• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.377-382
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• 2005

This paper presents a new method for the attitude control of planar space robots. In order to control highly constrained non-linear system such as a 3D space robot, the analytical formulation for the system with complex dynamics and effective control methodology based on the formulation, are not always obtainable. In the proposed method, correspondingly, a non-analytical but effective self-organizing modeling method for controlling a highly constrained system is proposed based on a polynomial data mining algorithm. In order to control the attitude of a planar space robot, it is well known to require inputs characterized by a special pattern in time series with a non-deterministic length. In order to correspond to this type of control paradigm, we adopt the Model Predictive Control (MPC) scheme where the length of the non-deterministic horizon is determined based on implementation cost and control performance. The optimal solution to finding the size of the input pattern is found by a solving two-stage programming problem.

• Ocean Systems Engineering
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• 제4권4호
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• pp.293-308
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• 2014

Unlike the traditional displacement type vessels, the high speed planing crafts are supported by the lift forces which are highly non-linear. This non-linear phenomenon causes their motions in an irregular seaway to be non-Gaussian. In general, it may not be possible to express the probability distribution of such processes by an analytical formula. Also the process might not be stationary or ergodic in which case the statistical behavior of the motion to be constantly changing with time. Therefore the extreme values of such a process can no longer be calculated using the analytical formulae applicable to Gaussian processes. Since closed form analytical solutions do not exist, recourse is taken to fitting a distribution to the data and estimating the statistical properties of the process from this fitted probability distribution. The peaks over threshold analysis and fitting of the Generalized Pareto Distribution are explored in this paper as an alternative to Weibull, Generalized Gamma and Rayleigh distributions in predicting the short term extreme value of a random process.

• 대한전기학회논문지:전력기술부문A
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• 제48권2호
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• pp.168-175
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• 1999

In this paper, a modified RBF(Radial Basis Function) network structure is suggested for the prediction of a time-series with non-linear, non-stationary characteristics. Coventional RBF network predicting time series by using past outputs sense the trajectory of the time series and react when there exists strong relation between input and hidden activation function's RBF center. But this response is highly sensitive to level and trend of time serieses. In order to overcome such dependencies, hidden activation functions are modified to react to the increments of input variable and multiplied by increment(or dectement) for prediction. When the suggested structure is applied to prediction of Macyey-Glass chaotic time series, Lorenz equation, and Rossler equation, improved performances are obtained.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 G
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• pp.2299-2301
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• 1998

In this paper, a modified RBF (Radial Basis Function) neural network structure is suggested for the prediction of time series with non-linear, non-stationary characteristics. Conventional RBF neural network predicting time series by using past outputs is for sensing the trajectory of the time series and for reacting when there exists strong relation between input and hidden neuron's RBF center. But this response is highly sensitive to level and trend of time serieses. In order to overcome such dependencies, hidden neurons are modified to react to the increments of input variable and multiplied by increments(or decrements) of out puts for prediction. When the suggested structure is applied to prediction of Lorenz equation, and Rossler equation, improved performances are obtainable.

• Journal of the Korean Data and Information Science Society
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• 제10권2호
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• pp.289-298
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• 1999

We consider a minimax approach to make a design robust to many types or uncertainty arising in reality when dealing with non-normal linear models. We try to build a design to protect against the worst case, i.e. to improve the "efficiency" of the worst situation that can happen. In this paper, we especially deal with the generalized linear model. It is a known fact that the generalized linear model is a universal approach, an extension of the normal linear regression model to cover other distributions. Therefore, the optimal design for the generalized linear model has very similar properties as the normal linear model except that it has some special characteristics. Uncertainties regarding the unknown parameters, link function, and the model structure are discussed. We show that the suggested approach is proven to be highly efficient and useful in practice. In the meantime, a computer algorithm is discussed and a conclusion follows.

• 정보관리학회지
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• 제29권2호
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• pp.193-204
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• 2012

이 연구에서는 인용 및 동시인용 문헌 네트워크에서의 중심성 지수를 사용한 추론 통계 적용의 첫 번째 단계로써 이들 간 관계의 선형성을 살펴보고자 하였다. 703개의 문헌 동시인용 네트워크를 활용하여 인용 빈도, 연결정도 중심성, 인접 중심성, 매개 중심성 간의 4가지 주요 관계의 패턴을 살펴본 결과, 모든 인용 및 중심성 간 관계가 선형모델보다는 비선형적 모델로 더 잘 설명될 수 있음을 통계적으로 확인되었다. 따라서 이들 간의 인과관계에 대한 다중회귀분석과 같은 추론 통계 분석의 기반이 되는 선형성을 확보하기 위해서는 논리적인 기준에 근거한 데이터 변환이나 실제값을 구간값으로 변환하는 과정이 필요하다고 할 수 있다.

• Advances in robotics research
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• 제2권2호
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• pp.151-159
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• 2018

The evolution of bipedal robots was the foundation stone for development of Humanoid robots. The highly complex and non-linear dynamic of human walking made it very difficult for researchers to simulate the gait patterns under different conditions. Simple controllers were developed initially using basic mechanics like Linear Inverted Pendulum (LIP) model and later on advanced into complex control systems with dynamic stability with the help of high accuracy feedback systems and efficient real-time optimization algorithms. This paper illustrates a number of significant mathematical models and controllers developed so far in the field of bipeds and humanoids. The key facts and ideas are extracted and categorized in order to describe it in a comprehensible structure.

• Structural Engineering and Mechanics
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• 제27권5호
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• pp.555-574
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• 2007

Static response of an elastic beam on a two-parameter tensionless foundation is investigated by assuming that the beam is symmetrically subjected to a uniformly distributed load and concentrated edge loads. Governing equations of the problem are obtained and solved by pointing out that a concentrated edge foundation reaction in addition to a continuous foundation reaction along the beam axis in the case of complete contact and a discontinuity in the foundation reactions in the case of partial contact come into being as a direct result of the two-parameter foundation model. The numerical solution of the complete contact problem is straightforward. However, it is shown that the problem displays a highly non-linear character when the beam lifts off from the foundation. Numerical treatment of the governing equations is accomplished by adopting an iterative process to establish the contact length. Results are presented in figures to demonstrate the linear and non-linear behavior of the beam-foundation system for various values of the parameters of the problem comparatively.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 1999년도 봄 학술발표회 논문집(I)
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• pp.245-250
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• 1999

In this study, the development of graphic user interface(GUI) program for optimum design of RC continuous beam is dealt. Optimum design problem that satisfies strength, serviceability, durability and geometrical conditions is formulated as a non-linear programming problem(NLP) in which the objective function as well as the constraints are highly non-linear on design variables such as cross sectional dimensions and steel ratio. Optimum design problem is solved by NLP techniques namely, sequential linear programming(SLP), sequential convex programming(SCP). Numerical examples of R.C. continuous beam using GUI system are given to show usefulness of GUI system for practical design work and efficiency of algorithm for the NLP techniques.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 1998년도 추계 학술대회논문집
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• pp.121-126
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• 1998

A numerical optimization procedure is developed to find the inlet velocity profile that yields the most uniform epitaxial layer in a vertical MOCVD reactor. It involves the solution of fully elliptic equations of motion, temperature, and concentration; the finite volume method based on SIMPLE algorithm has been adopted to solve the Navier-Stokes equations. The overall optimization process is highly nonlinear and has been efficiently treated by the sequential linear programming technique that breaks the non-linear problem into a series of linear ones. The optimal profile approximated by a 6th-degree Chebyshev polynomial is very successful in reducing the spatial non-uniformity of the growth rate. The optimization is particularly effective to the high Reynolds number flow. It is also found that a properly constructed inlet velocity profile can suppress the buoyancy driven secondary flow and improve the growth-rate uniformity.