• Structural Engineering and Mechanics
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• 제54권6호
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• pp.1153-1174
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• 2015

Deployable structures have gained more and more applications in space and civil structures, while it takes a large amount of computational resources to analyze this kind of multibody systems using common analysis methods. This paper presents a new approach for dynamic analysis of multibody systems consisting of both rigid bars and arbitrarily shaped rigid bodies. The bars and rigid bodies are connected through their nodes by ideal pin joints, which are usually fundamental components of deployable structures. Utilizing the Moore-Penrose generalized inverse matrix, equations of motion and constraint equations of the bars and rigid bodies are formulated with nodal Cartesian coordinates as unknowns. Based on the constraint equations, the nodal displacements are expressed as linear combination of the independent modes of the rigid body displacements, i.e., the null space orthogonal basis of the constraint matrix. The proposed method has less unknowns and a simple formulation compared with common multibody dynamic methods. An analysis program for the proposed method is developed, and its validity and efficiency are investigated by analyses of several representative numerical examples, where good accuracy and efficiency are demonstrated through comparison with commercial software package ADAMS.

• Journal of Mechanical Science and Technology
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• 제16권8호
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• pp.1072-1078
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• 2002

The constrained motion requires the determination of constraint force acting on unconstrained systems for satisfying given constraints. Most of the methods to decide the force depend on numerical approaches such that the Lagrange multiplier method, and the other methods need vector analysis or complicated intermediate process. In 1992, Udwadia and Kalaba presented the generalized inverse method to describe the constrained motion as well as to calculate the constraint force. The generalized inverse method has the advantages which do not require any linearization process for the control of nonlinear systems and can explicitly describe the motion of holonomically and/or nongolonomically constrained systems. In this paper, an explicit equation to describe the constrained motion is derived by minimizing the performance index, which is a function of constraint force vector, with respect to the constraint force. At this time, it is shown that the positive-definite weighting matrix in the performance index must be the inverse of mass matrix on the basis of the Gauss's principle and the derived differential equation coincides with the generalized inverse method. The effectiveness of this method is illustrated by means of two numerical applications.

• 한국지능시스템학회논문지
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• 제12권1호
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• pp.33-38
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• 2002

본 논문에서는 역동력학과 퍼지기법을 기반으로 하는 DC 모터 속도제어용 2자유도 제어기를 설계한다. 제안된 제어기는 DC 모터 시스템의 역동력학 모델, 전처리필터와 퍼지보상기로 구성된다. 모델은 쿨롱마찰을 내포하는 비선형 방정식으로 표시되며, 전처리필터는 역동력학 모델에 의해 유발될 수 있는 고주파 영향을 막아주며, 퍼지보상기는 모델의 불확실성, 외란 등으로 인한 오차를 보상한다. 퍼지보상기는 기준 입력 변화에 대한 추종성능과 외란에 대한 오차 제거성능을 동시에 개선하도록 설계된다. 모델과 보상기의 파라미터는 각각 실수코딩 유전알고리즘으로 추정되고 동조된다. 제안된 기법의 유효성은 실험을 통해 검증된다.

• 방송공학회논문지
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• 제24권2호
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• pp.217-226
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• 2019

본 논문에서는 가이디드 영상 필터 (guided image filter: GIF)를 이용하여 컨볼루션 신경망 (convolutional neural network; CNN)을 이용한 역 톤 매핑 (inverse tone-mapping) 기법의 결과를 향상시킬 수 있는 필터링 기법을 제안한다. 저동적범위 (low dynamic range; LDR) 영상을 고동적범위 (high dynamic range; HDR) 디스플레이에서 표현할 수 있도록 변환하는 역 톤 매핑 기법은 지속적으로 제안되어왔다. 최근 들어 컨볼루션 신경망을 이용하여 단일 LDR 영상을 HDR 영상으로 변환하는 알고리듬이 많이 연구되었다. 그 중엔 제한된 동적범위 (dynamic range)로 인해 화소가 포화되어 기존 화소 정보가 손실되는데 이를 학습된 컨볼루션 신경망을 이용해서 복원하는 알고리듬이 존재한다. 해당 알고리듬은 비포화 영역의 잡음까지는 억제하지 못하며 포화 영역의 디테일까지는 복원하지 못한다. 제안한 알고리듬은 입력 영상에 가중된 가이디드 영상 필터 (weighted guided image filter; WGIF)를 사용해서 비포화 영역의 잡음을 억제하고 포화 영역의 디테일을 복원시킨 다음 컨볼루션 신경망에 인가하여 최종 결과 영상의 품질을 개선하였다. 제안하는 알고리듬은 HDR 정량적 화질평가 지표를 측정하였을 때 기존의 알고리듬에 비해 높은 화질평가 지수를 나타내었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.33.1-33
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• 2001

We address a novel approach to identify a nonlinear dynamic system for Wiener models, which are composed of a linear dynamic system part followed by a nonlinear static part. The aim of system identification here is to provide the optimal mathematical model of both the linear dynamic and the nonlinear static parts in some appropriate sense. Assuming the nonlinear static part is invertible, we approximate the inverse function by a piecewise linear function. We estimate the piecewise linear inverse function by using the evolutionary computation approach such as genetic algorithm (GA) and evolution strategies (ES), while we estimate the linear dynamic system part by the least squares method. The results of numerical simulation studies indicate the usefulness of proposed approach to the Wiener model identification.

• Structural Engineering and Mechanics
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• 제64권2호
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• pp.271-278
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• 2017

In this paper, we propose a new conjugate gradient method which possesses the global convergence and apply it to solve inverse problems of the dynamic loads identification. Moreover, we strictly prove the stability and convergence of the proposed method. Two engineering numerical examples are presented to demonstrate the effectiveness and speediness of the present method which is superior to the Landweber iteration method. The results of numerical simulations indicate that the proposed method is stable and effective in solving the multi-source dynamic loads identification problems of practical engineering.

• 한국자동차공학회논문집
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• 제10권6호
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• pp.187-193
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• 2002

Since the bus is regarded as the one of the most public transportation systems, research on the safety and facilities of the bus has been increased actively in recent years. In this paper, we concern the design of the bus door mechanism that is composed of many linkages and actuators(or motors). In particular, the folding door mechanism is representative system installed in most of urban buses. To design the folding door mechanism, we construct the kinematic and dynamic analysis model fur computer simulation. Also, the dynamic analysis is accomplished by both direct dynamics and inverse dynamics. Since the folding door mechanism has many design variables, the analysis program is developed to perceive kinematic and dynamic characteristics according to the design variables and simulation conditions.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2002년도 추계 학술대회논문집
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• pp.35-40
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• 2002

This paper deals with a thrust generation on flapping-airfoil by dynamic stall. Dynamic stall refers to a series of complicated aerodynamic phenomena accompanied by a stall delay in unsteady motion. In most cases, once it occurs, the dynamic stall may lead to an abrupt fluctuation of aerodynamic forces. An inverse $k\acute{a}rm\acute{a}n$ vortex has been considered as a main reason for a thrust generation. In this paper, however, we have found out that a thrust is closely related to reduced frequency and leading edge vortex in addition to inverse Karman vortex. In order to certify our opinion, picking and plunging motions were calculated with the parameter of amplitude and frequency by using the unsteady, incompressible Navier-Stokes flow solver with a two-equation turbulence model. For more efficient computation, it is parallelized by MPI programming method.

• Nonlinear Functional Analysis and Applications
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• 제29권3호
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• pp.899-912
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• 2024

The objective of this paper is to ascertain the existence and uniqueness of common fixed point for four self mappings in intuitionistic Menger metric spaces under some conditions extending to (CLR) property and C-class functions. Some illustrative examples are furnished, which demonstrate the validity of the hypotheses. As an application to our main result, we derive a common fixed point theorem for four self-mappings in metric space. Our results generalize several works, including [4], [20].

• 한국정밀공학회지
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• 제10권3호
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• pp.133-140
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• 1993

In this paper, we prpose a method for tracking optimally a spatial trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint euqations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation result of a flexible planar manipulator is presented.