• Korean Journal of Oriental Medicine
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• v.14 no.1
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• pp.85-89
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• 2008

This study is to investigate cardiotonic effect of acupuncture on heart rate variability(HRV) analyzed by a nonlinear way(DFA, Detrended Fluctuation Analysis). It was designed as a randomized, single-blind, waiting list-controlled, cross-over study. We assessed heart rate and R-R intervals in Circadian electrocardiography with a Holter monitoring device for twelve hospitalized participants. The compatible analytical program, Zymed, was used for generating the signals of R-R intervals from 24 hour-ECG. In DFA analysis, we produced DFA alpha 1, alpha 2 parameters according to the process of Cygwin module of Linux server. We tested if there was any difference between HRV parameters using SPSS, a statistical package. There was no difference between acupuncture and no treatment group in DFA alpha 2 parameter {95% Confidence Interval (-)0.058 - 0.037, P = .565}. Two group all showed large intra-individual variations. Consequently, acupuncture treatment did not modulate the complexity of HRV in a DFA analysis. This study can be a rationale for acupuncture's properties on cardiovascular and autonomic systems.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.440-444
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• 1998

In this paper, we consider numerical solution of a H-J-B (Hamilton-Jacobi-Bellman) equation of elliptic type arising from the stochastic control problem. For the numerical solution of the equation, we take an approach involving contraction mapping and finite difference approximation. We choose the It(equation omitted) type stochastic differential equation as the dynamic system concerned. The numerical method of solution is validated computationally by using the constructed test case. Map of optimal controls is obtained through the numerical solution process of the equation. We also show how the method applies by taking a simple example of nonlinear spacecraft control.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.2
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• pp.710-726
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• 2018

This paper presents an extended particle filter to increase the accuracy and decrease the computation load of vehicle tracking. Particle filter has been the subject of extensive interest in video-based tracking which is capable of solving nonlinear and non-Gaussian problems. However, there still exist problems such as preventing unnecessary particle consumption, reducing the computational burden, and increasing the accuracy. We aim to increase the accuracy without an increase in computation load. In proposed method, we calculate the direction angle of the target vehicle. The angular difference between the direction of the target vehicle and each particle of the particle filter is observed. Particles are filtered and weighted, based on their angular difference. Particles with angular difference greater than a threshold is eliminated and the remaining are stored with greater weights in order to increase their probability for state estimation. Threshold value is very critical for performance. Thus, instead of having a constant threshold value, proposed algorithm updates it online. The first advantage of our algorithm is that it prevents the system from failures caused by insufficient amount of particles. Second advantage is to reduce the risk of using unnecessary number of particles in tracking which causes computation load. Proposed algorithm is compared against camshift, direction-based particle filter and condensation algorithms. Results show that the proposed algorithm outperforms the other methods in terms of accuracy, tracking duration and particle consumption.

• Structural Engineering and Mechanics
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• v.62 no.1
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• pp.85-95
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• 2017

This paper presents an explicit analytical iteration method for form-finding analysis of suspension bridges. By extending the conventional analytical form-finding method predicated on the elastic catenary theory, two nonlinear governing equations are derived for calculating the accurate unstrained lengths of the entire cable systems both the main cable and the hangers. And for the gradient-based iteration method, the derivation of explicit calculation for the Jacobian matrix while solving the nonlinear governing equation enhances the computational efficiency. The results from sensitivity analysis show well performance of the explicit Jacobian matrix compared with the traditional finite difference method. According to two numerical examples of long span suspension bridges studied, the proposed method is also compared with those reported approaches or the fundamental criterions in suspension bridge structural analysis, which eventually confirms the accuracy and efficiency of the proposed approach.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.75.5-75
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• 2001

In this paper, we study design of a ILQ(Inverse Linear Quadratic optimal control) looper control system for hot strip mills. The looper which is placed between stands plays an important role in controlling strip width by regulating strip tension variation generated from the velocity difference of main work rolls. A Looper servo controller is designed by ILQ control theory which is an inverse problem of LQ(Linear Quadratic optimal control) control. The mathematical model for looper system is obtained by Taylor´s linearization of nonlinear differential equations. Then we designed linear controller for linearization model by using the ILQ control algorithm. Thereafter this controller is applied to the nonlinear model for model identification. As a result, we show the controller´s robustness for the model error, external disturbance and sensor noise.

• Smart Structures and Systems
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• v.18 no.5
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• pp.839-864
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• 2016

This paper presents an efficient method for updating the structural finite element model. Model updating is performed through minimizing the difference between the recorded acceleration of a real damaged structure and a hypothetical damaged one. This is performed by updating physical parameters (module of elasticity in this study) in each step using iterative process of modified nonlinear conjugate gradient (M-NCG) and modified Broyden-Fletcher-Goldfarb-Shanno algorithm (M-BFGS) separately. These algorithms are based on sensitivity analysis and provide a solution for nonlinear damage detection problem. Three illustrative test examples are considered to assess the performance of the proposed method. Finally, it is demonstrated that the proposed method is satisfactory for detecting the location and ratio of structural damage in presence of noise.

• Computers and Concrete
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• v.2 no.3
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• pp.177-188
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• 2005

This paper presents a numerical model developed to evaluate the load-deflection and moment-curvature relationship for concrete beams strengthened externally with four different Fiber Reinforced Polymer (FRP) composite systems. The developed model considers the inelastic behavior of concrete section subjected to a combined axial force and bending moment. The model accounts for tensile strength of concrete as defined by the modulus of rupture of concrete. Based on the adopted material constitutive relations, the model evaluates the sectional curvature as a function of the applied axial load and bending moment. Deflections along the beam are evaluated using a finite difference technique taking into account support conditions. The developed numerical technique has been tested on a cantilever beam with a transverse load applied at its end. A study of the behavior of the beam with tension reinforcement compared to that with FRP areas giving an equivalent ultimate moment has been carried out. Moreover, cracking of the section in the tensile region at ultimate load has also been considered. The results indicated that beams reinforced with FRP systems possess more ductility than those reinforced with steel. This ductility, however, can be tuned by increasing the area of FRP or by combining different FRP layers.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1210-1216
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• 2004

This paper deals with a human-like gait generation of a biped robot with a balancing weight of an inverted pendulum type by using genetic algorithm. The ZMP (Zero Moment Point) is the most important index in a biped robot's dynamic walking stability. To perform a stable walking of a biped robot, a balancing motion is required according to legs' trajectories and a desired ZMP trajectory. A dynamic equation of the balancing motion is nonlinear due to an inverted pendulum type's balancing weight. To solve the nonlinear equation by the FDM (Finite Difference Method), a linearized model of equation is proposed. And GA (Genetic Algorithm) is applied to optimize a human-like balancing motion of a biped robot. By genetic algorithm, the index of the balancing motion is efficiently optimized, and a dynamic walking stability is verified by the ZMP verification equation. These balancing motion are simulated and experimented with a real biped robot IWR-IV. This human-like gait generation will be applied to a humanoid robot, at future work.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1997.10a
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• pp.350-355
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• 1997

The problem of mathematical model for an unknown system by measureing its input-output data pairs is generally referred to as state estimates. The state estimation problem is often of importance in its own right since we may want to know the value of the states. For instance, in navigation, we may take noisy positional fixes using satelite or radar navigation, and the estimator can use these measurements to provide accurate estimates of current position, hedaing, and velocity. And the state estimates can also be used for control purposes. Then it is very important to know the state of plant. In this paper, the theory of the minimization of a loss function was used to design the fuzzy system. Here, the used teory is Least Square Esimation method. This parametrization has the Linear in the parameters charcteristic that allows standard parameter estimation technique to be used to estimate the parameters of the fuzzy system. The combination of the fuzzy system and the estimation m thod then performs as a nonlinear estimator. If several fuzzy label are defined for the input variables at the antecedent part, the fuzzy system then behaves as a collection of nonlinear estimators where different regions of rules have different parameters. In simulation results, the fuzzy model controlled a difference in the structure between the actual plant and the fuzzy estimator. It is also proved that the fuzzy system is equivalent to its transformed system. therefore we was able to get the state space equation of system with the estimated paramater.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.12 no.12
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• pp.921-928
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• 2002

Main sources of the nitration of a gear-pair system are backlash and transmission error, the difference between required and actual rotation during gear meshing. This paper presents the nonlinear dynamic characteristics of gear motions due to the existence of backlash and periodic variation of meshing stiffness, which is assumed as a one-term harmonic component. Gear motions are classified as three types with the consideration of backlash. Each response is calculated using the harmonic balance method and confirmed by numerical integration. The responses with the increase of the rotating speed show abrupt changes in its magnitude for the variation of the preload, exciting force, and damping coefficient. The result also shows that there is a chaotic motion with some specific design parameters and operating conditions In gear diving system. Consequently the design of gear driving system with low nitration and noise requires the study on the effects of nonlinear dynamic characteristics due to stiffness variation and backlash.