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

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10b
• /
• pp.890-895
• /
• 1990

A theoretical and experimental study of a single link flexible arm a tip mass is presented for the translational end-point positioning. The problem of shifting the end-point from its initial position to the commanded position by the amount of W $_{d}$ is considered for the open loop control such that the base follows up the given path function. The theoretical results are obtained by applying the method of the Laplace transform to the governing equation, and the solution is calculated by the method of numerical inversion. Experimental results are obtained and compared with the theoretical ones.s.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1992.04a
• /
• pp.185-189
• /
• 1992

This paper prsents an end-point control of a one-link flexible arm with a payload by using closed loop control. Tip position of arm is shifted by the base motion according to DC servomotor, whivh is driven by a feedback signal composed of the tip displacement and the estimated tip velocity. The shifting problem of the arm from initial position to desired position is considered by the variation of the displacement gain Gd and velocity agin Gv. Theoretical results are obtained by applying the method of the Laplace transform to the governing equations and the method of numerical inversion. This system is composed of a flexible arm with payload, DC servomotor, and a ballscrew mechanism. The flexible arm is mounted on a mobile stage driven by a servomotor and ballscrew. In controlling the tip displacement of flexible arm, the fundamental bode vibration is supressed more rapidly with an increase of the velocity feedback gain Gv and the feedback displacemenmt gain Gd. Theretical responses are approximately in good agreement with those obtained experimentally.

• Journal of the Korean Society for Precision Engineering
• /
• v.9 no.4
• /
• pp.136-146
• /
• 1992

This paper provides the end-point positioning of a single-link flexible robot arm by inverse dynamics. The system is composed of a flexible arm, the mobile ballscrew stage as an arm base, a DC servomotor as an actuator, and a computer. Actuator voltages required for the model of a flexible arm to follow a given tip trajectory are formulated on the basis of the Bermoullie-Euler beam theory and solved by applying the Laplace transform method, and computed by the numerical inversion method proposed by Weeks. The mobile stage as the arm base is shifted so that the end-point follows the desired trajectories. Then the trajectory of end-point is measured by the laser displacement sensor. Here, two kinds of functions are chosen for the given tip trajectories. One is what is called the bang-bang acceleration profile and the other is the Gaussian velocity profile.

• ETRI Journal
• /
• v.41 no.3
• /
• pp.298-307
• /
• 2019

This paper investigates the use of the inverse-free sparse Bayesian learning (SBL) approach for peak-to-average power ratio (PAPR) reduction in orthogonal frequency-division multiplexing (OFDM)-based multiuser massive multiple-input multiple-output (MIMO) systems. The Bayesian inference method employs a truncated Gaussian mixture prior for the sought-after low-PAPR signal. To learn the prior signal, associated hyperparameters and underlying statistical parameters, we use the variational expectation-maximization (EM) iterative algorithm. The matrix inversion involved in the expectation step (E-step) is averted by invoking a relaxed evidence lower bound (relaxed-ELBO). The resulting inverse-free SBL algorithm has a much lower complexity than the standard SBL algorithm. Numerical experiments confirm the substantial improvement over existing methods in terms of PAPR reduction for different MIMO configurations.

• The Journal of Engineering Geology
• /
• v.2 no.1
• /
• pp.47-57
• /
• 1992

Geophysical methods applied to water seepage problem in earth-fill embankment attempt to detect and map the estimate of size and depth of the seepage path. Seepage zones generally produce lOW resistivity anomalies due to high saturation of water. Dipole-dipole resistivity surveying technique, which is actually a combined sounding-profiling procedure, was used to delineate the seepage path through this study. In this study, the finite difference methods to solve the electric potential distribution in 2 112 dimension, was adopted as the numerical scheme for the forward problem. Second order Marquart's method, one the iterative damped least square methods, was selected for the automatic inversion. The computer program was implemented in FORTRAN 77 for 1 6-bit personal computer. In this paper, we present a case history which illustrates the application of dipole-dipole resistivity method to the delineation of water flow in earth-fill structures. Also the automatic two-dimensional resistivity inversion was applied to a field data where the interpretive advantages of the program become evident.

• Geophysics and Geophysical Exploration
• /
• v.10 no.1
• /
• pp.19-28
• /
• 2007

In this study, we propose a joint inversion method, using genetic algorithms, to estimate an S-wave velocity structure for deep sedimentary layers from receiver functions and surface-wave phase velocity observed at several sites. The method takes layer continuity over a target area into consideration by assuming that each layer has uniform physical properties, especially an S-wave velocity, at all the sites in a target area in order to invert datasets acquired at different sites simultaneously. Numerical experiments with synthetic data indicate that the proposed method is effective in reducing uncertainty in deep structure parameters when modelling only surface-wave dispersion data over a limited period range. We then apply the method to receiver functions derived from earthquake records at one site and two datasets of Rayleigh-wave phase velocity obtained from microtremor array surveys performed in central Tokyo, Japan. The estimated subsurface structure is in good agreement with the results of previous seismic refraction surveys and deep borehole data. We also conclude that the proposed method can provide a more accurate and reliable model than individual inversions of either receiver function data only or surface-wave dispersion data only.

• Proceedings of the Korean Geotechical Society Conference
• /
• 2008.03a
• /
• pp.142-152
• /
• 2008

SPT-Uphole method was introduced for the evaluation of near subsurface shear wave velocity (Vs) profile. In SPT-Uphole method, SPT (Standard Penetration Test) which is common in geotechnical site investigation was used as a source and several surface geophones in line were used as receivers. 1D shearwave velocity profile can be obtained in the manner of downhole method, Vs distribution map which is the triangular shape around the boring point can be developed by tomography inversion. To obtain the exact travel time information of shear wave component, a procedure using the magnitude summation of vertical and horizontal components was used based on the evaluation of particle motion at the surface. It was verified that proposed method could give reliable Vs distribution map through the numerical study using the FEM (Finite Element Method) model. Finally, SPT-Uphole method was performed and the feasibility of proposed method was verified in the field.

• Geophysics and Geophysical Exploration
• /
• v.10 no.3
• /
• pp.191-202
• /
• 2007

To identify the detailed attenuation structure in the southern Korean Peninsula, a numerical test was conducted for the Q tomography inversion to be applied to the accumulated dataset until 2005. In particular, the stochastic pointsource ground-motion model (STGM model; Boore, 2003) was adopted for the 2D Q tomography inversion for direct application to simulating the strong ground-motion. Simultaneous inversion of the STGM model parameters with a regional single Q model was performed to evaluate the source and site effects which were necessary to generate an artificial dataset for the numerical test. The artificial dataset consists of simulated Fourier spectra that resemble the real data in the magnitude-distance-frequency-error distribution except replacement of the regional single Q model with a checkerboard type of high and low values of laterally varying Q models. The total number of Q blocks used for the checkerboard test was 75 (grid size of $35{\times}44km^2$ for Q blocks); Q functional form of $Q_0f^{\eta}$ ($Q_0$=100 or 500, 0.0 < ${\eta}$ < 1.0) was assigned to each Q block for the checkerboard test. The checkerboard test has been implemented in three steps. At the first step, the initial values of Q-values for 75 blocks were estimated. At the second step, the site amplification function was estimated by using the initial guess of A(f) which is the mean site amplification functions (Yun and Suh, 2007) for the site class. The last step is to invert the tomographic Q-values of 75 blocks based on the results of the first and second steps. As a result of the checkerboard test, it was demonstrated that Q-values could be robustly estimated by using the 2D Q tomography inversion method even in the presence of perturbed source and site effects from the true input model.

• Computers and Concrete
• /
• v.11 no.5
• /
• pp.441-462
• /
• 2013

When using the conventional finite element method, a great number of grid nodes are necessary to describe the large and uneven temperature gradients in the concrete around cooling pipes when calculating the temperature field of mass concrete with cooling pipes. In this paper, the temperature gradient properties of the concrete around a pipe were studied. A new calculation method was developed based on these properties and an explicit iterative algorithm. With a small number of grid nodes, both the temperature distribution along the cooling pipe and the temperature field of the concrete around the water pipe can be correctly calculated with this new method. In conventional computing models, the cooling pipes are regarded as the third boundary condition when solving a model of concrete with plastic pipes, which is an approximate way. At the same time, the corresponding parameters have to be got by expensive experiments and inversion. But in the proposed method, the boundary condition is described strictly, and thus is more reliable and economical. And numerical examples were used to illustrate that this method is accurate, efficient and applicable to the actual engineering.