• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.1639-1644
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• 2003

A hybrid genetic algorithm is developed for estimating the wall emissivities for an absorbing, emitting, and scattering media in a two-dimensional irregular geometry with diffusely emitting and reflecting opaque boundaries by minimizing an objective function, which is expressed by the sum of square errors between estimated and measured temperatures at only four data positions. The finite-volume method was employed to solve the radiative transfer equation for a two-dimensional irregular geometry. The results show that a developed hybrid genetic algorithms reduce the effect of genetic parameters on the performance of genetic algorithm and that the wall emissivities are estimated accurately without measurement errors.

• 디지털산업정보학회논문지
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• 제9권1호
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• pp.111-118
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• 2013

This paper presents implementation of Air protocol analyzer and physical layer design algorithm. The analyzer is a measurement system providing real-time analysis of wireless signals between User Equipment (UE) and Node-B. The implemented system proposed in this paper consists of Digital Signal Processors (DSPs) and Field Programmable Gate Arrays (FPGAs). The waveform of Wideband Code Division Multiple Access (WCDMA) has been selected for verification of the proposed system. We designed the analyzer using equalizer algorithm and rake-receiver algorithm. Among various algorithms of designing the equalizer, we have chosen Linear Minimum Mean Square Error (LMMSE) equalizer that uses the inverse of channel matrix. Since the LMMSE equalizer uses the inverse channel matrix, it suffers from a large amount of computational load, while it outperforms most conventional equalizers. In this paper, we introduce an efficient procedure of reducing the computational load required by LMMSE equalizer-based receiver.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2004년도 ICEIC The International Conference on Electronics Informations and Communications
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• pp.263-268
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• 2004

The inverse kinematics problem is to find a set of joint variable values that will place the end effector of a robot manipulator into a given pose. Pieper has shown that a sufficient condition for a manipulator to have a closed form solution is that three adjacent joint axes intersects, hence the six axes robot with spherical wrist allows closed form solution. But many industrial robots have a non-spherical wrist to provide a stronger wrist configuration so that they can handle heavy payloads. Also, the use of a non-spherical wrist can result in a cheap and simple wrist arrangement than when all three axes intersect at a common point. In these cases, closed form solutions cannot be found. Therefore numerical technique must be used to solve the inverse kinematics equations. This paper proposes a new algorithm that can be used for finding inverse kinematics solution of the six axes robot with non-spherical wrist. Computer simulations are provided to prove the usefulness of our method.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.320-327
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• 2005

A new mechanism for hyper redundant manipulator (HRM) is presented, which comprises of serially assembled compound three-bar linkages (CTL). The CTL mechanism has some unique properties. This paper presents the forward and inverse kinematics of this mechanism and shows the simulation of the HRM havig 9 CTL units. The recursive algorithm of the inverse kinematics that the author originally developed is employed. It is fast and stable ; moreover, it enables us to obtain a solution in which the end-point of the HRM is controlled by a portion of joints. It also presents the method of the dynamical analysis. There exist kinematical constraints in the proposed closed linkage mechanism. In the dynamic analysis constraints are sufficiently sustained by the constraint stabilization method that the author developed. The mechanical structure of the HRM having some CTL units that is under construction is shown.

• Structural Monitoring and Maintenance
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• 제5권2호
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• pp.243-260
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• 2018

Detection of damages in fibre reinforced plastic (FRP) composite structures is important from the safety and serviceability point of view. Usually, damage is realized as a local reduction of stiffness and if dynamic responses of the structure are sensitive enough to such changes in stiffness, then a well posed inverse problem can provide an efficient solution to the damage detection problem. Usually, such inverse problems are solved within the framework of pattern recognition. Support Vector Machine (SVM) Algorithm is one such methodology, which minimizes the weighted differences between the experimentally observed dynamic responses and those computed using the finite element model- by optimizing appropriately chosen parameters, such as stiffness. A damage detection strategy is hereby proposed using SVM which perform stepwise by first locating and then determining the severity of the damage. The SVM algorithm uses simulations of only a limited number of damage scenarios and trains the algorithm in such a way so as to detect damages at unknown locations by recognizing the pattern of changes in dynamic responses. A rectangular fiber reinforced plastic composite plate has been investigated both numerically and experimentally to observe the efficiency of the SVM algorithm for damage detection. Experimentally determined modal responses, such as natural frequencies and mode shapes are used as observable parameters. The results are encouraging since a high percentage of damage cases have been successfully determined using the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.539-544
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• 1992

An iterative lear-rung control scheme is newly designed in tile frequency domain. Purposing for batch process control, a generic form of feedback-assisted first-order learning is considered first, and the inverse model-based learning algorithm is derived through convergence analysis in the frequency domain. To enhance the robustness of the proposed scheme, a filtered version is also presented. Performance of the proposed scheme is evaluated through numerical simulations.

• 대한기계학회논문집A
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• 제25권12호
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• pp.2062-2069
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• 2001

It has been established that a crack has an important effect on the dynamic behavior of a structure. This effect depends mainly on the location and depth of the crack. To identify the location and depth of a crack in a structure, a method is presented in this paper which uses synthetic artificial intelligent technique, that is, Adaptive-Network-based Fuzzy Inference System(ANFIS) solved via hybrid learning algorithm(the back-propagation gradient descent and the least-squares method) are used to learn the input(the location and depth of a crack)-output(the structural eigenfrequencies) relation of the structural system. With this ANFIS and a continuous evolutionary algorithm(CEA), it is possible to formulate the inverse problem. CEAs based on genetic algorithms work efficiently for continuous search space optimization problems like a parameter identification problem. With this ANFIS, CEAs are used to identify the crack location and depth minimizing the difference from the measured frequencies. We have tried this new idea on a simple beam structure and the results are promising.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집C
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• pp.182-188
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• 2001

It has been established that a crack has an important effect on the dynamic behavior of a structure. This effect depends mainly on the location and depth of the crack. To identify the location and depth of a crack in a structure, a method is presented in this paper which uses synthetic artificial intelligent technique, that is, Adaptive-Network-based Fuzzy Inference System(ANFIS) solved via hybrid learning algorithm(the back-propagation gradient descent and the least-squares method) are used to learn the input(the location and depth of a crack)-output(the structural eigenfrequencies) relation of the structural system. With this ANFIS and a continuous evolutionary algorithm(CEA), it is possible to formulate the inverse problem. CEAs based on genetic algorithms work efficiently for continuous search space optimization problems like a parameter identification problem. With this ANFIS, CEAs are used to identify the crack location and depth minimizing the difference from the measured frequencies. We have tried this new idea on a simple beam structure and the results are promising.

• 한국정밀공학회지
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• 제16권4호통권97호
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• pp.205-212
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• 1999

A three dimensional binary parallel robot manipulator uses actuators which have only two stable states and its structure is variable geometry truss. As a result, it has a finite number of states and fault tolerant mechanism because of kinematic redundancy. This kind of robot manipulator has some advantages compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. Because the number of states of a binary robot manipulator grows exponentially with the number of actuators it is very difficult to solve and inverse kinematic problem. The goal of this paper is to develop an efficient algorithm to solve an inverse kinematic problem of three dimensional binary parallel robot manipulator using a backbone curve when the number of actuators are too much. We first derive the coordinate transformations associated with a three degree of freedom in-parallel actuated robot manipulator. The backbone curve is generated optimally by considering the maximum roll and pitch angles of the robot manipulator configuration and length of link. Then, the robot manipulator is fitted along the backbone curve with some criterion.

• 한국정밀공학회지
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• 제16권3호통권96호
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• pp.174-179
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• 1999

A binary parallel robot manipulator uses actuators which have only two stable states and is structure is variable geometry truss. As a result, it has a finite number of states and fault tolerant mechanism because of kinematic redundancy. This kind of robot manipulator has the following advantages compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. Because the number of states of a binary robot manipulator grows exponentially with the number of actuators, it is very difficult to solve an inverse kinematic problem. The goal of this paper is to develop an efficient algorithm to solve an inverse kinematic problem when the number of actuators are too much or the target position is located outside of workspace. The backbone curve is generated optimally by considering the curvature of the robot manipulator configuration and length of link. Then, the robot manipulator is fitted along the backbone curve with some criteria.