• 제어로봇시스템학회논문지
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• 제14권8호
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• pp.727-732
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• 2008

In this paper, the state-space representation of generalized complimentary filter is proposed. Complementary filter has the suitable structure to merge information from sensors whose frequency regions are complementary. First, the basic concept and structure of complementary filter is introduced. And then the structure of the generalized filter and its state-space representation are proposed. The state-space representation of complementary filter is able to design the complementary filter by applying modern filtering techniques like Kalman filter and $H_{\infty}$ filter. To show the usability of the proposed state-space representation, the design of Inertial Navigation System(INS) vertical channel damping loop using Global Positioning System(GPS) is described. The proposed GPS/INS damping loop lends the structure of Baro/INS(Barometer/INS) vertical channel damping loop that is an application of complementary filter. GPS altitude error has the non-stationary statistics although GPS offers navigation information which is insensitive to time and place. Therefore, $H_{\infty}$ filtering technique is selected for adding robustness to the loop. First, the state-space representation of GPS/INS damping loop is acquired. And next the weighted $H_{\infty}$ norm proposed in order to suitably consider characteristics of sensor errors is used for getting filter gains. Simulation results show that the proposed filter provides better performance than the conventional vertical channel loop design schemes even when error statistics are unknown.

• 대한수학회보
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• 제36권4호
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• pp.747-754
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• 1999

We compute the mod p homology of the double loop space of Sp(n)/U(n) by the Serre spectral sequence and the Eilenberg-Moore spectral sequence with the homology operations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1993-1998
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• 2004

This paper proposes a new framework for control system design, called the data-based control approach or data space approach, in which the input and output data of a dynamical system is directly and solely used to analyze or design a control system without the employment of any mathematical models like transfer functions, state space equations, and kernel representations. Since, in this approach, most of the analysis and design processes are carried out in the domain of the data space, we introduce some notions of geometrical objects, e.g., the openloop and closed-loop data spaces, which serve as the system representations in the data space. In addition, we establish a relationship between the open-loop and closed-loop data spaces that the closed-loop data space is contained in the open-loop data space as one of its subspaces. By using this relationship, we can derive the data-based stabilization condition for a linear time-invariant discrete-time system, which leads to a linear matrix inequality with a rank constraint.

• 대한수학회보
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• 제40권2호
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• pp.281-288
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• 2003

We compute the mod p homology of the double loop space of 50(2n)/U(n) by the Serre spectral sequence of Hopf algebras. We also obtain the torsion information of the integral homology.

• 한국우주과학회:학술대회논문집(한국우주과학회보)
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• 한국우주과학회 2008년도 한국우주과학회보 제17권2호
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• pp.29.1-29.1
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• 2008

The temperature control system which is using liquid and gaseous nitrogen has been known as the most economical system to simulate space temperature condition due to relatively not expansive price of the liquid nitrogen (less than 0.2 USD per liter). And, among these systems, the closed loop system which circulates compressed nitrogen gas come from sprayed liquid nitrogen by blower and makes a target temperature with heat from an electrical heater and flow rate of liquid nitrogen is prevail all over the world. But, this complete closed loop system requires expansive equipments such as blower, heater, and liquid nitrogen injector, and special maintenance on the system. Therefore, KARI is developing efficient and simple open loop system which utilizes liquid and gaseous nitrogen with eliminating a special blower and other expansive units. In this study, this open loop system with more efficiency and flexibility will be designed and introduced.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.680-684
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• 2005

This paper presents a data-based stability analysis of a MIMO linear time-invariant discrete-time system, as an extension of the previous results for a SISO system. In the MIMO case, a similar discussion as in the case of a SISO system is also applied, except that an augmented input and output space is considered whose dimension is determined in relation to both the orders of the input and output vectors and the numbers of inputs and outputs. As certain subspaces of the input and output space, both output data space and closed-loop data space are defined, which contain all the behaviors of a system, respectively, with zero input in open-loop and with a control input in closed-loop. Then, we can derive the data-based stability conditions, in which the open-loop stability can be checked by using a data matrix whose column vectors span the output data space and the closed-loop stability can also be checked by using a data matrix whose column vectors span the closed-loop data space.

• 대한치과교정학회지
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• 제25권2호
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• pp.143-152
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• 1995

이 연구는 다양한 형태의 closing loops의 activation에 따른 치주조직에서의 응력분포를 평가하고 상악 절치의 이동 양상을 예측하기 위하여 3차원 유한요소법에 의하여 시행되었다. 동시에 상악 절치의 견인시 사용되는 bull loop, key-hole loop, T-loop, combination loop 그리고 asymmetrical T-loop도 3차원 유한요소법에 의해 분석 되었다. 이 연구로부터 얻어진 결과는 다음과 같다. 1. 여러가지 형태의 공간폐쇄용 루프중 bull loop에서 가장 큰 수평력을 나타냈으며 , key-hole, combination loop, T-loop 순이었다. 이들 모두 치아이동의 양상은 uncontrolled tipping을 나타냈다. 2. Asymmetrical TMA T-loop에서는 수평력이 현저히 감소하였으며, 절치부위에 함입력이 나타났다. 3. 절치부에서 torque의 증가에 따라 모멘트가 증가하였고, 선형적인 증가를 보였다. 4. 모멘트의 증가에 따라 치아의 초기 이동양상은 uncontrolled tipping에서 치근이동 양상으로 변화되었다.

• 천문학회지
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• 제56권2호
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• pp.225-229
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• 2023

We investigated an emerging magnetic loop dynamically formed on the Sun, which has the effective footpoint heating source that may play a key role in heating a solar atmosphere with free magnetic energy in it. It is suggested that the heating source could be related to local compression of a plasma in the emerging loop by means of Lorentz force, which converts the magnetic energy to the internal energy of the plasma that is used to reaccelerate a decelerated downflow along the loop, eventually generating the source when the kinetic energy of the downflow is thermalized. By analyzing very high-cadense data obtained from a magnetohydrodynamic simulation, we demonstrate how the local compression is activated to trigger the generation of the heating source. This reveals a characteristic of the emerging loop that experiences a dynamic loop-loop interaction, which causes the local compression and makes the plasma gain the internal energy converted from the magnetic energy in the atmosphere. What determines the characteristic that could distinguish an illuminated emerging loop from a nonilluminated one is discussed.

• 대한수학회지
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• 제35권1호
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• pp.149-164
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• 1998

We study the homology of the tripe loop space of the exceptional Lie group $F_4$ by exploiting the spectral sequences and the homology operators.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.237-254
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• 2005

The vast mechanical systems could be classified as closed loop system, open loop system and open & closed (switching) system. In the closed loop system, the kinematics and dynamics of 3-D mechanisms will be reviewed and closed form solutions using the direction cosine matrix method and reflection transformation method will be introduced. In the open loop system, kinematic & dynamic analysis methods regarding the redundant system which has more degrees of freedom in joint space than those of task space are reviewed and discussed. Finally, switching system which changes its phase between closed and open loop motion is investigated with the principle of dynamical balance. Among switching systems, the human gait in biomechanics and humanoid in robotics are presented.