• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.1205-1207
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• 1996

The computed-torque method (CTM) shows good trajectory tracking performance in controlling robot manipulator if there is no disturbance or modelling errors. But with the increase of a payload or the disturbance of a manipulator, the tracking errors become large. So there have been many researchs to reduce the tracking error. In this paper, we propose a new control algorithm based on the CTM that decreases a tracking error by generating new reference trajectory to the controller. In this algorithm we used a fuzzy system based on the rule bases. For the numerical simulation, we used a 2-link robot manipulator. To simulate the disturbance due to a modelling uncertainty, we added errors to each elements of the inertia matrix and the nonlinear terms and assumed a payload to the end-effector. In the simulations of several cases, our method showed better trajectory tracking performance compared with the CTM.

• 한국소음진동공학회논문집
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• 제22권10호
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• pp.917-924
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• 2012

Noise power of large machineries, such as textile looms, winders, and twisting machines, is often measured in a reverberant space because they cannot be installed and operated in an anechoic chamber due to their size, weight, and operating conditions. Factors affecting the measurement error of an in-situ noise power measurement include the nonuniform reverberation time and the direction of sound intensity vector which is usually regarded as normal to the measurement surface. In this study errors due to these factors are estimated with the aid of numerical simulation based on the ray-tracing technique. The averaging of reverberation times measured at several points on the measurement surface is suggested to reduce the errors from nonuniform absorption. Also the direction cosine of each surface element is taken into account, which as a whole is represented as a solid angle of the measurement surface.

• 한국정밀공학회지
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• 제17권1호
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• pp.138-144
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• 2000

Robot manipulators, which are nonlinear structures and have uncertain system parameters, have complex in dynamics when are operated in unknown environment. To compensate for estimate errors of the uncertain system parameters and to accomplish the desired trajectory tracking, nonlinear robust controllers are appropriate. However, when estimation errors or tracking errors are large, they require large input torques, which may not be satisfied due to torque limits of actuators. As a result, their stability can not be guaranteed. In this paper, a new robust control scheme is presented to solve stability problem and to achieve fast trajectory tracking in the presence of torque limits. By using fuzzy logic, new desired trajectories which can be reduced are generated based on the initial desired trajectory, and torques of the robust controller are regulated to not exceed torque limits. Numerical examples are shown to validate the proposed controller using an uncertain two degree-of-freedom underwater robot manipulator.

• Structural Engineering and Mechanics
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• 제10권6호
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• pp.635-650
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• 2000

In this paper, the adaptive nodal generation procedure based on the estimated local and global error in the element-free Galerkin (EFG) method is proposed. To investigate the possibility of h-type adaptivity of EFG method, a simple nodal refinement scheme is used. By adding new node along the background cell that is used in numerical integration, both of the local and global errors can be controlled adaptively. These errors are estimated by calculating the difference between the values of the projected stresses and original EFG stresses. The ultimate goal of this study is to develop the reliable nodal generator based on the local and global errors that is estimated posteriori. To evaluate the performance of proposed adaptive procedure, the convergence behavior is investigated for several examples.

• 한국전자파학회:학술대회논문집
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• 한국전자파학회 2005년도 종합학술발표회 논문집 Vol.15 No.1
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• pp.183-186
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• 2005

A two dimensional (2-D) finite-difference time-domain (FDTD) method based on a novel finite difference scheme is developed to eliminate the numerical dispersion errors. In this paper, numerical dispersion and stability analysis of the new scheme are given, which show that the proposed method is nearly dispersionless, and stable for a larger time step than the standard FDTD method.

• Korean Journal of Mathematics
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• 제7권2호
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• pp.245-269
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• 1999

Multigrid method and acceleration by conjugate gradient method for first-order system least squares (FOSLS) using bilinear finite elements are developed for various boundary value problems of planar linear elasticity. They are two-stage algorithms that first solve for the displacement flux variable, then for the displacement itself. This paper focuses on solving for the displacement flux variable only. Numerical results show that the convergence is uniform even as the material becomes nearly incompressible. Computations for convergence factors and discretization errors are included. Heuristic arguments to improve the convergences are discussed as well.

• 대한의용생체공학회:의공학회지
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• 제11권1호
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• pp.89-96
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• 1990

The numerical evaluation of Rayleigh's integral for the sound source reconstruction can be speeded up by the use of angular frequency propagation method and the FFT. However, are several source of errors involved during the reconstruction. Besides the aliasing error due to undersampling in space, the wrap around error. which is caused by undersampling the kernel functionin frequency domain, and windowing effect are present. We found that there is no replicated source problem and the windowing effect is due to the windowing the kernel function In frequency domain, and, xero padding is always required to improve the quality of reconstruction.

• Communications for Statistical Applications and Methods
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• 제12권2호
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• pp.295-304
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• 2005

This paper concentrates on the prediction of typhoon tracks using the dynamic linear model (DLM) for the statistical correction of the numerical model guidance used in the JMA. The DLM with proposed forecast strategy is applied to reduce their systematic errors using the latest observation. All parameters of the DLM are updated dynamically and backward forecasting is performed to remove the effect of initial values.

• Current Optics and Photonics
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• 제5권6호
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• pp.597-605
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• 2021

An extended Fourier modal method (FMM) for optical dipole radiation in three-dimensional photonic structures is proposed. The core elements of the proposed FMM are the stable bidirectional scattering-matrix algorithm for modeling internal optical emission, and a novel optical-dipole-source model that prevents numerical errors induced by the Gibbs phenomenon. Through the proposed scheme, the FMM is extended to model a wide range of source-embedded photonic structures.

• Communications for Statistical Applications and Methods
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• 제25권2호
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• pp.131-157
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• 2018

We propose a robust event date model to estimate the date of a target event by a combination of individual dates obtained from archaeological artifacts assumed to be contemporaneous. These dates are affected by errors of different types: laboratory and calibration curve errors, irreducible errors related to contaminations, and taphonomic disturbances, hence the possible presence of outliers. Modeling based on a hierarchical Bayesian statistical approach provides a simple way to automatically penalize outlying data without having to remove them from the dataset. Prior information on individual irreducible errors is introduced using a uniform shrinkage density with minimal assumptions about Bayesian parameters. We show that the event date model is more robust than models implemented in BCal or OxCal, although it generally yields less precise credibility intervals. The model is extended in the case of stratigraphic sequences that involve several events with temporal order constraints (relative dating), or with duration, hiatus constraints. Calculations are based on Markov chain Monte Carlo (MCMC) numerical techniques and can be performed using ChronoModel software which is freeware, open source and cross-platform. Features of the software are presented in Vibet et al. (ChronoModel v1.5 user's manual, 2016). We finally compare our prior on event dates implemented in the ChronoModel with the prior in BCal and OxCal which involves supplementary parameters defined as boundaries to phases or sequences.