• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.13 no.4
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• pp.315-321
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• 2009

In this paper, a level set based energy functional is proposed, the minimization of which results in simultaneous reference background image modeling and foreground segmentation. Due to the mutual constraint of the two processes, a good estimate of the background can be obtained with a small number of frames, and due to the use of the level set, an Euler-Lagrange equation that directly solves the problem can be derived.

• Journal of the Korean Mathematical Society
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• v.33 no.3
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• pp.651-655
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• 1996

Lagrange's famous Four Square Theorem [L] says that every positive integer can be represented by the sum of four squares. This marvelous theorem was generalized by Mordell [M1] and Ko [K1] as follows : every positive definite integral quadratic form of two, three, four, and five variables is represented by the sum of five, six, seven, and eight squares, respectively. And they tried to extend this to positive definite integral quadratic forms of six or more variables.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.1013-1016
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• 1995

This paper deals with dynamics and control of a PRP6-DOF parallel manipulator. Dynamic modeling includes the effect of inertia of all links in the mechanism to increase modeling accuracy. Kinematic analysis about forward and inverse kinematics is also explained. Using Lagrange-D' Alambert method we get equations of motions in a link space which fully represent 6DOF motions of the manipulator.

• Journal of Mechanical Science and Technology
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• v.19 no.3
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• pp.731-742
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• 2005

A magnetic bearing even with multiple coil failure can produce the same decoupled magnetic forces as those before failure if the remaining coil currents are properly redistributed. This fault-tolerant, force invariance control can be achieved with simply replacing the distribution matrix with the appropriate one shortly after coils fail, without modifying feedback control law. The distribution gain matrix that satisfies the necessary constraint conditions of decoupling linearized magnetic forces is determined with the Lagrange Multiplier optimization method.

• Bulletin of the Korean Mathematical Society
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• v.51 no.1
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• pp.267-285
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• 2014

An upstream scheme based on the pseudostress-velocity mixed formulation is studied to solve convection-dominated Oseen equations. Lagrange multipliers are introduced to treat the trace-free constraint and the lowest order Raviart-Thomas finite element space on rectangular mesh is used. Error analysis for several quantities of interest is given. Particularly, first-order convergence in $L^2$ norm for the velocity is proved. Finally, numerical experiments for various cases are presented to show the efficiency of this method.

• Bulletin of the Korean Mathematical Society
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• v.44 no.2
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• pp.351-358
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• 2007

For an entire function f whose Fourier transform has a compact support confined to $[-{\pi},\;{\pi}]$ and restriction to ${\mathbb{R}}$ belongs to $L^2{\mathbb{R}}$, we derive a nonuniform sampling theorem of Lagrange interpolation type with sampling points ${\lambda}_n{\in}{\mathbb{R}},\;n{\in}{\mathbb{Z}}$, under the condition that $$\frac{lim\;sup}{n{\rightarrow}{\infty}}|{\lambda}_n-n|<\frac {1}{4}$.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.648-653
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• 1993

This paper presents an nonlinear observer scheme for flexible joint robot manipulators. This nonlinear observer scheme is based on the sliding mode method. Sliding controllers have recently been shown to feature excellent robustness and performance properties for specific classes of nonlinear tracking problems. Dynamic equations of flexible joint robot manipulators are derived from the Euler-Lagrange equations by forming the corresponding Lagrangian. Simulation results are presented to show the validness of the proposed nonlinear observer scheme.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.937-942
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• 1993

This paper extends the authors' prior work on the regulation of flexible space structures via partial feedback linearization (PFL) methods to articulated systems. Recursive relations introduced by Jain and Rodriguez are central to the efficient formulation of models via Poincare's form of Lagrange's equations. Such models provide for easy construction of feedback linearizing control laws. Adaptation is shown to be an effective way of reducing sensitivity to uncertain parameters. An application to a flexible platform with mobile remote manipulator system is highlighted.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1992.04a
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• pp.26-29
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• 1992

Modern tall buildings are subject to wind induced oscillations. Those oscillations can cause discomfort to the occupants. To control these motions, tuned mass dampers have been used. In this paper, component node synthesis, based on Lagrange multipliers formulation. is applied to the along-wind motion of tall buildings with multiple tuned mass dampers. Spectral densities of accelerations of top floor are compared by changing the numbers and locations of tuned mass dampers. It is found that multiple tuned mass dampers can be more effective than single tuned mass damper in reducing the acceleration response.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.359-362
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• 1996

Our unicycle robot has simple mechanical structure. But unicycle's dynamical system is a very sensitive unstable system. Equation of motion of this simple unicycle robot was derived using Lagrange's method. In this paper a human inference control mechanism was established throughout an inquiry into hyman riding a unicycle, and we developed a hybrid controller to control our unicycle robot. Our controller is consisted with the PD and fuzzy controller containing fuzzy gain scheduling technique. Computer simulation shows good results.