• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.12
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• pp.983-994
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• 1989

This paper presents a new variable structure model following control algorithm for control of manipulators. The reference model is a simple double integrators and the acceleration input for the robot manipulator consists of a proportional and derivative controller for the purpose of trajectory tracking. The control algorithm is derived by using Lyapunov stability theory instead of S.S < O, as is usual in the current VSS controller design. This proposed control algorithm does not require good knowledge of the parameter in the inertia matrix and is easily extendable to robot manipulators with a higher number of links. Also, the new algorithm is computationally fast because of not requiring the matrix inversion. The computer simulation was carried out to evaluate the performance of the proposed VSMFC.

• The KIPS Transactions:PartA
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• v.8A no.3
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• pp.227-234
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• 2001

In this paper we propose a block-type parallel preconditioner for solving large sparse nonsymmetric linear systems, which we expect to be scalable. It is Multi-Color Block SOR preconditioner, combined with direct sparse matrix solver. For the Laplacian matrix the SOR method is known to have a nondeteriorating rate of convergence when used with Multi-Color ordering. Since most of the time is spent on the diagonal inversion, which is done on each processor, we expect it to be a good scalable preconditioner. We compared it with four other preconditioners, which are ILU(0)-wavefront ordering, ILU(0)-Multi-Color ordering, SPAI(SParse Approximate Inverse), and SSOR preconditiner. Experiments were conducted for the Finite Difference discretizations of two problems with various meshsizes varying up to $1025{\times}1024$. CRAY-T3E with 128 nodes was used. MPI library was used for interprocess communications, The results show that Multi-Color Block SOR is scalabl and gives the best performances.

• Geophysics and Geophysical Exploration
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• v.22 no.1
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• pp.1-11
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• 2019

Well logging technologies are used to measure the physical properties of reservoirs through boreholes. These technologies have been utilized to understand reservoir characteristics, such as porosity, fluid saturation, etc., using equations based on rock physics models. The analysis of well logs is performed by selecting a reliable rock physics model adequate for reservoir conditions or characteristics, comparing the results using the Archie's equation or simandoux method, and determining the most feasible reservoir properties. In this study, we developed a joint inversion algorithm to estimate physical properties in shaly sandstone reservoirs based on the pre-existing algorithm for sandstone reservoirs. For this purpose, we proposed a rock physics model with respect to shale volume, constructed the Jacobian matrix, and performed the sensitivity analysis for understanding the relationship between well-logging data and rock properties. The joint inversion algorithm was implemented by adopting the least-squares method using probabilistic approach. The developed algorithm was applied to the well-logging data obtained from the Colony gas sandstone reservoir. The results were compared with the simandox method and the joint inversion algorithms of sand stone reservoirs.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.2
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• pp.262-267
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• 2003

Error of the geometric series expansion method for the structural sensitivity analysis is estimated. Although the semi-analytic method has several advantages, accuracy of the method prevents it from practical application. One of the promising remedies is the use of geometric series formula for the matrix inversion. Its result of the sensitivity analysis converges that of the global difference method which is known as reliable one. To reduce computational efforts and to obtain reliable results, it is important to know how many terms need to expand. In this paper, the error formula is presented and Its usefulness is illustrated through numerical experiments.

• Journal of KSNVE
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• v.9 no.2
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• pp.377-386
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• 1999

This paper is a study on model method for estimating system inputs from vibration responses, which is one of indirect input identification methods in frequency domain. The method has advantages over direct inverse method especially when points of operational inputs are inaccessible so that artificial excitation forces cannot be applied to obtain frequency response functions of the complete system. Procedures of extended modal model method are proposed and checked by numerical experiment. Mechanisms of error propagation, i.e., how errors in modal parameters such as poles nad mode shape vectors affect estimation of the input forces, are illustrated. Then, in order to counteract the error propagation, discrete modal filter approach is taken in this paper to compute the inversion of modal matrix in which the most serious errors seem to be generated. Further, a Reduced form of Modified Reciprocal Modal Vector(RMRMV) is proposed for estimating multiple inputs. It is shown to have smaller orthogonality error than MRMV.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.5 no.1
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• pp.85-100
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• 2001

In this paper we propose a block-type parallel preconditioner for solving large sparse nonsymmetric linear systems, which we expect to be scalable. It is Multi-Color Block SOR preconditioner, combined with direct sparse matrix solver. For the Laplacian matrix the SOR method is known to have a nondeteriorating rate of convergence when used with Multi-Color ordering. Since most of the time is spent on the diagonal inversion, which is done on each processor, we expect it to be a good scalable preconditioner. Finally, due to the blocking effect, it will be effective for ill-conditioned problems. We compared it with four other preconditioners, which are ILU(0)-wavefront ordering, ILU(0)-Multi-Color ordering, SPAI(SParse Approximate Inverse), and SSOR preconditioner. Experiments were conducted for the Finite Difference discretizations of two problems with various meshsizes varying up to 1024 x 1024, and for an ill-conditioned matrix from the shell problem from the Harwell-Boeing collection. CRAY-T3E with 128 nodes was used. MPI library was used for interprocess communications. The results show that Multi-Color Block SOR and ILU(0) with Multi-Color ordering give the best performances for the finite difference matrices and for the shell problem only the Multi-Color Block SOR converges.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.46-51
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• 2004

This paper presents an adaptive control method based on parameter linearization for incompletely restrained wire-suspended mechanisms. The main purpose of this control method is utilizing it in a walking assist service robot for elderly people. This method is computationally simple and requires neither end-effector acceleration feedback nor inversion of estimated inertia matrix. In the proposed adaptive control law, mass, moment of inertia and external force and torque on the end-effector are considered as components of parameter adaptation vector. Nonlinear simulation for walking an elderly shows the effectiveness of the parameter adaptation law.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.3
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• pp.133-141
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• 1996

As the recording density of digital magnetic recording channels increased, the nonlinear distortion caused by inadequate rise-times, demagnetizing field, and overwrite effect during the recording process becomes significant, resulting in limitation on the recording rate. In this paper, a new method for identifying the nonlinear distortion in hihg-density magnetic recording channel using and i.i.d. (independent, identically distributed) inut is described. The proposed method does not require the operatin of large-size matrix inversion which are necessary for the conventional method, and it enables us to estimate nonlinear parameters transition shifts, which can be used to compensate the nonlinear distortion, is demonstrated by computer simulations.

• Journal of Information Display
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• v.3 no.4
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• pp.1-3
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• 2002

The antiferroelectric liquid crystal display (AFLCD) is a unique display that can at demonstrate a moving image perfectly the passive matrix driving scheme. We optimised driving the waveform and introduced a dual-driving method. Also, by improving this driving method and using line inversion method, we realize the AFLC display of high image quality with $160(RGB){\times}240$, 32768 colors, crosstalk free and flicker free contrast ratio is greater than 60:1, and the brightness is above 200 $cd/m^2$.

• 한국지구물리탐사학회:학술대회논문집
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• 2003.11a
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• pp.402-409
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• 2003

Inversion of traveltime requires an efficient algorithm for computing the traveltime as well as its $Frech\hat{e}t$ derivative. We compute the traveltime of the head waves using the damped wave solution in the Laplace domain and then present a new algorithm for calculating the $Frech\hat{e}t$ derivative of the head wave traveltimes by exploiting the numerical structure of the finite element method, the modem sparse matrix technology, and SWEET algorithm developed recently. Then, we use a properly regularized steepest descent method to invert the traveltime of the Marmousi-2 model. Through our numerical tests, we will demonstrate that the refraction tomography with large aperture data can be used to construct the initial velocity model for the prestack depth migration.