• 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.

• 한국데이터정보과학회:학술대회논문집
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• 2005.10a
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• pp.47-48
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• 2005

Multidimensional scaling is a multivariate technique for constructing a configuration of n points in Euclidean space using information about the distances between the objects. This can be done by the singular value decomposition of the data matrix. But it is known that the singular value decomposition is not resistant. In this study, we provide a resistant version of the multidimensional scaling.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.32.4-32
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• 2002

We consider inertial navigation system (INS) sensor redundancy and propose a method which uses singular value decomposition to detect and isolate faults when even two sensors have faults simultaneously. When redundant sensor configuration is given, such as symmetric configuration in INS, the range space and null space of configuration matrix are determined. We use null space of configuration matrix and define 21 reference fault vectors which include 6 one-fault vectors and 15 two-fault vectors. Measurements are projected into null space of measurement matrix and compared with 21 normalized reference fault vectors, which determines fault detection and isolation.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.1
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• pp.81-90
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• 2000

Parallel manipulator is suitable for the high precise task because it than has higher stiffness, larger load capacity and more excellent precision, due to the closed-lop structure, than serial manipulator. But the controller design for parallel manipulator is difficult because the parallel manipulator has both the complexity of structure and the interference of actuators. The precision improvement of parallel manipulator using a classical linear control scheme is difficult because the parallel manipulator has the tough nonlinear characteristics. In this paper, firstly, the kinematic analysis of a parallel manipulator used at the experiments is performed so as to show the controllability. The analysis of internal singular configuration of the workspace is performed using the kinematic isotropic index so a sto show the limitation of control performance of a simple linear controller with fixed control gains. Secondly, a control scheme is designed by using an adaptive fuzzy logic controller so that active joints of the parallel manipulator track more precisely the desired input trajectory. This adaptive fuzzy logic controller so that active joints of the parallel manipulator track more precisely the desired input trajectory. This adaptive fuzzy logic controller is often used for the control of nonlinear system because it has both the inference ability and the learning ability. Lastly, the effeciency of designed control scheme is demonstrated by the real-time control experiments with IBM PC interface logic H/W and S/W of my won making. The experimental results was a success.

• International Journal of Naval Architecture and Ocean Engineering
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• v.13 no.1
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• pp.758-771
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• 2021

This paper presents a novel control scheme for the three-dimensional (3D) path following of underactuated Autonomous Underwater Vehicle (AUVs) subject to unknown internal and external disturbances, in term of the time scale decomposition method. As illustration, two-time scale motions are first artificially forced into the closed-loop control system, by appropriately selecting the control gain of the integrator. Using the singular perturbation theory, the integrator is considered as a fast dynamical control law that designed to shape the space configuration of fast variable. And then the stabilizing controller is designed in the reduced model independently, based on the time scale decomposition method, leading to a relatively simple control law. The stability of the resultant closed-loop system is demonstrated by constructing a composite Lyapunov function. Finally, simulation results are provided to prove the efficacy of the proposed controller for path following of underactuated AUVs under internal and external disturbances.

• Proceedings of the IEEK Conference
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• 2002.07c
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• pp.1807-1810
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• 2002

This paper presents a technique for avoid- ing indefiniteness in Maximum Likelihood (ML) criteria for Direction-of-Arrival (DOA) finding using a sensor ar- ray with arbitrary configuration. The ML criterion has singular points in the solution space where the criterion becomes indefinite. Solutions fly iterative techniques for ML bearing estimation may oscillate because of numerical instability which occurs due to the indefiniteness, when bearings more than one approach to the identical value. The oscillation makes the condition for terminating iterations complex. This paper proposes a technique for avoiding the indefiniteness in ML criteria.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.164-171
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• 2022

Recently, interest of a dual arm robot which can replace humans is increasing in order to improve the working environment and solve the labor shortage. Various studies related with design and analysis of dual-arm robots have been conducted because dual arm robots can have various kinematic configurations according to the objective task. It is necessary to evaluate the work performance according to various kinematic structures of the dual arm robot to maximize its effectiveness. In the paper, the performance analysis is studied according to the shoulder configuration and the wrist configuration of the dual-arm robot by using main performance indices such as manipulability, condition number, and minimum singular value by assigning proper weight values to each objective motion. Performance analysis for the robotic assembly process is effectively carried out for each representative dual arm robot configuration.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.30 no.9A
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• pp.788-794
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• 2005

In this paper, we focus on the potential of dual polarized antennas in mobile system. thus, this paper designs exact dual polarized channel with Spatial Channel Model (SCM) and investigates the performance for certain environment. Using proposed the channel model; we know estimates of the channel capacity as a function of cross polarization discrimination (XPD) and spatial fading correlation. It is important that the MIMO channel matrix consists of Kronecker product dividable spatial and polarized channel. Through the channel characteristics, we propose an algorithm for the adaptation of transmit antenna configuration to time varying propagation environments. The optimal active transmit antenna subset is determined with equal power allocated to the active transmit antennas, assuming no feedback information on types of the selected antennas. We first consider a heuristic decision strategy in which the optimal active transmit antenna subset and its system capacity are determined such that the transmission data rate is maximized among all possible types. This paper then proposes singular values decision procedure consisting of Kronecker product with spatial and polarize channel. This method of singular value decision, which the first channel environments is determined using singular values of spatial channel part which is made of environment parameters and distance between antennas. level of correlation. Then we will select antenna which have various polarization type. After spatial channel structure is decided, we contact polarization types which have considerable cases It is note that the proposed algorithms and analysis of dual polarized channel using SCM (Spatial Channel Model) optimize channel capacity and reduce the number of transmit antenna selection compare to heuristic method which has considerable 100 cases.

• Journal of the Korean Institute of Landscape Architecture
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• v.27 no.4
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• pp.59-64
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• 1999

This study is about gaining orientation through anchorage act of a group of ferryman. In addition, a point acquisition and character of landmark that is closely realated to a point acquisition would be clarified by studying the form of configuration of the earth and object which is used landmark for anchorage. There are 13 anchorage points in the north part of Pusan harbor. 12 anchorage points are used to anchor. A ferryman let a ship which is temporarily anchoring move safely and speedily at the anchorage point. At that time, he uses landmarks by a technique of Overlay View. Between landmarks and viewer would be formed exquisite location combination. A mountain peak, a peak of island, nature configuration of land such as intermitent rock and location, size and form of buildings or structures of a city were variously appeared as landscape elements which were used landmarks. Looking at conditions to be easily captured as a target object, 1. A particular point of a mountain ridge line which was not shield by buildings. 2. In case objects have similar form, the building which was located in the front or the highest. 3. In case of a singular object, whatever there is physical elements, that would be a target object. Through this study a configuration of the ground such as a mountain peak which is become the background of harbor landscape is very important element to find anchorage point in configuration of the ground and object. So, the continuous preservation of the contour line of mountain is needed to do safe and effective anchorage act.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2001.05a
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• pp.168-171
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• 2001

Due to intrinsic load eccentricity, severe peel stress concentration occurs at both ends of the single-lap joint. To avoid load eccentricity as well as the singular tensile peel stress in the joint interface, composite wavy-lap joint is proposed. In this paper, refined 3-D stress analysis of wavy-lap joint is performed by finite element method using parallel mutifrontal solver. Analysis results show that the singular tensile peel stress concentration is totally avoided in wavy-lap joint, and that loads are more evenly transferred over the length of the joint. Therefore, the strength of wavy-lap joint is significantly higher than that of conventional single-lap joint. And it is believed that even higher strengths can be obtained by optimizing the new design configuration.