• 한국전산유체공학회:학술대회논문집
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• 2009.11a
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• pp.115-119
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• 2009

We numerically investigated propagation of various waves in the two-phase flows such as sound wave, shock wave, rarefaction wave, and contact discontinuity in terms of pressure, void fraction, velocity and density of the two phases. The waves have been generated by a hydrodynamic shock tube, a pair of symmetric impulsive expansion, impulsive pressure and impulsive void waves. The six compressible two-fluid two-phase conservation laws with interfacial friction terms have been solved in two fractional steps. The first PDE Operator is solved by the HLL scheme and the second Source Operator by the semi-implicit stiff ODE solver. In the HLL scheme, the fastest wave speeds were estimated by the analytic eigenvalues of an approximate Jacobian matrix. We have discussed how the interfacial friction terms affect the wave structures in the numerical solution.

• Geophysics and Geophysical Exploration
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• v.7 no.3
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• pp.191-196
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• 2004

Seismic waveform inversion can be solved by using the classical Gauss-Newton method, which needs to construct the huge Hessian by the directly computed Jacobian. The property of Hessian mainly depends upon a source and receiver aperture, a velocity model, an illumination Bone and a frequency content of source wavelet. In this paper, we try to invert the Marmousi seismic data by controlling the huge Hessian appearing in the Gauss-Newton method. Wemake the two kinds of he approximate Hessian. One is the banded Hessian and the other is the approximate Hessian with automatic gain function. One is that the 1st updated velocity model from the banded Hessian is nearly the same of the result from the full approximate Hessian. The other is that the stability using the automatic gain function is more improved than that without automatic gain control.

• The Journal of Korea Robotics Society
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• v.10 no.4
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• pp.230-244
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• 2015

Continuous-path motion control such as resolved motion rate control requires online solving of the inverse differential kinematics for a robot. However, the solution space of the inverse differential kinematics related to Jacobian J is not well-established. In this paper, the solution space of inverse differential kinematics is analyzed through categorization of mapping conditions between joint velocities and end-effector velocity of a robot. If end-effector velocity is within the column space of J, the solution or the minimum norm solution is obtained. If it is not within the column space of J, an approximate solution by least-squares is obtained. Moreover, this paper introduces an improved mapping diagram showing orthogonality and mapping clearly between subspaces, and concrete examples numerically showing the concept of several subspaces. Finally, a solver and graphics user interface (GUI) for inverse differential kinematics are developed using MATLAB, and the solution of inverse differential kinematics using the GUI is demonstrated for a vertically articulated robot.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.1
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• pp.72-81
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• 2017

We propose a switching control scheme for the control of a ball and beam system. It was reported in [4] that a ball and beam system is a nonlinear system which has an ill-defined relative degree. So, the traditional control approaches have been mostly either Jacobian-based control or approximate input-output linearized control in nature. In this paper, motivated by [7], we combine these two traditional control approaches and operate each controller via a pre-designed switching logic so that the improved control result can be obtained without any excessive use of control input. Switching algorithm is developed based on both analysis and actual experimental observation. We verify the effectiveness of our proposed controller via actual experimental results.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.9
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• pp.630-637
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• 2004

In this paper, we present a local reduced-order observer for a class of nonlinear systems that have full robust relative degree. The proposed observer utilizes the coordinate change which transforms a nonlinear system into an approximate normal form. The proposed reduce order observer is applied to a ball and beam system, and simulation results show that substantial improvement in the performance was achieved compared with the jacobian linearization observers.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.51 no.8
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• pp.398-402
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• 2002

The ELD computation has been based upon the so-called B-coefficient which uses a quadratic approximation of system loss as a function of generation output. Direct derivation of system loss sensitivity based on the Jacobian-based method was developed in early 1970s', which could eliminate the dependence upon the approximate loss formula. However, both the B-coefficient and the Jacobian-based method require a complicated Procedure for calculating the system loss sensitivity included in the constraints of the optimization problem. In this paper, an ELD formulation in which only the bus power equations are defined as the constraints has been introduced. Derivation of the partial derivatives of the system loss with respect to the generator output and calculation of the penalty factors for individual generators are not required anymore in proposed method. A comprehensive solution procedure including calculation of the Jacobians and Hessians of the formulation has been presented in detail. Proposed ELD formulation has been tested on a sample system and the simulation indicated a satisfactory result.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.6
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• pp.1010-1019
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• 1994

It is shown that there exists a nonlinear mapping which transforms image features and their changes to the desired camera motion without measuring of the relative distance between the camera and the object. This nonlinear mapping can eliminate several difficulties occurring in computing the inverse of the feature Jacobian as in the usual feature-based visual feedback control methods. Instead of analytically deriving the closed form of this mapping, a Fuzzy Membership Function-based Neural Network (FMFNN) incorporating a Fuzzy-Neural Interpolating Network is used to approximate the nonlinear mapping. Several FMFNN's are trained to be capable of tracking a moving object in the whole workspace along the line of sight. For an effective implementation of the proposed FMF network, an image feature selection process is investigated. Finally, several numerical examples are presented to show the validity of the proposed visual servoing method.

• Proceedings of the KIEE Conference
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• 2000.07a
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• pp.46-48
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• 2000

Continuation power flow has been developed to remove the ill-condition problem caused by singularity of power flow Jacobian at and near steady-state voltage instability point in conventional power flow. When solving large-scale power transmission systems, an alternative strategy for improving computational efficiency and reducing computer storage requirements is the decoupled power flow method, which makes use of an approximate version of the Newton-Raphson procedure. This paper presents a technique to improve the speed of continuation power flow system using decoupled power flow method.

• International Journal of Aeronautical and Space Sciences
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• v.15 no.2
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• pp.153-162
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• 2014

A novel robust $H_{\infty}$ switching tracking control design method with disturbance observer is proposed for the near space interceptor (NSI) with aerodynamic fins and reaction jets. Initially, the flight envelop of the NSI is divided into small subregions, and a slow-fast loop polytopic linear parameter varying (LPV) model is proposed, to approximate the nonlinear dynamic of the NSI, based on the Jacobian linearization and Tensor-Product (T-P) model transformation approach. A disturbance observer is then constructed, to estimate the modeled disturbance. Subsequently, based on the descriptor system method, a robust switching controller is developed, to ensure that the closed-loop descriptor system is stable with a desired $H_{\infty}$ disturbance attenuation level. Furthermore, the outcome of the proposed switching tracking control problem is formulated as a set of linear matrix inequalities (LMIs). Finally, simulation results demonstrate the effectiveness of the proposed design method.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.874-879
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• 1992

It is shown that there exists a nonlinear mappping which transforms features and their changes to the desired camera motion without measurement of the relative distance between the camera and the part, and the nonlinear mapping can eliminate several difficulties encountered when using the inverse of the feature Jacobian as in the usual feature-based visual feedback controls. And instead of analytically deriving the closed form of such a nonlinear mapping, a fuzzy membership function (FMF) based neural network is then proposed to approximate the nonlinear mapping, where the structure of proposed networks is similar to that of radial basis function neural network which is known to be very useful in function approximations. The proposed FMF network is trained to be capable of tracking moving parts in the whole work space along the line of sight. For the effective implementation of proposed IMF networks, an image feature selection processing is investigated, and required fuzzy membership functions are designed. Finally, several numerical examples are illustrated to show the validities of our proposed visual servoing method.