• Journal of the Korean Society for Precision Engineering
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• v.19 no.5
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• pp.118-125
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• 2002

The previous kinematic analysis of wheeled mobile robots(WMRs) is performed in an ad-hoc manner, while those of the robot manipulators are done in a consistent way using the coordinate system assignment and the homogeneous transformation matrix. This paper shows why the method for the robot manipulators cannot be used directly to the WMRs and proposes the method for the WMRs, which contains modeling the wheel with the Sheth-Uicker notation and the homogeneous transformation. The proposed method enable us to model the velocity kinematics of the WMRs in a consistent way. As an implementation of the proposed method, the Jacobian matrices were obtained for conventional steered wheel and non-steered wheel respectively and the forward and inverse velocity kinematic solutions were calculated fur a tricycle typed WMR. We hope that our proposed method comes to hold an equivalent roles for WMRs, as that of the manipulators does for the robot manipulators.

• Communications for Statistical Applications and Methods
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• v.15 no.3
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• pp.333-342
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• 2008

Variable selection theorem in the linear regression model is extended to the analysis of covariance model. When some of regression variables are omitted from the model, it reduces the variance of the estimators but introduces bias. Thus an appropriate balance between a biased model and one with large variances is recommended.

• Journal of the Institute of Convergence Signal Processing
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• v.9 no.4
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• pp.295-303
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• 2008

In general, transform domain adaptive filters show faster convergence speed than the time domain adaptive filters, but the amount of calculation increases dramatically as the filter order increases. This problem can be solved by making use of the subband structure in transform domain adaptive filters. In this paper, to increase the convergence speed on the generalized subband decomposition FIR adaptive filters, a structure of the adaptive filter with subfilter of dyadic sparsity factor in wavelet transform domain is designed. And, in this adaptive filter, the equivalent input in transform domain is derived and, by using the input, the convergence properties for the LMS algorithm is analyzed and evaluated. By using this sub band adaptive filter, the inverse system modeling and the periodic noise canceller were designed, and, by computer simulation, the convergence speeds of the systems on LMS algorithm were compared with that of the subband adaptive filter using DFT(discrete Fourier transform).

• Coupled systems mechanics
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• v.11 no.1
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• pp.33-41
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• 2022

Quite often we have a lot of measurement data and would like to find some relation between them. One common task is to see whether some measured data or a curve of known shape fit into the cumulative measured data. The problem can be visualized since data could generally be presented as curves or planes in Cartesian coordinates where each curve could be represented as a vector. In most cases we have measured the cumulative 'curve', we know shapes of other 'curves' and would like to determine unknown coefficients that multiply the known shapes in order to match the measured cumulative 'curve'. This problem could be presented in more complex variants, e.g., a constant could be added, some missing (unknown) data vector could be added to the measured summary vector, and instead of constant factors we could have polynomials, etc. All of them could be solved with slightly extended version of the procedure presented in the sequel. Solution procedure could be devised by reformulating the problem as a measurement problem and applying the generalized inverse of the measurement matrix. Measurement problem often has some errors involved in the measurement data but the least squares method that is comprised in the formulation quite successfully addresses the problem. Numerical examples illustrate the solution procedure.

• Journal of applied mathematics & informatics
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• v.11 no.1_2
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• pp.305-316
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• 2003

Recently, an iterative algorithm for finding the interior eigenvalues of a definite matrix by CG-type method has been proposed. This method compares to the inverse power method. The given matrices A, and B are assumed to be large and sparse, and SPD( Symmetric Positive Definite) The CG scheme for the optimization of the Rayleigh quotient has been proven a very attractive and promising technique for large sparse eigenproblems for smallest eigenvalue. Also, it is very amenable to parallel computations, like the CG method for the linear systems. A proper choice of the preconditioner significantly improves the convergence of the CG scheme. But for parallel computations we need to find an efficient parallel preconditioner. Our candidates we ILU(0) in the wave-front order, ILU(0) in the multi-coloring order, Point-SSOR(Symmetric Successive Overrelaxation), and Multi-Color Block SSOR preconditioner. Wavefront order is a simple way to increase parallelism in the natural order, and Multi-coloring realizes a parallelism of order(N), where N is the order of the matrix. Another choice is the Multi-Color Block SSOR(Symmetric Successive OverRelaxation) preconditioning. Block SSOR is a symmetric preconditioner which is expected to minimize the interprocessor communication due to the blocking. We implemented the results on the CRAY-T3E with 128 nodes. The MPI (Message Passing Interface) library was adopted for the interprocessor communications. The test problem was drawn from the discretizations of partial differential equations by finite difference methods. The results show that for small number of processors Multi-Color ILU(0) has the best performance, while for large number of processors Multi-Color Block SSOR performs the best.

• Structural Engineering and Mechanics
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• v.28 no.2
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• pp.129-152
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• 2008

This paper considers the solution of the stochastic differential equations (SDEs) with random operator and/or random excitation using the spectral SFEM. The random system parameters (involved in the operator) and the random excitations are modeled as second order stochastic processes defined only by their means and covariance functions. All random fields dealt with in this paper are continuous and do not have known explicit forms dependent on the spatial dimension. This fact makes the usage of the finite element (FE) analysis be difficult. Relying on the spectral properties of the covariance function, the Karhunen-Loeve expansion is used to represent these processes to overcome this difficulty. Then, a spectral approximation for the stochastic response (solution) of the SDE is obtained based on the implementation of the concept of generalized inverse defined by the Neumann expansion. This leads to an explicit expression for the solution process as a multivariate polynomial functional of a set of uncorrelated random variables that enables us to compute the statistical moments of the solution vector. To check the validity of this method, two applications are introduced which are, randomly loaded simply supported reinforced concrete beam and reinforced concrete cantilever beam with random bending rigidity. Finally, a more general application, randomly loaded simply supported reinforced concrete beam with random bending rigidity, is presented to illustrate the method.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.1
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• pp.269-275
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• 2013

In this paper, a new modeling method of a magnetic levitation(Maglev) system using extreme learning machine(ELM) is proposed. The linearized methods using Taylor Series expansion has been used for modeling of a Maglev system. However, the numerical method has some drawbacks when dealing with the components with high nonlinearity of a Maglev system. To overcome this problem, we propose a new modeling method of the Maglev system with electro magnetic suspension, which is based on ELM with fast learning time than conventional neural networks. In the proposed method, the initial input weights and hidden biases of the method are usually randomly chosen, and the output weights are analytically determined by using Moore-Penrose generalized inverse. matrix Experimental results show that the proposed method can achieve better performance for modeling of Maglev system than the previous numerical method.

• Smart Structures and Systems
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• v.17 no.2
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• pp.167-194
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• 2016

This paper investigates the Synergetics based Damage Detection Method (SDDM) for frame structures by using surface-bonded PZT (Lead Zirconate Titanate) patches. After analyzing the mechanism of pattern recognition from Synergetics, the operating framework with cooperation-competition-update process of SDDM was proposed. First, the dynamic identification equation of structural conditions was established and the adjoint vector (AV) set of original vector (OV) set was obtained by Generalized Inverse Matrix (GIM).Then, the order parameter equation and its evolution process were deduced through the strict mathematics ratiocination. Moreover, in order to complete online structural condition update feature, the iterative update algorithm was presented. Subsequently, the pathway in which SDDM was realized through the modified Synergetic Neural Network (SNN) was introduced and its assessment indices were confirmed. Finally, the experimental platform with a two-story frame structure was set up. The performances of the proposed methodology were tested for damage identifications by loosening various screw nuts group scenarios. The experiments were conducted in different damage degrees, the disturbance environment and the noisy environment, respectively. The results show the feasibility of SDDM using piezoceramic sensors and actuators, and demonstrate a strong ability of anti-disturbance and anti-noise in frame structure applications. This proposed approach can be extended to the similar structures for damage identification.