• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.739-740
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• 2009

• Proceedings of the Korea Society for Industrial Systems Conference
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• 2006.05a
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• pp.211-217
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• 2006

The learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this specific task. In a previous work, the authors presented an iterative precision of linear decentralized learning control based on p-integrated learning method for the vertical dynamic multiple systems. This paper develops an indirect decentralized learning control based on adaptive control method. The original motivation of the teaming control field was teaming in robots doing repetitive tasks such as on an assembly line. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the nominal trajectory, and using the usual robot controllers that are decentralized, treating each link as if it is independent of any coupling with other links. Error wave propagation method will show up in the numerical simulation for five-bar linkage as a vertical dynamic robot. The methods of learning system are shown up for the iterative precision of each link at each time step in repetition domain. Those can be helped to apply to the vertical multiple dynamic systems for precision quality assurance in the industrial robots and medical equipments.

• Journal of Korea Society of Industrial Information Systems
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• v.11 no.2
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• pp.40-47
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• 2006

The learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this specific task. In a previous work the authors presented an iterative precision of linear decentralized learning control based on p-integrated teaming method for the vertical dynamic multiple systems. This paper develops an indirect decentralized learning control based on adaptive control method. The original motivation of the loaming control field was learning in robots doing repetitive tasks such as on a]1 assembly line. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the nominal trajectory, and using the usual robot controllers that are decentralized, treating each link as if it is independent of any coupling with other links. Error wave propagation method will show up in the numerical simulation for five-bar linkage as a vertical dynamic robot. The methods of learning system are shown up for the iterative precision of each link at each time step in repetition domain. Those can be helped to apply to the vertical multiple dynamic systems for precision quality assurance in the industrial robots and medical equipments.

• ETRI Journal
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• v.41 no.3
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• pp.316-325
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• 2019

Accurate suppressive jamming is a prominent problem faced by radar equipment. It is difficult to solve signal detection problems for extremely low signal to noise ratios using traditional signal processing methods. In this study, a joint sensing dictionary based compressed sensing and adaptive iterative optimization algorithm is proposed to counter suppressive jamming in information domain. Prior information of the linear frequency modulation (LFM) and suppressive jamming signals are fully used by constructing a joint sensing dictionary. The jamming sensing dictionary is further adaptively optimized to perfectly match actual jamming signals. Finally, through the precise reconstruction of the jamming signal, high detection precision of the original LFM signal is realized. The construction of sensing dictionary adopts the Pei type fast fractional Fourier decomposition method, which serves as an efficient basis for the LFM signal. The proposed adaptive iterative optimization algorithm can solve grid mismatch problems brought on by undetermined signals and quickly achieve higher detection precision. The simulation results clearly show the effectiveness of the method.

• East Asian mathematical journal
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• v.27 no.5
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• pp.527-538
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• 2011

In this paper, we introduce a new iterative scheme for finding a common element of the set of an equilibrium problem, the set of fixed points of nonexpansive mapping and the set of solutions of the generalized variational inequality for ${\alpha}$-inverse strongly g-monotone mapping in a Hilbert space. Under suitable conditions, strong convergence theorems for approximating a common element of the above three sets are obtained.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.7
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• pp.91-97
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• 2001

When a body including a crack inside is subjected to the compressive forces, the crack is closed and sliding occurs on the crack surfaces. In this work, a subsurface crack subjected to a static compressive load is analyzed with the finite element method considering friction on the crack surface. The friction on the crack surface is assumed to follow the Coulomb friction law, and a numerical method based on the finite element method and iterative method is applied in this work. The result is compared with those of ANSYS and references.

• International Journal of Precision Engineering and Manufacturing
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• v.5 no.3
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• pp.77-84
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• 2004

A robust optimal control design is proposed in this study for rigid robotic systems under the unknown loads and the other uncertainties. The uncertainties are reflected in the performance index, where the uncertainties are bounded for the quadratic square of the states with a positive definite weighting matrix. An iterative algorithm is presented for the determination of the weighting matrix required for necessary robustness. Computer simulations have been done for a weight-lifting operation of a two-link manipulator and the simulation results shows that the proposed algorithm is very effective for a robust control of robotic systems.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.577-583
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• 1994

The purpose of this paper is to study the force control law which can be implemented on a non-modified robot system. The external force control algorithm proposed in this paper can be designed by means of a classical and modern control law. We showed the validation and the possibility of muti-dimensional force control idea through the simulation and experiments. Also, the Iterative learning control is studied for compensating errors due to thr disturbances and nonlinear effects. The previous information(control input, error) was used to determine the control input of next trial. The experimental result show the vaidity of this algorithm.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.04b
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• pp.363-368
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• 1995

A general method of solving inverse kinematics of three-joint manipulator composed of revolute joints or prismatic joints or combinations of those joints is presented in this study. In completing real-time control, it is very important to obtain the closed form solutions of inverse kinematics rather than iterative numerical solutions, because iterative numerical solutions are generally much slower than the corresponding closed form solutions. If it is possible to obtain the inverse kinematic solutions for general cases of considering twist anlges and offsets, the manipulator work space can be designed and enlarged more effciently for specific task. Moreover, in idustrial manipulators, the effect of main three joints is larger than that of the other three joints related to orientation in the view of work space. Therfore the solutions of manin three-joint are considered. Even The inverse kinematic equations are complicatedly coupled, the systematical solving process by using symbolic calculation is presented.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.921-927
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• 1996

The purpose of this study is to compute the stress intensity factors of various conditions in the cracked p! ate. The stress intensity factor of pin-loaded cracked plate is investigated using the finite element method. This paper is divided into the two parts. The first part is the contact analysis, and the second is to compute the stress intensity factors. In the contact analysis, the iterative method is used, and convergence of this method is presented. In the computation of the stress intensity factors of plate, the length of crack, clearance, and angle are considered