• Journal of the Korean Society for Precision Engineering
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• v.22 no.11 s.176
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• pp.72-81
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• 2005

A new spherical-type 3-degree-of-freedom parallel mechanism consisting of a two degree-of-freedom parallel module and a serial module is proposed. Two alternative designs for the serial sub-chain are suggested and compared. The first design employs RU joint arrangement for the serial sub chain structure. The second design incorporates a gear chain to drive the distal revolute joint of the serial sub-chain from the base platform of the mechanism. This modification significantly improves kinematic characteristics of the mechanism within its workspace. Firstly, the closed-form solutions of both the forward and the reverse position analysis are derived. Secondly, the first-order kinematic model with respect to three inputs which are located at the base is derived. Thirdly, it is confirmed through simulation that the modified mechanism has much more improved isotropic characteristic throughout the workspace of the mechanism. Lastly, the proposed mechanism is implemented to verify the results from this analysis.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.15 no.1
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• pp.31-41
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• 2011

I introduce a derivative called "Snowball Currency Option" or "USDKRWSnowball Extendible At Expiry KO" which was traded once in the over-the-counter market in Korea. A snowball currency option consists of a series of maturities the payoffs at which are like those of a long position in a put option and two short position in an otherwise identical call. The strike price at each maturity depends on the exchange rate and the previous strike price so that the strike prices are random and path-dependent, which makes it difficult to find a closed form solution of the value of a snowball currency option. I analyze the payoff structure of a snowball currency option and derive an upper and a lower boundaries of the value of it in a simplified model. Furthermore, I derive a pricing formula using integral in the simplified model.

• Wind and Structures
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• v.19 no.4
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• pp.371-387
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• 2014

Probability plotting positions are popular and used as the basis for distribution fitting and for inspecting the quality of the fit because of its simplicity. The plotting positions that lead to excellent approximation to the mean of the order statistics should be used if the objective of the fitting is to estimate quantiles. Since the mean depends on the sample size and is not amenable for simple to use closed form solution, many plotting positions have been presented in the literature, including a new plotting position that is derived based on the weighted least-squares method. In this study, the accuracy of using the new plotting position to fit the Gumbel distribution for estimating quantiles is assessed. Also, plotting positions derived by fitting the mean of the order statistics for all ranks is proposed, and an approximation to the covariance of the order statistics for the Gumbel (and Weibull) variate is given. Relative bias and root-mean-square-error of the estimated quantiles by using the proposed plotting position are shown. The use of the proposed plotting position to estimate the quantiles of annual maximum wind speed is illustrated.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.10
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• pp.1874-1881
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• 2010

A recursive linear stochastic error compensation algorithm is newly proposed for target localization in sensor network which provides range difference of arrival(RDOA) measurements. Target localization with RDOA is a well-known nonlinear estimation problem. Since it can not solve with a closed-form solution, the numerical methods sensitive to initial guess are often used before. As an alternative solution, a pseudo-linear estimation scheme has been used but the auto-correlation of measurement noise still causes unacceptable estimation errors under low SNR conditions. To overcome these problems, a stochastic error compensation method is applied for the target localization problem under the assumption that a priori stochastic information of RDOA measurement noise is available. Apart from the existing methods, the proposed linear target localization scheme can recursively compute the target position estimate which converges to true position in probability. In addition, it is remarked that the suggested algorithm has a structural reconciliation with the existing one such as linear correction least squares(LCLS) estimator. Through the computer simulations, it is demonstrated that the proposed method shows better performance than the LCLS method and guarantees fast and reliable convergence characteristic compared to the nonlinear method.

• Structural Engineering and Mechanics
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• v.39 no.1
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• pp.21-46
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• 2011

The natural frequencies of continuous systems depend on the governing partial differential equation and can be numerically estimated using the finite element method. The accuracy and convergence of the finite element method depends on the choice of basis functions. A basis function will generally perform better if it is closely linked to the problem physics. The stiffness matrix is the same for either static or dynamic loading, hence the basis function can be chosen such that it satisfies the static part of the governing differential equation. However, in the case of a rotating beam, an exact closed form solution for the static part of the governing differential equation is not known. In this paper, we try to find an approximate solution for the static part of the governing differential equation for an uniform rotating beam. The error resulting from the approximation is minimized to generate relations between the constants assumed in the solution. This new function is used as a basis function which gives rise to shape functions which depend on position of the element in the beam, material, geometric properties and rotational speed of the beam. The results of finite element analysis with the new basis functions are verified with published literature for uniform and tapered rotating beams under different boundary conditions. Numerical results clearly show the advantage of the current approach at high rotation speeds with a reduction of 10 to 33% in the degrees of freedom required for convergence of the first five modes to four decimal places for an uniform rotating cantilever beam.

• Journal of Advanced Navigation Technology
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• v.2 no.2
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• pp.84-99
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• 1998

As a part of closed-loop guidance law studies for anti-ballistic missile defense, a mid-course guidance law is proposed to engage the target with the predetermined attitude for increased terminal effectiveness. The proposed guidance law is based on the predicted target position calculated from a simplified solution of target motion and the estimates of an extended Kalman filter utilizing noisy nonlinear radar measurements. Extension of the proposed mid-course guidance to 3 dimensional engagements are also studied. Performance of the proposed mid-course guidance law together with a terminal guidance law in the form of conventional proportional navigation guidance is evaluated by a series of simulation studies.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.893-900
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• 1994

In this study, workspace analysis has been performed for a Clemens Coupling type parallel robotic wrist with four degrees of freedom such as three angular degrees of freedom and 1 plunge motion. Because of plunge motion, this mechanism has no singular point that the general roll-pitch-roll mechanisms have. Also, proposed mechanism performs larger load, faster motion, with less weight and has better structural characteristics such as higher stiffness and strength to weight ratio compared with serial type mechanisms. As a basic step for position control, the closed form solution of forward and inverse kinematics are proposed and workspace is analyzed and plotted by applying triangle tracer method for workspace boundary tracing.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.1
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• pp.16-24
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• 2011

In this paper, we propose a new guidance law for target observability enhancement, which can control both terminal impact angle and acceleration. The proposed guidance law is simple form, combined conventional time-to-go polynomial guidance and a additional bias term which consists of relative position and proportional gain. The guidance law provides oscillatory flight trajectory and it maintains the conventional time-to-go polynomial guidance performance. To investigate the characteristics of the guidance law, we derive the closed-form solution, and various simulations are performed for proving the validity of the proposed guidance.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.2
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• pp.414-430
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• 1996

In this paper, a new kinematic structure of a parallel manipulator with six Cartesian degrees of freedom is proposed. It consists of a platform which is connected to a fixed base by means of 3-PPSP(parameters P, S denote the prismatic, spherical joints) subchains. Each subchain has a link which is concected to a passive prismatic joint at the one end and a passive spherical joint at the other. The spherical joint is then attached to perpendicularly arranged prismatic actuators which are fixed at the base. The spherical joint is then attached to perpendicularly arranged prismatic actuators which are fixed at the base. This arrangement provides a basis to control all six Cartesian degrees of motion of the platform in space. Due to its efficient architecture, the colsed-form solutions of the inverse and forward kinematics can be obtained. As a consequence, this new kinematic structure can be servo controlled using simple inverse kinematics becaese forward kinematics allows for measuring the platform's position and orientation in Cartesian space. Furthermore, the proposed structure provides an effective functional workspace. Series of simulations are performed to verify the results of the kinematics analyses.

• Structural Engineering and Mechanics
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• v.24 no.5
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• pp.543-560
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• 2006

In this paper, first, the equations of motion for a rectangular isotropic plate have been derived. This derivation is based on the Von Karmann theory and the effects of shear deformation have been considered. Introducing an Airy stress function, the equations of motion have been transformed to a nonlinear coupled equation. Using Galerkin method, this equation has been separated into position and time functions. By means of the dimensional analysis, it is shown that the orders of magnitude for nonlinear terms are small with respect to linear terms. The Multiple Scales Method has been applied to the equation of motion in the forced vibration and free vibration cases and closed-form relations for the nonlinear natural frequencies, displacement and frequency response of the plate have been derived. The obtained results in comparison with numerical methods are in good agreements. Using the obtained relation, the effects of initial displacement, thickness and dimensions of the plate on the nonlinear natural frequencies and displacements have been investigated. These results are valid for a special range of the ratio of thickness to dimensions of the plate, which is a characteristic of the Multiple Scales Method. In the forced vibration case, the frequency response equation for the primary resonance condition is calculated and the effects of various parameters on the frequency response of system have been studied.