• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.483-487
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• 1996

We consider the estimation of the position and orientation of 6 DOF motion bed (Stewart platform) from the measured cylinder length. The solution of forward kinematics is not solved yet as a useful realtime application tool because of the complity of the equation with multiple solutiple solutions. Hence we suggest an algorithm for the estimation of forward kinematics solution using Luenberger observer withnonlinear error correction term. The Luenberger observer withlinear model shows that the estimation error does not go to zero in steadystate due to the linearization error of the dynamic model. Hence the linear observer is modified using nonlinear measurement error equation and we prove thd practical stability of the estimation error dynamics of the proposed observer using lyapunov function.

• The Journal of Korea Robotics Society
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• v.6 no.4
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• pp.308-316
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• 2011

This work deals with development of effective redundancy resolution algorithms for the motion control of manipulator. Differently from the typical kinematically redundant robots that are attached to the fixed ground, the ZMP condition should be taken into account in the manipulator motion in order to guarantee the system stability. In this paper, a new motion planning algorithm for redundant manipulator not fixed to the ground is introduced. A sequential redundancy resolution algorithm is proposed, which ensures the ZMP (Zero Moment Point) stability, the planned operational motion, and additional sub-criteria such as joint limit index. A geometric constraint equation derived by reshaping the existing ZMP equation enables one to employ the sequential redundancy algorithm. The feasibility of the proposed algorithm is verified by simulating a redundant manipulator model.

• Journal of Advanced Marine Engineering and Technology
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• v.16 no.4
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• pp.50-59
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• 1992

The paper presents a digital speed control approach of induction motor systems by using a digital servo control method and a well-known second order differential equation as model. The basic concept of using the modeling equation stated in the above is induced from the control theory stand point such that we can describe usually the motor system connected by inverter, generator and load etc, just as a mechanical system to be controlled. The concept does not demand us the complicated vector-based modeling equation adopted in the traditional methods for the speed control of induction motor. Futhermore, the proposed speed control system can be treated as a single input and single output system. The effectiveness of the servo control system obtained by the above-mentioned design concept is illustrated by the experimental results in the presence of both step reference changes and load variations. It is observed from the experimental results that the steady state-error of the experimental set up becomes zero after some regulation time and the induction motor system is robust in spite of reference signal changes and load variations.

• Advances in Computational Design
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• v.9 no.1
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• pp.39-52
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• 2024

If the governing differential equation arising from engineering problems is treated as an analytic, continuous and derivable function, it can be expanded by one point as a series of finite numbers. For the function to be zero for each value of its domain, the coefficients of each term of the same power must be zero. This results in a recursive relationship which, after applying the natural conditions or the boundary conditions, makes it possible to obtain the values of the derivatives of the function with acceptable accuracy. The elastoplastic analysis of an inhomogeneous thick sphere of metallic materials with linear variation of the modulus of elasticity, yield stress and Poisson's ratio as a function of radius subjected to internal pressure is presented. The Beltrami-Michell equation is established by combining equilibrium, compatibility and constitutive equations. Assuming axisymmetric conditions, the spherical coordinate parameters can be used as principal stress axes. Since there is no analytical solution, the natural boundary conditions are applied and the governing equations are solved using a proposed new method. The maximum effective stress of the von Mises yield criterion occurs at the inner surface; therefore, the negative sign of the linear yield stress gradation parameter should be considered to calculate the optimal yield pressure. The numerical examples are performed and the plots of the numerical results are presented. The validation of the numerical results is observed by modeling the elastoplastic heterogeneous thick sphere as a pressurized multilayer composite reservoir in Abaqus software. The subroutine USDFLD was additionally written to model the continuous gradation of the material.

• Environmental and Resource Economics Review
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• v.12 no.4
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• pp.559-577
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• 2003

This paper analyzes household bottled water and water purifier expenditures, taking into account three important characteristics: expenditures may be censored at zero, may be interdependent across expenditure type, and may be endogenously and jointly determined. Censoring, interdependence, and endogeneity of the two expenditures are examined through simultaneous equation bivariate Tobit model. Expenditure function parameters are estimated using a 1997 household survey data collected in Seoul. The study detected interdependence between the two expenditures in the data. Moreover, the coefficient of one expenditure variable is statistically significant in the other expenditure equation. Thus, the overall results show that the simultaneous equation bivariate Tobit model employed here is appropriate for this analysis of the two expenditures. Finally estimated income and household size elasticities of the expenditures are presented.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.2
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• pp.225-231
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• 2009

In this paper, it is shown that Carson's equation can still be applied for the calculation of the series reactance of transmission lines with no ground return current as well as the one with ground return. It is proved in the following method. First two voltage drop equations for three-phase three wire transmission line are derived, one without considering ground return and the other using Carson's equation. The impedance matrix of the two equations are different from each other. But if we put the condition of zero ground current, $I_a+I_b+I_c=0$, those two equations becomes the identical equations. Therefore even a transmission line is not grounded, its line parameters can still be obtained using the Carson's equation. It has been confused whether or not Carson's equation can be used for an ungrounded system. It is because where ever Carson's equation is shown in the book, it also says that the system has ground return current paths as a premise. It is also verified with EMTP studies on the test circuit.

• Proceedings of the KSR Conference
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• 2008.11b
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• pp.169-178
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• 2008

In this paper, it is shown that Carson's equation can still be applied for the calculation of the series reactance of transmission lines with no ground return current as well as the one with ground return. It is proved in the following method. First two voltage drop equations for three-phase three wire transmission line are derived, one without considering ground return and the other using Carson's equation. The impedance matrix of the two equations are different from each other. But if we put the condition of zero ground current, $I_a+I_b+I_c=0$, those two equations becomes the identical equations. Therefore even a transmission line is not grounded, its line parameters can still be obtained using the Carson's equation. It has been confused whether or not Carson's equation can be used for an ungrounded system. It is because where ever Carson's equation is shown in the book, it also says that the system has ground return current paths as a premise. It is also verified with EMTP studies on the test circuit.

• JSTS:Journal of Semiconductor Technology and Science
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• v.14 no.6
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• pp.768-776
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• 2014

Using a simplified high-frequency small-signal equivalent circuit model for BSIM3 MOSFET, the fully differential two-stage folded-cascode CMOS operational amplifier is analyzed to obtain its small-signal voltage transfer function. As a result, the expressions for dc gain, five zero frequencies, five pole frequencies, unity-gain frequency, and phase margin are derived for op amp design using design equations. Then the analysis result is verified through the comparison with Spice simulations of both a high speed op amp and a low power op amp designed for the $0.13{\mu}m$ CMOS process.

• Nuclear Engineering and Technology
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• v.29 no.2
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• pp.99-109
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• 1997

A dynamic model for hydrogen generation by Fuel-Coolant Interactions(FCI) is developed with separate models for each FCI stage, coarse mixing and stratification. The model includes the physical concept of FCI, semi-empirical heat and mass transfer correlation and the concentration diffusion equation with the general non-zero boundary condition. The calculated amount of hydrogen, which is mainly generated in stratification, is compared with the FITS experiments. The model developed in this study shows a good agreement within a range of 10 % fuel oxidation rate and predicts the controlled mechanism of the chemical reaction very well. And this model predicts more accurately than the previous works. It is shown from the sensitivity study that the higher initial temperature of fuel particle is, the larger the reaction rate is. Up to 2700 K of temperature of the particle, the reaction rate increases rapid, which can lead to metal ignition.

• Korean Journal of Remote Sensing
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• v.19 no.5
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• pp.363-370
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• 2003

This paper describes a rectification procedure that relies on a polynomial model derived from the imaging geometry without loss of accuracy. By using polynomial model, one can effectively eliminate the iterative process to find an image pixel corresponding to each output grid point. With the imaging geometry and ephemeris data, a geo-location polynomial can be constructed from grid points that are produced by solving three equations simultaneously. And, in order to correct the local distortions induced by the geometry and terrain height, a distortion model has been incorporated in the procedure, which is a function of incidence angle and height at each pixel position. With this function, it is straightforward to calculate the pixel displacement due to distortions and then pixels are assigned to the output grid by re-sampling the displaced pixels. Most of the necessary information for the construction of polynomial model is available in the leader file and some can be derived from others. For validation, sample images of ERS-l PRI and Radarsat-l SGF have been processed by the proposed method and evaluated against ground truth acquired from 1:25,000 topography maps.