• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.559-564
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• 1993

Nonlinear equation of motion of the flexible manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. The resulting equations of motion have a structure which is useful to reduce the number of terms calculated, to check correctness, or to extend the model to high order. A manipulator with a flexible 4 bar link mechanism is a constrained system whose equations are sensitive to numerical integration error. This constrained system is solved using the null space matrix of the constraint Jacobian matrix. Singular value decomposition is a stable algorithm to find the null space matrix.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.32.4-32
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• 2002

We consider inertial navigation system (INS) sensor redundancy and propose a method which uses singular value decomposition to detect and isolate faults when even two sensors have faults simultaneously. When redundant sensor configuration is given, such as symmetric configuration in INS, the range space and null space of configuration matrix are determined. We use null space of configuration matrix and define 21 reference fault vectors which include 6 one-fault vectors and 15 two-fault vectors. Measurements are projected into null space of measurement matrix and compared with 21 normalized reference fault vectors, which determines fault detection and isolation.

• 제어로봇시스템학회논문지
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• 제19권7호
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• pp.577-582
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• 2013

In this paper Legendre wavelets are used to approximate the solutions of linear time-invariant system. The Legendre wavelet and its integral operational matrix are presented and an efficient algorithm to solve the Sylvester matrix equation is proposed. The algorithm is based on the decomposition of the Sylvester matrix equation and the preorder traversal algorithm. Using the special structure of the Legendre wavelet's integral operational matrix, the full order Sylvester matrix equation can be solved in terms of the solutions of pure algebraic matrix equations, which reduce the computation time remarkably. Finally a numerical example is illustrated to demonstrate the validity of the proposed algorithm.

• IEIE Transactions on Smart Processing and Computing
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• 제6권2호
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• pp.117-123
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• 2017

N-continuous orthogonal frequency division multiplexing (OFDM) is a precoding method for sidelobe suppression of OFDM signals and seamlessly connects OFDM symbols up to the high-order derivative for sidelobe suppression, which is suitable for suppressing out-of-band radiation. However, it severely degrades the error rate as it increases the continuous derivative order. Two schemes for orthogonal precoding of N-continuous OFDM have been proposed to achieve an ideal error rate while maintaining sidelobe suppression performance; however, the large size of the precoder matrices in both schemes causes very high computational complexity for precoding and decoding. This paper proposes matrix decomposition of precoder matrices with a large size in the orthogonal precoding schemes in order to reduce computational complexity. Numerical experiments show that the proposed method can drastically reduce computational complexity without any performance degradation.

• 한국통신학회논문지
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• 제16권6호
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• pp.556-565
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• 1991

A가 nxn 삼중대각행렬인 선형방정식 Ax=b를 WZ분해 알고리즘을 이용하여 해석하고 이 알고리즘을 CAM Systolic Array 로 구현했다. 그리고 이 어레이를 평가하기위하여 LU분해 알고리즘을 제시하고 이를 W, D, Z분해 알고리즘과 비교 고찰한 결과 LU분해 알고리즘 보다 WZ분해 알고리즘이 1/4정도 가까운 시간으로 실행시간이 단축될 수 있었다. CAM Systolic Array에서 실행되는 각 단계를 1 time stpe으로 가정하면 2n+1 times이 필요하고 CAM의 데이타 워드는 메트릭스 원소의 값과 행번호, 연산의 형태 및 상태에 관한 정보를 포함하고 pipeline식으로 각 프로세서를 systolic processing하므로서 중앙제어가 필요없고, data brodcasting도 피할 수 있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.123-128
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• 1996

Kinematically redundant manipulators have been studied because of its usefulness of kinematic redundancy. It is natural that the kinematic redundancy induces a kind of control redundancy. By using the weighted kinematically decoupled joint space decomposition, we unify the control redundancy and the kinematic redundancy parameterized by the joint space weighting matrix. Concentrating to the particular component of each decomposition, we can describe the local minimization behavior of the control weighted quadratic by each weighted decomposition. The result extends the conventional results on general setting, and should be of interest in understanding the motion behavior of kinematically redundant manipulators.

• 소성∙가공
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• 제7권5호
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• pp.474-480
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• 1998

In the present study a domain decomposition scheme using the substructuring method is developed for the computational efficiency of the finite element analysis of metal forming processes. in order to avoid calculation of an inverse matrix during the substructuring procedure, the modified Cholesky decomposition method is implemented. As obtaining the data independence by the substructuring method the program is easily paralleized using the Parallel Virtual machine(PVM) library on a work-station cluster connected on networks. A numerical example for a simple upsetting is calculated and the speed-up ratio with respect to various number of subdomains and number of processors. The efficiency of the parallel computation is discussed by comparing the results.

• 전기학회논문지
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• 제60권9호
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• pp.1748-1753
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• 2011

In this paper, we consider the stability of linear systems with an interval time-varying delay. It is known that the adoption of decomposition of delay improves the stability result. For the interval time-delay case, they applied it to the interval of time-delay and got less conservative results. Our basic idea is to apply the general decomposition to the low limit of delay as well as interval of time-delay. Based on this idea, by using the modified Lyapunov-Krasovskii functional and newly derived Lemma, we present a less conservative stability criterion expressed as in the form of linear matrix inequality(LMI). Finally, we show, by well-known two examples, that our result is less conservative than the recent results.

• Korea-Australia Rheology Journal
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• 제21권1호
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• pp.1-12
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• 2009

This paper reports the suitability of a domain decomposition technique for the hybrid simulation of dilute polymer solution flows using Eulerian Brownian dynamics and Radial Basis Function Networks (RBFN) based methods. The Brownian Configuration Fields (BCF) and RBFN method incorporates the features of the BCF scheme (which render both closed form constitutive equations and a particle tracking process unnecessary) and a mesh-less method (which eliminates element-based discretisation of domains). However, when dealing with large scale problems, there appear several difficulties: the high computational time associated with the Stochastic Simulation Technique (SST), and the ill-condition of the system matrix associated with the RBFN. One way to overcome these disadvantages is to use parallel domain decomposition (DD) techniques. This approach makes the BCF-RBFN method more suitable for large scale problems.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 1998년도 춘계학술대회논문집
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• pp.246-249
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• 1998

In the present study, domain decomposition using the substructuring method is developed for the computational efficiency of the finite element analysis of metal forming processes. In order to avoid calculation of an inverse matrix during the substructuring procedure, the modified Cholesky decomposition method is implemented. As obtaining the data independence by the substructuring method, the program is easily parallelized using the Parallel Virtual Machine(PVM) library on a workstation cluster connected on networks. A numerical example for a simple upsetting is calculated and the speed-up ratio with respect to various domain decompositions and number of processors. Comparing the results, it is concluded that the improvement of performance is obtained through the proposed method.