• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.741-746
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• 2004

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• Proceedings of the Society of Korea Industrial and System Engineering Conference
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• 2002.05a
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• pp.309-317
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• 2002

Line Balancing is the method enflowing workparts smoothly by balancing the worktime of processes, and reduces the cycle time. Soccer is the sports attacking the opposite team and defending a friendly area efficiently by means of ball. To accomplish this purpose, space balancing is the necessary condition. Soccer 'system' what we called 'formation' is the basic frame to balance the space of playground, operate the tactics. This paper introduces 'Dual Hexagon System', a quite new system in soccer, using line balancing principle. It also explains the correlations between line balancing and dual hexagon system, distinctions and position names of dual hexagon system, and then suggests success factors.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.5
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• pp.644-650
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• 1998

In this paper , a state space model for flexible beam is presented using the assumed-modes approach. The state space equation is derived for a flexible beam in which one end is connected to a motor and is driven by a torque equation and the other end is free. Many of the transfer function proposed thus far use the torque to the flexible beam as the input and the tip deflection of the flexible beam as the output. The Technique for the analysis and synthesis of the dual-input describing function(DIDF) is introduced here and the construction of a non-linear compensator, based on this technique, is proposed. This non-linear compensator, properly connected in the direct path of a closed-loop linear or non-linear control system. The above non-linear network is used to compensate linear and non-linear systems for instability, limit cycles, low speed of response and static accuracy. The effectiveness of the proposed scheme is demonstrated through computer simulation and experimental results.

• Journal of the Korean Mathematical Society
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• v.43 no.6
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• pp.1339-1355
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• 2006

This paper develops in detail the differential geometry of ruled surfaces from two perspectives, and presents the underlying relations which unite them. Both scalar and dual curvature functions which define the shape of a ruled surface are derived. Explicit formulas are presented for the computation of these functions in both formulations of the differential geometry of ruled surfaces. Also presented is a detailed analysis of the ruled surface which characterizes the shape of a general ruled surface in the same way that osculating circle characterizes locally the shape of a non-null Lorentzian curve.

• Journal of Communications and Networks
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• v.9 no.1
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• pp.67-74
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• 2007

The performance of dual diversity receivers operating over correlated Ricean fading channels is analyzed. Using a previously derived rapidly converging infinite series representation for the bivariate Ricean probability density function, analytical expressions for the statistics of dual-branch selection combining, maximal-ratio combining, and equal-gain combining output signal-to-noise ratio (SNR) are derived. These expressions are employed to obtain novel analytical formulae for the average output SNR, amount of fading, average bit error probability, and outage probability. The proposed mathematical analysis is used to study various novel performance evaluation results with parameters of interest the fading severity, average input SNRs, and the correlation coefficient. The series convergence rate is also examined verifying the fast convergence of the analytical expressions. The accuracy of most of the theoretical performance evaluation results are validated by means of computer simulations.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.1
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• pp.120-126
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• 2013

This paper proposes a novel scheme of fault detection and self-recovery for space-borne dual ring counters subject to transient faults. The considered ring counter is equipped with hardware redundancy, but it has a limited output domain where direct access to the current state is unavailable. We employ the theory of corrective control to detect any transient fault occurring to the counter bits and to realize immediate self-recovery of the ring counter back to the normal state. The structure of the fault-tolerant controller is designed to be minimal regardless of the counter size. To validate the applicability, we implement the proposed system on a commercial FGPA board.

• Honam Mathematical Journal
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• v.45 no.2
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• pp.198-214
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• 2023

In the present paper, we investigate homothetic motions determined by quaternions, which is a general form of our previous paper [20]. We introduce a transition between homothetic motions in 3D and 4D Euclidean and Lorentzian spaces. In other words, we give a new method that works as a handy tool for obtaining Lorentzian homothetic motions from Euclidean homothetic motions. Moreover, some remarkable properties of homothetic motions, which are given in former studies on this subject, are also examined by dual transformations. Then, we present applications and visualize them with 3D-plots. Finally, we investigate homothetic motions in dual spaces because of the importance in many fields related to kinematics.

• Structural Engineering and Mechanics
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• v.90 no.5
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• pp.459-466
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• 2024

Eringen's nonlocal thermoelasticity theory is used to study wave propagations in a rotating two-temperature thermoelastic half-space with temperature-dependent properties. Using suitable non-dimensional variables, the harmonic wave analysis is used to convert the partial differential equations to ordinary differential equations solving the problem. The modulus of elasticity is given as a linear function of the reference temperature. MATLAB software is used for numerical calculations. Comparisons are carried out with the results in the context of the dual-phase lag model for different values of rotation, a nonlocal parameter, an inclined load, and an empirical material constant. The distributions of physical fields showed that the nonlocal parameter, rotation, and inclined load have great effects. When a nonlocal thermoelastic media is swapped out for a thermoelastic one, this approach still holds true.

• International Journal of Aeronautical and Space Sciences
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• v.15 no.4
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• pp.444-453
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• 2014

A throttleable rocket engine enables operational possibilities such as the docking of spacecraft, maneuvering in a certain orbit and landing on a planet's surface, altitude control, and entrance to atmosphere-less planets. Thus, throttling methods have long been researched. However, dual-manifold injectors, which represent one throttling method, have been investigated less than others. In this study, dual-manifold and single-manifold injectors were compared to determine the characteristics of dual-manifold injectors. Also, the effects of gas injection were investigated with various F/O ratios. To investigate the characteristics, mass flow rate, spray pattern, spray angle, and droplet size were measured. The spray angle and droplet size were captured by indirect photography. About 30 images were taken to assess the spray patterns and spray angle. Also, 700 images were analyzed to understand the droplet distribution and targeting area, moving to the right from the centerline with 1.11-cm intervals. The droplet size was obtained from an image processing procedure. From the results, the spray angle showed two transition regions, due to swirl momentum in the swirl chamber regardless of the F/O ratio. The droplet size showed similar trends in both dual-manifold and single-manifold injectors except in the low mass flow rate region. In the case of the dual- manifold injector, the spray cone was not fully developed in the low mass flow rate region due to low angular momentum in the swirl chamber.

• Journal of the Korean Mathematical Society
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• v.32 no.4
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• pp.775-784
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• 1995

Let $H$ be a separable, infnite dimensional, complex Hilbert space and let $L(H)$ denote the algebra of all bounded linear operators on $H$.