• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.4
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• pp.437-442
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• 2012

To analyze a multibody system, this paper proposes an implicit numerical integration method for joint coordinates subsystem synthesis method. To verify the proposed method, a multibody model for an unmanned robot vehicle, which consists of six identical independent suspension systems, is developed. The symbolic method is applied to compute the system Jacobian matrix for the implicit integration method. The proposed method is also verified by performing rough terrain run-over simulation in comparison with the conventional implicit integration method. In addition, to evaluate the efficiency of the proposed method, the CPU time obtained by using this method is compared with that obtained by using the conventional implicit method.

• Smart Structures and Systems
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• v.26 no.3
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• pp.373-390
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• 2020

Hybrid simulation (HS) is a versatile tool for structural performance evaluation under dynamic loads. Although real structural responses are often multiple-directional owing to an eccentric mass/stiffness of the structure and/or excitations not along structural major axes, few HS in this field takes into account structural responses in multiple directions. Multi-directional loading is more challenging than uni-directional loading as there is a nonlinear transformation between actuator and specimen coordinate systems, increasing the difficulty of suppressing loading error. Moreover, redundant actuators may exist in multi-directional hybrid simulations of large-scale structures, which requires the loading strategy to contain ineffective loading of multiple actuators. To address these issues, lately a new strategy was conceived for accurate reproduction of desired displacements in bi-directional hybrid simulations (BHS), which is characterized in two features, i.e., iterative displacement command updating based on the Jacobian matrix considering nonlinear geometric relationships, and force-based control for compensating ineffective forces of redundant actuators. This paper performs performance validation and application of this new mixed loading strategy. In particular, virtual BHS considering linear and nonlinear specimen models, and the diversity of actuator properties were carried out. A validation test was implemented with a steel frame specimen. A real application of this strategy to BHS on a full-scale 2-story frame specimen was performed. Studies showed that this strategy exhibited excellent tracking performance for the measured displacements of the control point and remarkable compensation for ineffective forces of the redundant actuator. This strategy was demonstrated to be capable of accurately and effectively reproducing the desired displacements in large-scale BHS.

• Journal of IKEEE
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• v.19 no.2
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• pp.219-224
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• 2015

Electrical impedance tomography is an imaging technique to reconstruct the internal conductivity distribution based on applied currents and measured voltages in a domain of interest. In this paper, a modified Gauss-Newton method is proposed for conductivity image reconstruction. In the proposed method, the dimension of the inverse term is reduced by replacing the number of elements with the number of measurement data in the conductivity updating equation of the conventional Gauss-Newton method. Therefore, the computation time is greatly reduced as compared to the conventional Gauss-Newton method. Moreover, the regularization parameter is selected by computing the minimum-maximum from the diagonal components of the Jacobian matrix at every iteration. The numerical experiments with several scenarios were carried out to evaluate the reconstruction performance of the proposed method.

• The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.8 no.1
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• pp.37-45
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• 1994

A method of optimal active and reactive power control for economic operation in electrical power system is presented in this paper. The major features and techniques of this paper are as follows: 1) The method presented for obtaining the equivalent active power balance equation applying the sparse Jacobian matrix of power flow equation instead of using B constant as active power Balance equation considering transmission loss, and for determining directly optimal active power allocation without repeating calculations. 2) More reasonable and economic profit by minimizing total fuel cost of thermal power plants instead of using transmission loss as objective function of reactive Power control can be achieved. 3) Particularly in reactive power control, computing time can be considerably reduced by using Fuzzy Linear Programming instead of using conventional Linear Programming.

• The KIPS Transactions:PartB
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• v.18B no.1
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• pp.21-28
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• 2011

A 3D face shape derived from 2D images may be useful in many applications, such as face recognition, face synthesis and human computer interaction. To do this, we develop a fast 3D Active Appearance Model (3D-AAM) method using depth estimation. The training images include specific 3D face poses which are extremely different from one another. The landmark's depth information of landmarks is estimated from the training image sequence by using the approximated Jacobian matrix. It is added at the test phase to deal with the 3D pose variations of the input face. Our experimental results show that the proposed method can efficiently fit the face shape, including the variations of facial expressions and 3D pose variations, better than the typical AAM, and can estimate accurate 3D face shape from images.

• Journal of Power Electronics
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• v.19 no.1
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• pp.190-200
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• 2019

The flyback converter, which can be regarded as a nonlinear time-varying system, has complex dynamics and nonlinear behaviors. These phenomena can affect the stability of the converter. To simplify the modeling process and retain the information of the output capacitor branch, a special sampled-data model of a peak current-mode (PCM) controlled flyback converter is established in this paper. Based on this, its dynamic behaviors are analyzed, which provides guidance for designing the circuit parameters of the converter. With the critical stability boundary equation derived by a Jacobian matrix, the stable operation range with a varied output capacitor, proportional coefficient of error the amplifier, input voltage, reference voltage and slope of the compensation ramp of a PCM controlled flyback converter are investigated in detail. Research results show that the duty ratio should be less than 0.5 for a PCM controlled flyback converter without ramp compensation to operate in a stable state. The stability regions in the parameter space between the output capacitor and the proportional coefficient of the error amplifier are enlarged by increasing the input voltage or by decreasing the reference voltage. Furthermore, the ramp compensation also can extend to the stable region. Finally, time-domain simulations and experimental results are presented to verify the theoretical analysis results.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.16 no.8
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• pp.2529-2551
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• 2022

Visual servoing (VS) based on the Kalman filter (KF) algorithm, as in the case of KF-based image-based visual servoing (IBVS) systems, suffers from three problems in uncalibrated environments: the perturbation noises of the robot system, error of noise statistics, and slow convergence. To solve these three problems, we use an IBVS based on KF, African vultures optimization algorithm enhanced extreme learning machine (AVOA-ELM), and fuzzy logic (FL) in this paper. Firstly, KF online estimation of the Jacobian matrix. We propose an AVOA-ELM error compensation model to compensate for the sub-optimal estimation of the KF to solve the problems of disturbance noises and noise statistics error. Next, an FL controller is designed for gain adaptation. This approach addresses the problem of the slow convergence of the IBVS system with the KF. Then, we propose a visual servoing scheme combining FL and KF-AVOA-ELM (FL-KF-AVOA-ELM). Finally, we verify the algorithm on the 6-DOF robotic manipulator PUMA 560. Compared with the existing methods, our algorithm can solve the three problems mentioned above without camera parameters, robot kinematics model, and target depth information. We also compared the proposed method with other KF-based IBVS methods under different disturbance noise environments. And the proposed method achieves the best results under the three evaluation metrics.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.47 no.6
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• pp.39-47
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• 2010

A research of image-based articulated pose estimation has some problems such as detection of human feature, precise pose estimation, and real-time performance. In particular, various methods are currently presented for recovering many joints of human body. We propose the novel numerical inverse kinematics improved with the UKF(unscented Kalman filter) in order to estimate the human pose in real-time. An existing numerical inverse kinematics is required many iterations for solving the optimal estimation and has some problems such as the singularity of jacobian matrix and a local minima. To solve these problems, we combine the UKF as a tool for optimal state estimation with the numerical inverse kinematics. Combining the solution of the numerical inverse kinematics with the sampling based UKF provides the stability and rapid convergence to optimal estimate. In order to estimate the human pose, we extract the interesting human body using both background subtraction and skin color detection algorithm. We localize its 3D position with the camera geometry. Next, through we use the UKF based numerical inverse kinematics, we generate the intermediate joints that are not detect from the images. Proposed method complements the defect of numerical inverse kinematics such as a computational complexity and an accuracy of estimation.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.6 no.3
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• pp.1-11
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• 2007

Seoul's transportation system was changed drastically starting the first of June in two thousand. This policy includes integrated distance-based fare system and public transportation card system called smart card. Especially, as public transportation card data contains individual travel, transfer and using modes information it is possible to catch the characteristics of path-based individuals and mass transit. Thus, public transportation card data can contribute to evaluate the mass transit service in integrated public transportation networks. In addition, public transportation card data are able to help to convert previous researches and analyses with link-based trip assignment models to path-based mass transit service analysis. In this study, an algorithm being suitable for path-based trip assignment models is suggested and proposed algorithm can also contribute to make full use of public transportation card data. For this, column generation algorithm hewn to draw the stable solution is adopted. This paper uses the methodology that is to take local approximate equilibrium from partial network and expand local approximate equilibrium to global equilibrium.

• Geophysics and Geophysical Exploration
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• v.22 no.1
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• pp.1-11
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• 2019

Well logging technologies are used to measure the physical properties of reservoirs through boreholes. These technologies have been utilized to understand reservoir characteristics, such as porosity, fluid saturation, etc., using equations based on rock physics models. The analysis of well logs is performed by selecting a reliable rock physics model adequate for reservoir conditions or characteristics, comparing the results using the Archie's equation or simandoux method, and determining the most feasible reservoir properties. In this study, we developed a joint inversion algorithm to estimate physical properties in shaly sandstone reservoirs based on the pre-existing algorithm for sandstone reservoirs. For this purpose, we proposed a rock physics model with respect to shale volume, constructed the Jacobian matrix, and performed the sensitivity analysis for understanding the relationship between well-logging data and rock properties. The joint inversion algorithm was implemented by adopting the least-squares method using probabilistic approach. The developed algorithm was applied to the well-logging data obtained from the Colony gas sandstone reservoir. The results were compared with the simandox method and the joint inversion algorithms of sand stone reservoirs.