• 제어로봇시스템학회논문지
• /
• 제5권5호
• /
• pp.521-528
• /
• 1999

The nth-order, scalar, linear time-varying (LTV) systems can be dealt with operators on a differential ring. Using this differential algebraic structure and a classical result on differential operator factorizaitons developed by Floquet, a novel eigenstructure(eigenvalues, eigenvectors) concepts for linear time0varying systems are proposed. In this paper, Necessary and sufficient conditions for the existence of well-defined(free of finite-time singularities) SD- and PD- spectra for SPDOs with complex- and real-valued coefficients are also presented. Three numerical examples are presented to illustrate the proposed concepts.

• 제어로봇시스템학회논문지
• /
• 제19권7호
• /
• pp.577-582
• /
• 2013

In this paper Legendre wavelets are used to approximate the solutions of linear time-invariant system. The Legendre wavelet and its integral operational matrix are presented and an efficient algorithm to solve the Sylvester matrix equation is proposed. The algorithm is based on the decomposition of the Sylvester matrix equation and the preorder traversal algorithm. Using the special structure of the Legendre wavelet's integral operational matrix, the full order Sylvester matrix equation can be solved in terms of the solutions of pure algebraic matrix equations, which reduce the computation time remarkably. Finally a numerical example is illustrated to demonstrate the validity of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.109.1-109
• /
• 2001

This paper deals with the path following problem of car-like intelligent mobile robot. A robust sliding mode control law based on time-varying state feedback is performed via Lyapunov method for path tracking of nonholonomic mobile robot with uncertainties. At first, A sliding control law is designed by combing the natural algebraic structure of the chained form system with ideas from sliding mode theory. Then, a robust control law is proposed to impose robustness against bounded uncertainties in path tracking. The problem of estimating the asymptotic stability region and the sliding domain of uncertain sliding mode system with bounded control input is also discussed. The proposed sliding mode control law can ensure the global reaching condition of the uncertain control system.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
• /
• pp.996-1003
• /
• 1990

We present algebraic algorithms for collision-avoidance robot motion planning problems with planar geometric models. By decomposing the collision-free space into horizontal vertex visibility cells and connecting these cells into a connectivity graph, we represent the global topological structure of collision-free space. Using the C-space obstacle boundaries and this connectivity graph we generate exact (non-heuristic) compliant and gross motion paths of planar curved objects moving with a fixed orientation amidst similar obstacles. The gross motion planning algorithm is further extended (though using approximations) to the case of objects moving with both translational and rotational degrees of freedom by taking slices of the overall orientations into finite segments.

• 한국컴퓨터정보학회논문지
• /
• 제10권2호
• /
• pp.123-132
• /
• 2005

본 논문에서는 기존의 무선 PKI 에서 키 교환방식의 키 교환 설정단계가 단순히 이산대수문제에 근거하여 수행되었지만 제안한 무선 PKI 인증구조의 상호인증과정에서는 키 교환 설정단계에 타원곡선을 적용하였다. 제안한 무선 PKI 구조 안에서의 핸드오버 방법은 CRL검색시간을 단축시킬 수 있으므로 기존의 방법에 비하여 단축된 핸드오버 처리시간을 보여준다 기존 알고리즘과 제안한 인증구조를 비교하여 실험해 보았을 때 인증 대기시간이 제안한 인증 기법이 모든 란경에서 기존 알고리즘보다 우수한 성능을 보였다.

• 한국철도학회:학술대회논문집
• /
• 한국철도학회 2000년도 추계학술대회 논문집
• /
• pp.358-365
• /
• 2000

For the general case of loading conditions and boundary conditions, it is very difficult to obtain closed form solutions for buckling loads and natural frequencies of thin-walled structures because its behaviour is very complex due to the coupling effect of bending and torsional behaviour. In consequence, most of previous finite element formulations are introduce approximate displacement fields to use shape functions as Hermitian polynomials, and so on. The Purpose of this study is to presents a consistent derivation of exact dynamic stiffness matrices of thin-walled straight beams, to be used ill tile free vibration analysis, in which almost types of boundary conditions are exist An exact dynamic element stiffness matrix is established from governing equations for a uniform beam element of nonsymmetric thin-walled cross section. This numerical technique is accomplished via a generalized linear eigenvalue problem by introducing 14 displacement parameters and a system of linear algebraic equations with complex matrices. The natural frequency is evaluated for the thin-walled straight beam structure, and the results are compared with analytic solutions in order to verify the accuracy of this study.

• Structural Engineering and Mechanics
• /
• 제65권4호
• /
• pp.359-368
• /
• 2018

Dynamic analysis of complex and large structures may be costly from a numerical point of view. For coupled vibroacoustic finite element models, the importance of reducing the size becomes obvious because the fluid degrees of freedom must be added to the structural ones. In this paper, a component mode synthesis method is proposed for large vibroacoustic interaction problems. This method couples fluid subdomains and dynamical substructuring of Craig and Bampton type. The acoustic formulation is written in terms of the velocity potential, which implies several advantages: coupled algebraic systems remain symmetric, and a potential formulation allows a direct extension of Craig and Bampton's method to acoustics. Those properties make the proposed method easy to implement in an existing finite element code because the local numerical treatment of substructures and fluid subdomains is undifferentiated. Test cases are then presented for axisymmetric geometries. Numerical results tend to prove the validity and the efficiency of the proposed method.

• 한국CDE학회논문집
• /
• 제20권4호
• /
• pp.357-366
• /
• 2015

We review recent research results on coupled line cameras (CLC) as a new geometric tool to reconstruct a scene quadrilateral from image quadrilaterals. Coupled line cameras were first developed as a camera calibration tool based on geometric insight on the perspective projection of a scene rectangle to an image plane. Since CLC comprehensively describes the relevant projective structure in a single image with a set of simple algebraic equations, it is also useful as a geometric reconstruction tool, which is an important topic in 3D computer vision. In this paper we first introduce fundamentals of CLC with reals examples. Then, we cover the related works to optimize the initial solution, to extend for the general quadrilaterals, and to apply for cuboidal reconstruction.

• 대한수학회보
• /
• 제53권5호
• /
• pp.1309-1325
• /
• 2016

This note focuses on a ring property in which upper and lower nilradicals coincide, as a generalizations of symmetric rings. The concept of symmetric ideal and ring in the noncommutative ring theory was initially introduced by Lambek, as an extension of the usual commutative ideal theory. The investigation of symmetric rings provided many useful results to the study in the noncommutative ring theory. So the results obtained from this study may be applicable to observing the structure of zero divisors in various kinds of algebraic systems containing matrix rings and polynomial rings.

• 대한기계학회논문집
• /
• 제18권2호
• /
• pp.372-379
• /
• 1994

In this study, the describing function is adopted to represent nonlinearity in the system equations. The compliance can be obtained by solving nonlinear simultaneous algebraic quations for multi-degrees-of-freedom system with multinonlinearities. When the technique is applied, the nonlinearity of the system can be identified from the compliance which is obtained from the sinusoidal excitation of the system. By employing the describing function in the Building Block Analysis, we can extensively develop the BBA into investigation of the continuous systems with nonlinearities. The evaluated compliance can quantitatively show the effects of nonlinearity such as the transfer of the natural frequency, the variance of the compliance at the natural frequency, and the jump phenomena which occur during sweeping of the excitation frequency.