• 대한전기학회:학술대회논문집
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• 대한전기학회 1993년도 하계학술대회 논문집 A
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• pp.380-382
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• 1993

In this paper, we derive a simple robust nonlinear control scheme for n-link robot manipulators subject to parameter uncertainty. By using the theory of variable structure system(VSS) and taking advantage of the important property of the robot dynamics, the stability of the derived control scheme is proved. This scheme utilizes the desired trajectory outputs, which can be calculated a priori, instead of the actual joint outputs in the nonlinear compensation controller. So the amount of on-line calculations is largely reduced, and as a result, this scheme can be implemented much more efficiently.

• 유공압시스템학회논문집
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• 제5권3호
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• pp.15-22
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• 2008

The road simulators have become common tools within the automotive industry for evaluation of vehicle and vehicle system durability performance. These simulators need appropriate input signal generation algorithms to realize the actual driving conditions due to non-linear vehicle and test rig behaviour. Although somewhat unconventional from a control standpoint, the iteration approach has proven to be a very effective method for control of complex, multiple degree-of-freedom systems where the tracking parameter is known a priori. In this paper, the road profile replication algorithm is verified by applying Belgian road to the developed road simulator. The simulation and experimental results are included to evaluate the performance of this simulator. This road simulator provides considerable savings in cost, development time, and testing risk during developing automotive components.

• Journal of Astronomy and Space Sciences
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• 제36권3호
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• pp.169-180
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• 2019

In this study, a batch least square estimator that utilizes optical observation data is developed and utilized to determine geostationary orbits (GEO). Through numerical simulations, the effects of error sources, such as clock errors, measurement noise, and the a priori state error, are analyzed. The actual optical tracking data of a GEO satellite, the Communication, Ocean and Meteorological Satellite (COMS), provided by the optical wide-field patrol network (OWL-Net) is used with the developed batch filter for orbit determination. The accuracy of the determined orbit is evaluated by comparison with two-line elements (TLE) and confirmed as proper for the continuous monitoring of GEO objects. Also, the measurement residuals are converged to several arcseconds, corresponding to the OWL-Net performance. Based on these analyses, it is verified that the independent operation of electro-optic space surveillance systems is possible, and the ephemerides of space objects can be obtained.

• 철학연구
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• 제129권
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• pp.141-166
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• 2014

맹자 성선설은 인간 존재의 심리 특질을 나타내는 '성'과 도덕 가치나 도덕 행위를 나타내는 '선'을 하나로 결합하고 있다. 때문에 성선의 의미를 분명히 하기 위해서는 인간 심성에 대한 심리학적 분석과 도덕규범에 대한 윤리학적 분석이 동시에 요청되는 바, 바로 여기에서 성선에 대한 도덕 심리학적 접근의 필요성이 정당화된다. 그러나 도덕 심리학의 이론들은, 하나같이 도덕성을 인간 심성의 다른 요소에 부속되거나 다른 요소에 의해 부차적으로 갖추어진 것으로 본다. 반면 맹자는 선험적 도덕성과 선험적 도덕규범을 하나로 결합하여 성선을 주장하면서, 도덕성이나 도덕규범의 근거나 단서를 사단지심으로 예증하고, 도덕 행위의 실천 근거를 양능 양지로 제시하고 있다. 따라서 맹자 성선설을 도덕 심리학적 관점에서 고찰하기 위해서는 새로운 도덕 심리학을 필요로 한다. 그리고 그것은 첫째로 성선설이 인간을 덕성 주체로 보고 도덕성이나 도덕규범이 인간 심성에 본유한 것으로 보면서 그 근거나 단서를 도덕 감정에서 찾는다는 점에서 도덕성과 도덕규범을 중심 문제로 다룰 수 있어야 한다. 그리고 둘째로 양능 양지는 도덕 행위의 실천이라는 점에서 보면, 어쩌면 도덕 지능이라고 할 수 있는 것으로, 그 기원이 혈연적 도덕 정감에 있는 만큼, 도덕 지능으로서의 감성 지능을 규명할 수 있어야 한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 심포지엄 논문집 정보 및 제어부문
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• pp.89-90
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• 2008

AWGN(Addictive white gaussian noise)에 의해 영상은 자주 훼손되곤 한다. 최근 이를 복원하기위해 웨이블릿(Wavelet) 영역에서의 베이시안(Bayesian) 추정법이 연구되고 있다. 웨이블릿 변환된 영상 신호의 밀도 함수(pdf)는 표족한 첨두와 긴 꼬리(long-tail)를 갖는 경망이 있다. 이러한 사전 밀도 함수(a priori probability density function)를 상황에 적합하게 추정한다면 좋은 성능의 복원 결과를 얻을 수 있다. 빈번이 제안되는 릴도 함수로 가우시안(Gaussian) 분포 참수와 라플라스(Laplace) 분포 함수가 있다. 이들 각각의 모델은 훌륭히 변환 계수들을 모델링하며 나름대로의 장점을 나타낸다. 본 연구에서는 가우시안 분포와 라플라스(Laplace) 분포의 혼합 분포 모델을 밀도 함수로 제안하여, 이 들의 장점을 종합하였다. 이를 MAP(Maximum a Posteriori) 추정 방법에 적용하여 잡음을 제거 하였다. 그 결과 기존의 알고리즘에 비해 시각적인 면(Visual aspect), 수치적인 면(PSNR), 그리고 연산량(Complexity) 측면에서 망상된 결과를 얻었다.

• 제어로봇시스템학회논문지
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• 제20권2호
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• pp.170-174
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• 2014

In this paper, an unknown input estimation method via the optimal FIR smoother is proposed for linear discrete-time systems. The unknown inputs are represented by random walk processes and treated as auxiliary states in augmented state space models. In order to estimate augmented states which include unknown inputs, the optimal FIR smoother is applied to the augmented state space model. Since the optimal FIR smoother is unbiased and independent of any a priori information of the augmented state, the estimates of each unknown input are independent of the initial state and of other unknown inputs. Moreover, the proposed method can be applied to stochastic singular systems, since the optimal FIR smoother is derived without the assumption that the system matrix is nonsingular. A numerical example is given to show the performance of the proposed estimation method.

• 대한수학회지
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• 제40권5호
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• pp.901-920
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• 2003

The notion of infinitely near singular points, classical in the case of plane curves, has been generalized to higher dimensions in my earlier articles ([5], [6], [7]). There, some basic techniques were developed, notably the three technical theorems which were Differentiation Theorem, Numerical Exponent Theorem and Ambient Reduction Theorem [7]. In this paper, using those results, we will prove the Finite Presentation Theorem, which the auther believes is the first of the most important milestones in the general theory of infinitely near singular points. The presentation is in terms of a finitely generated graded algebra which describes the total aggregate of the trees of infinitely near singular points. The totality is a priori very complex and intricate, including all possible successions of permissible blowing-ups toward the reduction of singularities. The theorem will be proven for singular data on an ambient algebraic shceme, regular and of finite type over any perfect field of any characteristics. Very interesting but not yet apparent connections are expected with many such works as ([1], [8]).

• International Journal of Control, Automation, and Systems
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• 제4권2호
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• pp.178-186
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• 2006

We propose and analyze a robust adaptive fuzzy controller for nonlinear systems without a priori knowledge of the sign of the input gain function. No assumptions are made about the type of nonlinearities of the system, except that such nonlinearities are smooth. The uncertain nonlinearities are captured by the fuzzy systems that have been proven to be universal approximators. The proposed control scheme completely overcomes the singularity problem that occurs in the indirect adaptive feedback linearizing control. Projection in the estimated parameters and switching in the control input are both not required. The stability of the closed-loop system is guaranteed in the Lyapunov viewpoint.

• 소성∙가공
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• 제4권1호
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• pp.48-58
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• 1995

In this study, a contact algorithm for the finite element analysis of free surface contact problem in materials forming is presented. The proposed contact algorithm consists of two parts. The first is the contact searching part, and the second, the constraint part. The contact searching algorithm does not require any a priori knowledge of the pairs of contact nodes or segments and the impenetrability constraint is satisfied using the penalty function scheme. void colsure in open-die forging was simulated to verify the accuracy and capability of the currently developed contact algorithm. The simulation results, obtained from ABAQUS simulation, were compared well to the experimental data available in the literature.

• 대한기계학회논문집
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• 제8권1호
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• pp.65-70
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• 1984

A recursive parameter estimation method is applied to spindle deflection model during boring process. The spindle infeed rate is then determined to preserve the diametral tolerance of bore. This estimation method is further extended to adaptive control by application of the variance perturbation method. The results of computer simulation attest that the proposed method renders the optimal cutting conditions, maintaining the diametral accuracy of bore, regardless of parameter fluctuations. The proposed method necessitating only post-process measurements features that initialization of parameter guess values in simple, a priori knowledge on parameter variations is not needed and the accurate estimation of optimal spindle infeed rate is obtained, even if the parameter estimation may be poor.