• Journal of Institute of Control, Robotics and Systems
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• v.8 no.12
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• pp.1023-1030
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• 2002

Since the dynamics of autonomous underwater vehicles (AUVs) are highly nonlinear and their hydrodynamic coefficients vary with different vehicle's operating conditions, high performance control systems of AUVs are needed to have the capacities of teaming and adapting to the variations of the vehicle's dynamics. In this paper, a linearly parameterized neural network (LPNN) is used to approximate the uncertainties of the vehicle dynamics, where the basis function vector of the network is constructed according to the vehicle's physical properties. The network's reconstruction errors and the disturbances in the vehicle dynamics are assumed be bounded although the bound may be unknown. To attenuate this unknown bounded uncertainty, a certain estimation scheme for this unknown bound is introduced combined with a sliding mode scheme. The proposed controller is proven to guarantee that all signals in the closed-loop system are uniformly ultimately bounded (UUB). Numerical simulation studies are performed to illustrate the effectiveness of the proposed control scheme.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.12 s.243
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• pp.1574-1585
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• 2005

In this paper, a spectral element model is developed for the uniform straight pipelines conveying internal unsteady fluid. Four coupled pipe-dynamics equations are derived first by using the Hamilton's principle and the principles of fluid mechanics. The transverse displacement, the axial displacement, the fluid pressure and the fluid velocity are all considered as the dependent variables. The coupled pipe-dynamics equations are then linearized about the steady state values of the fluid pressure and velocity. As the final step, the spectral element model represented by the exact dynamic stiffness matrix, which is often called spectral element matrix, is formulated by using the frequency-domain solutions of the linearized pipe-dynamics equations. The FFT-based spectral dynamic analyses are conducted to evaluate the accuracy of the present spectral element model and also to investigate the structural dynamic characteristics and the internal fluid transients of an example pipeline system.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.25 no.7
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• pp.569-573
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• 2012

We investigated the speed change of the diamond spherical abrasive during the substrate surface polishing under the pad compression by using classical molecular dynamics modeling. We performed three-dimensional molecular dynamics simulations using the Morse potential functions for the copper substrate and the Tersoff potential function for the diamond abrasive. As the compressive pressure increased, the indented depth of the diamond abrasive increased and then, the speed of the diamond abrasive along the direction of the pad moving was decreased. Molecular simulation result such as the abrasive speed decreasing due to the pad pressure increasing gave important information for the chemical mechanical polishing including the mechanical removal rate with both the pad speed and the pad compressive pressure.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.1034-1039
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• 1992

Time Delay Controller(TDC) is a model following controller which uses input and output values and state variables to estimate additional quantity of dynamics due to external disturbances and/or model parameters variation at some past instant. TDC is very robust against parametric uncertainty whil it is not robust against unmodeled dynamics even showing instability. To solve this problem a stability anlysis is performed and a compensation technique using reduced order observer, Anti-Filtering Compensator(AFC), is proposed for a case in which the high order kinown dynamics is deliberately ignored. If the ignored dynamics causes instability of the TDC control system, AFC is shown to be indispensible fot a stable implementation of TDC.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.9
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• pp.133-144
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• 2000

The dynamic walking planning and the inverse dynamics of the biped robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian corrdinates then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot the holonomic constraints are added or deleted on the equations of motion. the number of these constraints can be changed by types of walking patterns with three modes. In order for the dynamic walking to be stabilizable optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.4
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• pp.330-340
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• 2002

In this Paper. a non-linear approach to a design of model reference adaptive control is presented. The approach is demonstrated by a case study of a simple single-pole and no zero, linear, discrete-time plant. The essence of the idea is to generate a full non-linear model of the plant dynamics and the parameter adaptation dynamics as a gradient descent algorithm with respect to a Riemannian metric. It is shown how a Riemannian metric can be chosen so that the modelled plant dynamics do in fact match the true plant dynamics. The performance of the proposed scheme is compared to a traditional model reference adaptive control scheme using the classical sensitivity derivatives (Euclidean gradients) for the descent algorithm.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.548-555
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• 2000

The dynamic walking and the inverse dynamics of the biped walking robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian coordinates, then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot, the holonomic constraints are added or deleted on the equations of motion. The number of these constraints can be changed by types of walking pattern with three modes. In order for the dynamic walking to be stabilizable, optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• Publications of The Korean Astronomical Society
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• v.30 no.2
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• pp.381-383
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• 2015

MOdified Newtonian Dynamics (MOND) is an alternative to the dark matter paradigm. MOND asserts that when the magnitude of acceleration is smaller than the acceleration parameter $a_0$, the response of the system to gravity is stronger (larger acceleration) than the one given by Newtonian dynamics. The current value of $a_0$ is obtained mostly by observations of spiral galaxies (rotation curves and the Tully-Fisher relation). We attempt to estimate $a_0$ from the dynamics of elliptical galaxies. We seek elliptical galaxies that act as the lens of gravitational lensing systems and have velocity dispersion data available. We analysed 65 Einstein rings from the Sloan Len ACS survey (SLACS). The mass estimates from gravitation lensing and velocity dispersion agree well with each other, and are consistent with the estimates from population synthesis with a Salpeter IMF. The value of $a_0$ obtained from this analysis agrees with the current value.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.760-763
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• 2007

We studied how linear and nonlinear heart rate dynamics differ between normal fetuses and uncomplicated small-forgestational age (SGA) fetuses, aged 32-40 weeks' gestation. We analyzed each fetal heart rate time series for 20 min and quantified the complexity (nonlinear dynamics) of each fetal heart rate (FHR) time series by approximate entropy (ApEn) and correlation dimension (CD). The linear dynamics were analyzed by canonical correlation analysis (CCA). The ApEn and CD of the uncomplicated SGA fetuses were significantly lower than that of the normal fetuses in all three gestational periods (32-34, 35-37, 38-40 weeks). Canonical correlation ensemble in SGA fetuses is slightly higher than normal ones in all three gestational periods, especially at 35-37 weeks. Irregularity and complexity of the heart rate dynamics of SGA fetuses are lower than that of normal ones. Also, canonical ensemble in SGA fetuses is higher than in normal ones, suggesting that the FHR control system has multiple complex interactions. Along with the clear difference between the two groups' non-linear chaotic dynamics in FHR patterns, we clarified the hidden subtle differences in linearity (e.g. canonical ensemble). The decrease in non-linear dynamics may contribute to the increase in linear dynamics. The present statistical methodology can be readily and routinely utilized in Obstetrics and Gynecologic fields.

• Korean Journal of Construction Engineering and Management
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• v.14 no.5
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• pp.12-25
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• 2013

Unsold new houses have increased before the financial crisis, and have steadily accumulated since domestic diffusion ratio of house exceeded 100%. From a long term point of view, it is important to liquidate unsold new houses and raise funds from the capital market till the housing market recovers because the accumulation of unsold new houses is a financial burden to the construction company and for that reason, the housing policies to support the liquidity of unsold new houses must be consistently available means. Therefore, the purpose of this study is to analyze the effectiveness of government's policy to support the liquidity of unsold new houses using CR-REITs from among these policies with system dynamics. Using the system dynamics model, this study finds the significance and limitation of the policy to liquidate unsold new houses using CR-REITs and suggests the measures to improve the policy.