• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.635-642
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• 1989

We formulated the multi-robot trajectory problem into a series of NLP problem, each of which is that of finding the optimal tip positions of the robots for the next time step. The NLP problem is composed of an objective function and three constraints, namely: a) Joint position limits, b) Joint velocity limits, and c) Collision-avoidance constraints. By solving a series of NLP problem, optimally coordinated trajectories can be determined without requiring any prior path information. This is a novel departure from the previous approach in which either all paths or at least one path is assumed to be given. Practical application of the developed method is for optimal synthesis of multiple robot trajectories in off-line. To test the validity and effectiveness of the method, numerical examples are illustrated.

• Proceedings of the KIEE Conference
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• 1987.11a
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• pp.457-462
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• 1987

This paper deals with the PWM controlled active AC power filter. A new PWM control method from the viewpoint of speed and simplicity is proposed. And a microprocessor-based controller is used to realize the active AC power filter. The existing PWM control methods are primarily based on Fourier series expansion and these methods need FFT calculation and solving nonlinear harmonic equations, which are heavy burden to real-time control. The proposed method is based upon generalized pulse series expansion and needs only definite integrals of harmonic signal. So, computational effort can be reduced by a large margin. The digital circuit using 16-bit microprocessor is designed to implement the actual active power filler.

• Proceedings of the KIEE Conference
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• 1994.11a
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• pp.72-74
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• 1994

This paper presents a linear quadratic gaussian(LQG) based power system stabilizer(PSS) to control subsynchronous resonance(SSR) that occurs in a series capacitor compensated power systems. The complete SSR system based on the IEEE first benchmark model is employed in this study. Eigenvalue analysis and time domain simulations using a nonlinear system model show that the proposed PSS controls SSR efficiently.

• Journal of Power System Engineering
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• v.6 no.1
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• pp.96-101
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• 2002

In this paper, we address the problem of controlling an end-effector to track and grab a moving target using the visual servoing technique. A visual servo mechanism based on the image-based servoing principle, is proposed by using visual feedback to control an end-effector without calibrated robot and camera models. Firstly, we consider the control problem as a nonlinear least squares optimization and update the joint angles through the Taylor Series Expansion. And to track a moving target in real time, the Jacobian estimation scheme(Dynamic Broyden's Method) is used to estimate the combined robot and image Jacobian. Using this algorithm, we can drive the objective function value to a neighborhood of zero. To show the effectiveness of the proposed algorithm, simulation results for a six degree of freedom robot are presented.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.760-763
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• 2007

We studied how linear and nonlinear heart rate dynamics differ between normal fetuses and uncomplicated small-forgestational age (SGA) fetuses, aged 32-40 weeks' gestation. We analyzed each fetal heart rate time series for 20 min and quantified the complexity (nonlinear dynamics) of each fetal heart rate (FHR) time series by approximate entropy (ApEn) and correlation dimension (CD). The linear dynamics were analyzed by canonical correlation analysis (CCA). The ApEn and CD of the uncomplicated SGA fetuses were significantly lower than that of the normal fetuses in all three gestational periods (32-34, 35-37, 38-40 weeks). Canonical correlation ensemble in SGA fetuses is slightly higher than normal ones in all three gestational periods, especially at 35-37 weeks. Irregularity and complexity of the heart rate dynamics of SGA fetuses are lower than that of normal ones. Also, canonical ensemble in SGA fetuses is higher than in normal ones, suggesting that the FHR control system has multiple complex interactions. Along with the clear difference between the two groups' non-linear chaotic dynamics in FHR patterns, we clarified the hidden subtle differences in linearity (e.g. canonical ensemble). The decrease in non-linear dynamics may contribute to the increase in linear dynamics. The present statistical methodology can be readily and routinely utilized in Obstetrics and Gynecologic fields.

• Earthquakes and Structures
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• v.10 no.5
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• pp.1125-1141
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• 2016

The direct displacement based design (DDBD) approach is spreading in the field of seismic design for many types of structures. This paper is carried out to present a robust approach for the DDBD procedure for single degree of freedom (SDOF) concentrically braced frames (CBFs). Special attention is paid to the choice of an equivalent viscous damping (EVD) model that represents the behaviour of a series of full scale shake table tests. The performance of the DDBD methodology of the CBFs is verified by two ways. Firstly, by comparing the DDBD results with a series of full-scale shake table tests. Secondly, by comparing the DDBD results with a quantified nonlinear time history analysis (NLTHA). It is found that the DDBD works relatively well and could predict the base shear forces ($F_b$) and the required brace cross sectional sizes of the actual values obtained from shake table tests and NLTHA. In other words, when comparing the ratio of $F_b$ estimated from the DDBD to the measured values in shake table tests, the mean and coefficient of variation ($C_V$) are found to be 1.09 and 0.12, respectively. Moreover, the mean and $C_V$ of the ratios of $F_b$ estimated from the DDBD to the values obtained from NLTHA are found to be 1.03 and 0.12, respectively. Thus, the DDBD methodology presented in this paper has been shown to give accurate and reliable results.

• Journal of the Korea Institute of Building Construction
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• v.14 no.6
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• pp.631-637
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• 2014

Recently, following the application of modular housing techniques to not only residential sector, but also to business sector, the scope of modular housing market b expanding. In the case of other developed countries, such markets are entering into the maturity stage, though the market in Korea is not fully formed yet. Thus, it is difficult to check its trend to estimated mid- to long-term prospects of the market. In this context, the study predicted demand of the modular housing market by using a non-linear prediction model based on time series analysis. To get the prospects for the modular housing market, the quantity of housing supply was estimated based on the estimated quantity of newly built housings, and assumed that a portion of the supplied quantity would be the demand for modular housings. Based on the assumption of demand for modular housings, several scenarios were analyzed and the prospects of the modular housing market was obtained by utilizing the non-linear prediction model.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.3
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• pp.447-454
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• 2010

This paper presents multiple fuzzy prediction systems based on an Interval type-2 TSK fuzzy Logic System so that the uncertainty and the hidden characteristics of nonlinear data can be reflected more effectively to improve prediction quality. In proposed method, multiple fuzzy systems are adopted to handle the nonlinear characteristics of data, and each of multiple system is constructed by using interval type-2 TSK fuzzy logic because it can deal with the uncertainty and the characteristics of data better than type-1 TSK fuzzy logic and other methods. For input of each system, the first-order difference transformation method are used because the difference data generated from it can provide more stable statistical information to each system than the original data. Finally, computer simulations are performed to show the effectiveness of the proposed method for two typical time series examples.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.8
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• pp.3976-3982
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• 2013

This paper presents a temperature analysis of the chaotic behavior in the voltage controlled CMOS chaotic circuit. The circuit is based on a simple nonlinear function block which is needed for chaotic signal generation. It consists of a NFB (nonlinear function block), a level shifter and non-overlapping two-phase clock for sample and hold. By SPICE simulation, chaotic dynamics such as frequency spectra and bifurcations according to the temperature variations were analyzed. And, it was showed that the circuit can generate discrete chaotic signals within control voltage in the range from 1.2 V to 2.3 V in a specific temperature condition of $25^{\circ}C$.

• The Journal of the Korea institute of electronic communication sciences
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• v.9 no.6
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• pp.711-717
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• 2014

Happiness has been studied in sociology and psychology as a matter of grave concern. In this paper the happiness model that a new second -order systems can be organized equivalently with a Spring-Damper-Mass are proposed. This model is organized a 2-dimensional model of identically type with Duffing equation. We added a nonlinear term to Duffing equation and also applied Gaussian white noise and period sine wave as external stimulus that is able to cause of happiness. Then we confirm that there are random motion, periodic motion and chaotic motion according to parameter variation in the new happiness model.