtering problem and then uses multichannel lattice filtering algorithms to solve the nonlinear filtering problem. The lattice filters perform a Gram-Schmidt orthogonalization of the input data and have very good easily extended to more general nonlinear output feedback structures.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2441-2443
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• 2003

This paper proposes an indirect adaptive fuzzy controller for general SISO nonlinear systems. No a priori information on bounding constants of uncertainties including reconstruction errors and optimal fuzzy parameters is needed. The control law and the update laws for fuzzy rule structure and estimates of fuzzy parameters and bounding constants are determined so that the Lyapunov stability of the whole closed loop system is guaranteed. The computer simulation results for an inverted pendulum system show the performance of the proposed robust adaptive fuzzy controller.

• 소음진동
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• 제10권3호
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• pp.430-436
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• 2000

The cross-flow fans have been widely used to constitute the air moving systems in many air-ventilating and air-conditioning units. The cross-flow fan system has many design parameters which have crucial influence on the performance and the noise characteristics of the units. As a result there are many difficulties in the design stage of the system and the general design guide has not been sufficiently established yet. This study presents the experimental results of the parametric investigation of some chosen design parameters which are directly related to the shape of the stabilizer the profile of the scroll casing and the diffusion angle of the flow exit. The results are expressed in terms of the fan performance and the specific sound pressure level characteristics. Some parameters have been found to have crucial effects on the system performance/noise characteristics and should be considered with care in the design stage.

• 대한음성학회:학술대회논문집
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• 대한음성학회 2004년도 춘계 학술대회 발표논문집
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• pp.219-222
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• 2004

The purpose of this study was to determine a correlation between acoustic and perceptual parameters of the singing voice in singing students and compare them with the results with previous studies, and a more sensitive parameters in analyzing professional vocal usage. This study measured acoustic and perceptual parameters in 41 singing students. Digital audio recordings were made in sung vowels acoustic analysis. Each sample was judged by 1 experienced singing teacher and 1 voice pathologist on two semantic bipolar 7-point scales (ringing-dull, rich-thin). The results showed that SPP1 (p<0.01), SPP2 (p<0.01), and P1(p<0.01) had significant correlations with ringing and richness quality.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2011년도 제42회 하계학술대회
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• pp.983-984
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• 2011

An effective estimation method of equivalent circuit parameters of three-phase induction motor by using FEM is presented in this paper. Arbitrary three torque-speed points at asynchronous speed on the torque-speed curve are required by using time-stepping FEM, then the equivalent circuit parameters of IM can be calculated rapidly with presented method. After obtaining the equivalent circuit parameters, the general analysis method based on equivalent circuit can be used to get entire torque-speed curve very quickly. Although the purely numerical method such as FEM also can estimate torque-speed curve directly and accurately, however, usually this process is time consuming.