• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.1
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• pp.170-176
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• 1998

In this paper, the column space and null space of the Jacobian matrix were obtained by using the pseudo-inverse method and projection matrix. The equations of motion of the system were replaced by independent acceleration components using the null space matrix. The proposed method has the following advantages. (1) It is simple to derive the null space. (2) The efficiency is improved by getting rid of constrained force terms. (3) Neither null space updating nor coordinate partitioning method is required. The suggested algorithm is applied to a three-dimensional vehicle model to show the efficiency.

• International Journal of Automotive Technology
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• v.2 no.3
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• pp.117-122
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• 2001

For a dynamic analysis of a constrained multibody system, it is necessary to have a routine for satisfying kinematic constraints. LU decomposition scheme, which is used to divide coordinates into dependent and independent coordinates, is efficient but has great difficulty near the singular configuration. Other method such as the projection matrix, which is more stable near a singular configuration, takes longer simulation time due to the large amount of calculation for decomposition. In this paper, the row space and the null space of the Jacobian matrix are proposed by using the pseudo-inverse method and the projection matrix. The equations of the motion of a system are replaced with independent acceleration components using the null space of the Jacobian matrix. Also a new hybrid method is proposed, combining the LU decomposition and the projection matrix. The proposed hybrid method has following advantages. (1) The simulation efficiency is preserved by the LU method during the simulation. (2) The accuracy of the solution is also achieved by the projection method near the singular configuration.

• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.32-39
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• 2022

Since the mobile platform and the manipulator mounted on it move at the same time in a mobile manipulator, the risk of mutual collision increases. Most of the studies on collision avoidance of mobile manipulators cannot be applied to differential drive type mobile platforms or the end-effector tends to deviate from the desired trajectory for collision avoidance. In this study, a collision avoidance algorithm based on null space projection (CANS) that solves these two problems is proposed. To this end, a modified repulsive force that overcomes the non-holonomic constraints of a mobile platform is generated by adding a virtual repulsive force in the direction of its instantaneous velocity. And by converting this repulsive force into a repulsive velocity and applying it to the null space, the end-effector of the robot avoids a collision while moving along its original trajectory. The proposed CANS algorithm showed excellent performance through self-collision avoidance tests and door opening tests.

• Journal of the Optical Society of Korea
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• v.6 no.2
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• pp.21-26
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• 2002

Interferometric metrology with a null CGH(computer-generated hologram) is presented for measuring highly aspheric surfaces used in a large screen projection television system with high accuracy. The cubic spline surface model which works in a single-pass configuration with a refractive index of object space 0 is used for designing a null CGH. A hybrid null corrector with plano-concave lens in front of a CGH is presented to make the CGH easier to fabricate. Experimental results are presented to demonstrate the validity of the proposed technique.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.4A
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• pp.399-406
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• 2011

Adaptive beamformers, which utilize a priori information on the arrival angle of the desired signal. suppress interferences while maximizing their gains in the desired signal direction. However, if there exist errors in the direction information, they can suffer from severe performance degradation since the desired signal is treated as an interference. A robust adaptive beamforming method is presented which exploits the signal-blocking structure of the Duvall beamformer. The proposed method finds an interference signal space directly from correlations of received signals and then obtains a weight vector such that it is orthogonal to the space. Applying the weight vector to two sub arrays which consist of one less sensors than the original uniform lineal array (ULA), the beamformer efficiently estimates the arrival angle of the desired signal. Its computational complexity is lower than existing methods, which require matrix inversion or eigendecomposition.

• The Journal of the Acoustical Society of Korea
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• v.23 no.4
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• pp.288-295
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• 2004

Detection and localization of a slow and quiet target in shallow water environments is a challenging problem for which it is well known that snapshot is deficient because of a fast and strong interferer. This paper presents waveguide interference filtering technique that mitigate strong interferer problems in adaptive matched field processing. MCM (multiple constraint method) based on NDC (null direction constraint) has been proposed for new spatial interferer filter. MCM-NDC using replica force a interferer component to be filtered through CSDM (cross-spectral density matrix). This filtering have an effect on sidelobe reduction and restoring of signal gain of a quiet target. This technique was applied to a simulation on Pekeris waveguide and vertical array data from MAPLE03 (matched acoustic properties and localization experiment) in the East Sea and was shown to improve SBNR (signal-to-background-and-noise ratio) over the standard MVDR (minimum-variance distortionless response) and NSP (null space projection) technique.

• Transactions of the Korean Society of Automotive Engineers
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• v.5 no.1
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• pp.154-161
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• 1997

This paper presents the method to eliminate the constraint reaction in the Lagrange multiplier form equation of motion by using a generalized coordinate driveder from the velocity constraint equation. This method introduces a matrix method by considering the m dimensional space spanned by the rows of the constraint jacobian matrix. The orthogonal vectors defining the constraint manifold are projected to null vectors by the tangential vectors defined on the constraint manifold. Therefore the orthogonal projection matrix is defined by the tangential vectors. For correcting the generalized position coordinate, the optimization problem is formulated. And this correction process is analyzed by the quasi Newton method. Finally this method is verified through 3 dimensional vehicle model.

• Journal of the Korea Institute of Military Science and Technology
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• v.18 no.4
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• pp.451-458
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• 2015

This paper handles self-collision avoidance for a rescue robot with redundant manipulators. In order to detect all available self-collisions in advance, minimum distances between arbitrary robot parts should be monitored in real-time. For the minimum distance estimation, we suggest a modified method from a previous skeleton algorithm which has less computation burden and realize collision avoidance based on a potential function using the proposed algorithm. The resultant command by collision avoidance should not disturb a given primary task, so null-space of joint solution from a CLIK is utilized for collision avoidance by a gradient projection method.