• Nuclear Engineering and Technology
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• v.52 no.11
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• pp.2630-2637
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• 2020

The structure design of divertor Multi-Functional Maintenance Platform (MFMP) actuated by hydraulic system for China Fusion Engineering Test Reactor (CFETR) was introduced in this paper. The model of MFMP was established according to maintenance requirements. In this paper, Newton-Euler method and the improved virtual work principle were used, the equivalent driving force of each actuator was obtained through the equivalent Jacobian inverse matrix derived from velocity relationship among the components. The accuracy of the model was verified by ADAMS simulation. The stability control of the heavy-duty components driven by hydraulic cylinders based on Newton-Euler method and improved virtual work principle was established.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.5
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• pp.405-412
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• 2015

This paper represents a filter design to estimate the airspeed of a spin-stabilized, trajectory-correctible artillery ammunition. Due to the limited power and space in operational point of view, the airspeed sensor is not installed, and thus the airspeed need to be estimated using limited sensor measurements. The only IMU measurements(three-axis specific forces and angular rates) are used in this application. The extended Kalman filter algorithm is applied since a linear filter can not cover the its wide operational range in airspeed and altitude. In the implementation of the EKF, the state and measurement equations are transformed into the no-roll frame for simple form of Jacobian matrix. The simulation study is conducted to evaluate the performance of the filter under various environment conditions of sensor noise and wind turbulence. In addition, the effect of the choice in filter design parameters, i.e. process error covariance matrices is analyzed on the performance of the estimation of airspeed and angular rates.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.4
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• pp.437-442
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• 2012

To analyze a multibody system, this paper proposes an implicit numerical integration method for joint coordinates subsystem synthesis method. To verify the proposed method, a multibody model for an unmanned robot vehicle, which consists of six identical independent suspension systems, is developed. The symbolic method is applied to compute the system Jacobian matrix for the implicit integration method. The proposed method is also verified by performing rough terrain run-over simulation in comparison with the conventional implicit integration method. In addition, to evaluate the efficiency of the proposed method, the CPU time obtained by using this method is compared with that obtained by using the conventional implicit method.

• The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.8 no.1
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• pp.37-45
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• 1994

A method of optimal active and reactive power control for economic operation in electrical power system is presented in this paper. The major features and techniques of this paper are as follows: 1) The method presented for obtaining the equivalent active power balance equation applying the sparse Jacobian matrix of power flow equation instead of using B constant as active power Balance equation considering transmission loss, and for determining directly optimal active power allocation without repeating calculations. 2) More reasonable and economic profit by minimizing total fuel cost of thermal power plants instead of using transmission loss as objective function of reactive Power control can be achieved. 3) Particularly in reactive power control, computing time can be considerably reduced by using Fuzzy Linear Programming instead of using conventional Linear Programming.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.16 no.8
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• pp.2529-2551
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• 2022

Visual servoing (VS) based on the Kalman filter (KF) algorithm, as in the case of KF-based image-based visual servoing (IBVS) systems, suffers from three problems in uncalibrated environments: the perturbation noises of the robot system, error of noise statistics, and slow convergence. To solve these three problems, we use an IBVS based on KF, African vultures optimization algorithm enhanced extreme learning machine (AVOA-ELM), and fuzzy logic (FL) in this paper. Firstly, KF online estimation of the Jacobian matrix. We propose an AVOA-ELM error compensation model to compensate for the sub-optimal estimation of the KF to solve the problems of disturbance noises and noise statistics error. Next, an FL controller is designed for gain adaptation. This approach addresses the problem of the slow convergence of the IBVS system with the KF. Then, we propose a visual servoing scheme combining FL and KF-AVOA-ELM (FL-KF-AVOA-ELM). Finally, we verify the algorithm on the 6-DOF robotic manipulator PUMA 560. Compared with the existing methods, our algorithm can solve the three problems mentioned above without camera parameters, robot kinematics model, and target depth information. We also compared the proposed method with other KF-based IBVS methods under different disturbance noise environments. And the proposed method achieves the best results under the three evaluation metrics.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.10
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• pp.1261-1267
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• 2013

In multibody mechanical systems, low-degree-of-freedom (DOF) joints such as revolute and translational joints are much more frequently used than high-DOF joints. In order to formulate kinematic constraint equations, especially for low-DOF joints, in an efficient and systematic manner, this paper presents a parametric generalized coordinate formulation as a new approach for describing constraint equations. In the proposed approach, joint constraint equations are formulated in terms of a mixed set of Cartesian and parametric generalized coordinates, which drastically reduces the complexity and computational cost of the partial derivatives of the constraints such as the constraint Jacobian. The proposed formulation is validated using a simple cylinder-crank system with an implicit integrator.

• Journal of the Korea Institute of Information Security & Cryptology
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• v.29 no.6
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• pp.1383-1392
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• 2019

Adversarial attack, which geneartes adversarial data to make target model misclassify the input data, is able to confuse real life applications of classification models and cause severe damage to the classification system. An Black-box adversarial attack learns a substitute model, which have similar decision boundary to the target model, and then generates adversarial data with the substitute model. Jacobian-based data augmentation is used to synthesize the training data to learn substitutes, but has a drawback that the data synthesized by the augmentation get distorted more and more as the training loop proceeds. We suggest data augmentation with 'decay factor' to alleviate this problem. The result shows that attack success rate of our method is higher(around 8.5%) than the existing method.

• Journal of Power Electronics
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• v.19 no.1
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• pp.190-200
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• 2019

The flyback converter, which can be regarded as a nonlinear time-varying system, has complex dynamics and nonlinear behaviors. These phenomena can affect the stability of the converter. To simplify the modeling process and retain the information of the output capacitor branch, a special sampled-data model of a peak current-mode (PCM) controlled flyback converter is established in this paper. Based on this, its dynamic behaviors are analyzed, which provides guidance for designing the circuit parameters of the converter. With the critical stability boundary equation derived by a Jacobian matrix, the stable operation range with a varied output capacitor, proportional coefficient of error the amplifier, input voltage, reference voltage and slope of the compensation ramp of a PCM controlled flyback converter are investigated in detail. Research results show that the duty ratio should be less than 0.5 for a PCM controlled flyback converter without ramp compensation to operate in a stable state. The stability regions in the parameter space between the output capacitor and the proportional coefficient of the error amplifier are enlarged by increasing the input voltage or by decreasing the reference voltage. Furthermore, the ramp compensation also can extend to the stable region. Finally, time-domain simulations and experimental results are presented to verify the theoretical analysis results.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.23 no.12
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• pp.1609-1617
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• 2019

Described in this paper is a design of hardware accelerator for implementing public-key cryptographic protocols (PKCPs) based on Elliptic Curve Cryptography (ECC) and RSA. It supports five elliptic curves (ECs) over GF(p) and three key lengths of RSA that are defined by NIST standard. It was designed to support four point operations over ECs and six modular arithmetic operations, making it suitable for hardware implementation of ECC- and RSA-based PKCPs. In order to achieve small-area implementation, a finite field arithmetic circuit was designed with 32-bit data-path, and it adopted word-based Montgomery multiplication algorithm, the Jacobian coordinate system for EC point operations, and the Fermat's little theorem for modular multiplicative inverse. The hardware operation was verified with FPGA device by implementing EC-DH key exchange protocol and RSA operations. It occupied 20,800 gate equivalents and 28 kbits of RAM at 50 MHz clock frequency with 180-nm CMOS cell library, and 1,503 slices and 2 BRAMs in Virtex-5 FPGA device.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.6 no.3
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• pp.1-11
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• 2007

Seoul's transportation system was changed drastically starting the first of June in two thousand. This policy includes integrated distance-based fare system and public transportation card system called smart card. Especially, as public transportation card data contains individual travel, transfer and using modes information it is possible to catch the characteristics of path-based individuals and mass transit. Thus, public transportation card data can contribute to evaluate the mass transit service in integrated public transportation networks. In addition, public transportation card data are able to help to convert previous researches and analyses with link-based trip assignment models to path-based mass transit service analysis. In this study, an algorithm being suitable for path-based trip assignment models is suggested and proposed algorithm can also contribute to make full use of public transportation card data. For this, column generation algorithm hewn to draw the stable solution is adopted. This paper uses the methodology that is to take local approximate equilibrium from partial network and expand local approximate equilibrium to global equilibrium.