• Bulletin of the Korean Mathematical Society
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• v.40 no.3
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• pp.437-456
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• 2003

In this paper we use a generalized Brownian motion process to define a generalized analytic Feynman integral. We then establish a Fubini theorem for the function space integral and generalized analytic Feynman integral of a functional F belonging to Banach algebra $S(L^2_{a,b}[0,T])$ and we proceed to obtain several integration formulas. Finally, we use this Fubini theorem to obtain several Feynman integration formulas involving analytic generalized Fourier-Feynman transforms. These results subsume similar known results obtained by Huffman, Skoug and Storvick for the standard Wiener process.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.604-608
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• 2004

In this paper, an efficient method is proposed to analyze the radial error of a miniaturized-high speed spindle system. Initially, a device is constructed for measuring the radial error motion using capacitance sensors. The capacitance sensors are placed perpendicular to the axis of the shaft and at 90o to each other. The spindle is rotated at high speed and the profile of the spindle is recorded. An algorithm is developed for analyzing the spindle data and determining the radial error of spindle. The present algorithm uses homogeneous transform matrix (HTM) method and iterative process for determining the radial error. The analysis procedure is performed for different speeds of the spindle. The data obtained from the present system and the results of evaluation are also presented in this paper. It is observed that this method is effective in determining and analyzing the spindle errors for high speed miniaturized spindle.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1991.11a
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• pp.155-159
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• 1991

This paper is a study on the Inverse dynamics of a one-1ink flexible robot arm which is control led by the transiational base motion. The system is composed of the flexible arm, the mobil stage, a DC servomotor, and a computer. The arm base is shifted so that the tip follows a desired path function. The tip Rotten is measured by the laser displacement sensor. The governing equations are based on the Bernoullie-Euler beam theory and solved by applying the Laplace transform method and then the numerical inversion method to the resulted equations. Tip responses obtained both theoretically and experimentally are in good agreement with the desired trajectory, which shows that the scheme of inverse dynamics is effective for the open-loop endpoint positioning of the flexible am driven by the translation stage.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.6 no.7
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• pp.1126-1132
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• 2002

In this paper, we propose a new scheme of motion tracking based on fuzzy inference (Fl) and wavelet transform (WT) from image sequences. First, we present a WT to segment a feature extraction of dynamic image . The coefficient matrix for 2-level DWT tent to be clustered around the location of Important features in the images, such as edge discontinuities, peaks, and corners. But these features are time varying owing to the environment conditions. Second, to reduce the spatio-temperal error, We develop a fuzzy inference algorithm. Some experiments are performed 0 testify the validity and applicability of the proposed system As a result, proposed method is relatively simple compared with the traditional space domain method. It is also well suited for motion tracking under the conditions of variation of illumination.

• Journal of KSNVE
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• v.9 no.4
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• pp.778-784
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• 1999

A method for obtaining the motion of an impact system whose primary and secondary system are composed of lumped masses, springs and dampers, and all the contacts are made through spring and damping elements is presented. The frequency response functions derived from the equations of motion and the impulse response functions obtained from the inverse Fourier transform of the derived frequency response functions are used for the calculation of the system responses. The procedure developed for the calculation of displacements and force time-histories was based on the convolution integrals of impulse response functions and forces applied to the systems. Time histories of displacements and contact forces are obtained for the case where a random excitation is applied to a point in the system. Impact statistics such as contact forces and the time between impacts calculated from those time histories is presented.

• International Journal of Naval Architecture and Ocean Engineering
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• v.9 no.3
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• pp.266-281
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• 2017

Hydroelastic interactions of a deformable floating body with random waves are investigated in time domain. Both hydroelastic motion and structural dynamics are solved by expansion of elastic modes and Fourier transform for the random waves. A direct and efficient structural analysis in time domain is developed. In particular, an efficient way of obtaining distributive loads for the hydrodynamic integral terms including convolution integral by using Fubini theory is explained. After confirming correctness of respective loading components, calculations of full distributions of loads in random waves are expedited by reformulating all the body loading terms into distributed forms. The method is validated by extensive convergence tests and comparisons against the counterparts of the frequency-domain analysis. Characteristics of motion/deformation responses and stress resultants are investigated through a parametric study with varying bending rigidity and types of random waves. Relative contributions of componential loads are identified. The consequence of elastic-mode resonance is underscored.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1036-1041
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• 1993

The tip of the flexible robot arm has to be controlled by the active control reducing vibration because it has residual vibration after getting to desired position. This paper presents an end-point position control of a 1-link flexible robot arm having tip mass by the PID control algorithm. The system is composed of a flexible arm with tip mass, dc servomotor and ballscrew mechanism under translational motion. The feedback signal composed of the tip displacement measured by laser sensor, estimated velocity and acceleration is used to control the base motion. Theoretical results are obtained by applying the Laplace transform and the numerical inversion method to the governing equations. After the flexible robot arm reaches to. the desired position, the residual vibration is controlled by the PID algorithm. This paper gives the simulation and experimental results of end-point responses according to changing tip-mass and arm length. And this algorithm shows good effects of reducing the residual vibration. Approximately, theoretical response is in good agreement with experimental one.

• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.369-371
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• 2009

휴머노이드 로봇에서 스스로 환경을 인식하는 기술은 필수적으로 필요하다. 그러나 정확하게 환경을 인식하기 위해서는 휴머노이드 움직임을 추정하여 보정해야 한다. 따라서 본 논문에서는 type-2 퍼지셋을 이용하여 휴머노이드 로봇의 움직임을 스테레오 비전기반으로 추정하는 방법을 제안하고자 한다. 본 연구에서는 우선 스테레오 비전으로 얻은 Disparity Map을 Type-2 퍼지셋을 이용하여 추적할 대상을 추출한다. 추출된 대상은 보다 정확한 계산을 위하여 Wavelet Transform을 이용하여 정보량을 확장하였으며, 그 결과로 얻어진 결과영상들은 다시 Least suqare approximation과 Type-2 퍼지셋을 이용하여 하나의 결과값으로 나타내어진다. 연속된 두 이미지의 움직임을 추정함으로써 로봇의 움직임을 추정하게 된다. 제안된 방법은 실험을 통하여 그 추정 정확도나 연산속도 면에서 효율적임을 알 수 있었다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.9-13
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• 1997

This parer is a study on the inverse dynamics of a one-link flexible robot arm which is controlled by translational base motion. The system is composed of a flexible arm, a base for driving arm, a DC servomotor, and a computer. The arm base is moved so that the arm tip follows a desired function. The governing equations are based on the Bernoullie-Euler beam theory and solved by applying the Laplace transform method and then the numerical inversion method. Moter voltage is obtained by simulation for tip trajectory functions i. e. Bang-Bang, Cosine and Gauss Function. And, the tip motion is measured while simulation results are applying. Then the results are investigated to select most proper input and to compare their chateristics. Experimental results show the Cosine function is most proper with respect to low maximum voltage and steady state error.

• Journal of KSNVE
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• v.9 no.1
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• pp.103-112
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• 1999

A new modeling and analysis technique for one-dimensional distributed parameter systems is presented. First. discretized equations of motion in Laplace domain are derived by applying discretization methods for partial differential equations of a one-dimensional structure with respect to spatial coordinate. Secondly. the z and inverse z transformations are applied to the discretized equations of motion for obtaining a dynamic matrix for a uniform element. Four different discretization methods are tested with an example. Finally, taking infinite on the number of step for a uniform element leads to an exact dynamic matrix for the uniform element. A generalized modal analysis procedure for eigenvalue analysis and modal expansion is also presented. The resulting element dynamic matrix is tested with a numerical example. Another application example is provided to demonstrate the applicability of the proposed method.