• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.4
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• pp.540-547
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• 2009

In the near future, military robots are likely to be substituted for military personnel in the field of battle. The power system of a legged robot is considerably more complex than the one used for a land vehicle because of the coordination and stability issues due to the large number of degree of freedom. In this paper, a servovalve-piston combination system for a straight-line motion of robot leg is modeled as three degree of freedom based on double inputs and single output transfer function. The output is the displacement of piston from neutral. The inputs are valve displacement from neutral and arbitrary load force in this system. LQR(Linear Quadratic Regulator) technique is applied in order to achieve robust stability and fast responses of the system. The Kalman filter loop, rejection of disturbance and noise, riccati equation, filter gain matrix, and frequency domain equality are analyzed and designed.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2432-2434
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• 2004

In this paper, we present a novel approach for the structure of Fuzzy Neural Network(FNN) based on wavelet function and apply this network structure to the solution of the tracking problem for mobile robots. Generally, the wavelet fuzzy model(WFM) has the advantage of the wavelet transform by constituting fuzzy basis function(FBF) and the conclusion part to equalize the linear combination of FBF with the linear combination of wavelet functions. However, it is very difficult to identify the fuzzy rules and to tune the membership functions of the fuzzy reasoning mechanism. Neural networks, on the other hand, utilize their learning capability for automatic identification and tuning. Therefore, we design a wavelet based FNN structure(WFNN) that merges these advantages of neural network, fuzzy model and wavelet. To verify the efficiency of our network structure, we evaluate the tracking performance for mobile robot and compare it with those of the FNN and the WFM.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.6A
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• pp.488-496
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• 2012

In this paper, the scheme for designing optimal beamforming matrix for interference control is proposed. The optimal beamforming matrix is found though linear combination of interference alignment conditions and renewal of linear combination coefficient. The proposed scheme has advantages that the complexity is reduced and there is no multiplying operation in matrix calculations even if proposed scheme has the form similar to that of existing least square based scheme. The simulation results show that proposed scheme has about 4bps/Hz higher gain than existing least square scheme. Also there is no additional multiplying calculation and increase of matrix size when the number of transmit and receive antennas is increased.

• Computational Structural Engineering
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• v.10 no.1
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• pp.185-191
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• 1997

Beam - and arch-like structures are two-dimensional bodies characterized by the fact of small thickness compared to the length of structures. Owing to this geometric feature, linear displacement approximations through the thickness such as Kirchhoff and Reissner-Mindlin theories which are more accessible one dimensional problems have been used. However, for accurate analysis of the behavior in the regions where the state of stresses is complex, two-dimensional linear elasicity or relatively high order of thickness polynomials is required. This paper analyses accuracy according to the order of thickness polynomials and introduces a technique for model combination for which several different polynomial orders are mixed in a single structure.

• Journal of Power Electronics
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• v.11 no.5
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• pp.743-750
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• 2011

This article deals with the sensor-less control of a DC Motor via a SEPIC Converter-Full Bridge combination powered through solar panels. We simultaneously regulate, both, the output voltage of the SEPIC-converter to a value larger than the solar panel output voltage, and the shaft angular velocity, in any of the turning senses, so that it tracks a pre-specified constant reference. The main result of our proposed control scheme is an efficient linear controller obtained via Lyapunov. This controller is based on measurements of the converter currents and voltages, and the DC motor armature current. The control law is derived using an exact stabilization error dynamics model, from which a static linear passive feedback control law is derived. All values of the constant references are parameterized in terms of the equilibrium point of the multivariable system: the SEPIC converter desired output voltage, the solar panel output voltage at its Maximun Power Point (MPP), and the DC motor desired constant angular velocity. The switched control realization of the designed average continuous feedback control law is accomplished by means of a, discrete-valued, Pulse Width Modulation (PWM). Experimental results are presented demonstrating the viability of our proposal.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.1076-1080
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• 2003

$CO_2$ uptake of vegetation is one of the important variables in order to estimate photosynthetic activity, plant growth and carbon budget estimations. The objective of this research was to develop a new estimation method of $CO_2$ uptake of vegetation based on airborne hyperspectral remote sensing measurements in combination with a photosynthetic rate curve model. In this study, a compact airborne spectrographic imager (CASI) was used to obtain image over a field that had been set up to study the $CO_2$ uptake of corn on August 7, 2002. Also, a field survey was conducted concurrently with the CASI overpass. As a field survey, chlorophyll a content, photosynthetic rate curve, Leaf area, dry biomass and light condition were measured. The developed estimation method for $CO_2$ uptake consists of three major parts: a linear mixture model, an enhanced big leaf model and a photosynthetic rate curve model. The Accuracy of this scheme indicates that $CO_2$ uptake of vegetation could be estimated by using airborne hyperspectral remote sensing data in combination with a physiological model.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.37 no.5
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• pp.293-302
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• 2019

In mountain accident events, it is important for the search team commander to determine the search area in order to secure the Golden Time. Within this period, assistance and treatment to the concerned individual will most likely prevent further injuries and harm. This paper proposes a method to determine the search priority area based on missing persons behavior and missing persons incidents statistics. GIS (Geographic Information System) and MCDM (Multi Criteria Decision Making) are integrated by applying WLC (Weighted Linear Combination) techniques. Missing persons were classified into five types, and their behavioral characteristics were analyzed to extract seven geographic analysis factors. Next, index values were set up for each missing person and element according to the behavioral characteristics, and the raster data generated by multiplying the weight of each element are superimposed to define models to select search priority areas, where each weight is calculated from the AHP (Analytical Hierarchy Process) through a pairwise comparison method obtained from search operation experts. Finally, the model generated in this study was applied to a missing person case through a virtual missing scenario, the priority area was selected, and the behavioral characteristics and topographical characteristics of the missing persons were compared with the selected area. The resulting analysis results were verified by mountain rescue experts as 'appropriate' in terms of the behavior analysis, analysis factor extraction, experimental process, and results for the missing persons.

• Structural Engineering and Mechanics
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• v.78 no.2
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• pp.219-230
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• 2021

International seismic codes stipulate that adjacent buildings should be separated by a specified minimum distance, otherwise the pounding effect should be considered in the design. Recent researches proposed an alternative method (Double Difference Combination Rule) to estimate seismic gap between structures, as this method considers the cross relation of adjacent buildings behavior during earthquakes. Four different criteria were used to calculate the minimum separation distance using this method and results are compared to the international codes for five separation cases. These cases used four case study buildings classified by different heights, lateral load resisting systems and fundamental periods of vibrations to assess the consistency in results for the alternative methods. Non-linear analysis was performed to calculate the inelastic displacements of the four buildings, and the results were used to evaluate the relation between elastic and inelastic displacements due to the ductility of structural elements resisting seismic loads. A verification analysis was conducted to guarantee that the separation distance calculated is sufficient to avoid pounding. Results shows that the use of two out of the four studied methods yields separation distances smaller than that calculated by the code specified equations without under-estimating the minimum separation distance required to avoid pounding.

• Journal of applied mathematics & informatics
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• v.40 no.5_6
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• pp.1137-1150
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• 2022

Consider the quantum algebra U_q(sl₂) over field 𝓕 (char(𝓕) = 0) with equitable generators x^±1, y and z, where q is fixed nonzero, not root of unity scalar in 𝓕. Let V denote a finite dimensional irreducible module for this algebra. Let Λ ∈ End(V), and let {A₁, A₂, A₃} = {x, y, z}. First we show that if Λ, A₁ is a Leonard pair, then this Leonard pair have four types, and we show that for each type there exists a Leonard pair Λ, A₁ in which Λ is a linear combination of 1, A₂, A₃, A₂A₃. Moreover, we use Λ to construct 𝚼 ∈ U_q(sl₂) such that 𝚼, A^-1₁ is a Leonard pair, and show that 𝚼 = I + A₁Φ + A₁ΨA₁ where Φ and Ψ are linear combination of 1, A₂, A₃.

• Honam Mathematical Journal
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• v.43 no.2
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• pp.183-197
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• 2021

Recently several authors have extended the Beta function by using its integral representation. However, in many cases no expression of these extended functions in terms of classic special functions is known. In the present paper, we introduce a further extension by defining a family of functions G_r,s : ℝ^*₊ → ℂ, with r, s ∈ ℂ and ℜ(r) > 0. For given r, s, we prove that this function satisfies a second-order linear differential equation with rational coefficients. Solving this ODE, we express G_r,s as a combination of confluent hypergeometric functions. From this we deduce a new integral relation satisfied by Tricomi's function. We then investigate additional specific properties of G_r,1 which take the form of new non trivial integral relations involving exponential and error functions. We discuss the connection between G_r,1 and Stokes' first problem (or Rayleigh problem) in fluid mechanics which consists in determining the flow created by the movement of an infinitely long plate. For $r{\in}{\frac{1}{2}}{\mathbb{N}}^*$, we find additional relations between G_r,1 and Hermite polynomials. In view of these results, we believe the family of extended beta functions G_r,s will find further applications in two directions: (i) for improving our knowledge of confluent hypergeometric functions and Tricomi's function, (ii) and for engineering and physics problems.