• 대한전기학회논문지
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• 제45권3호
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• pp.407-414
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• 1996

In this paper we consider the variable structure control for a class of discrete-time uncertain multivariable systems where the nominal system is linear. Discrete-time switching dynamics are introduced so that a new type of state trajectories called sliding mode may exist on the sliding surface by state feedback. The quantitative analysis for the matched uncertainties will show that every response of the system with the proposed switching dynamics is bounded within small neighborhoods of the state-space origin. Also, by the similarity transformation it will be shown that the eigenvalues of the closed-loop systems are composed of those of the subsystems which govern the range-space dynamics and null-space dynamics. It will be also shown that ideal sliding mode can be obtained in the absence of uncertainties due to one-step attraction to the sliding surface regardless of initial position of states. (author). 12 refs., 2 figs.

• 한국통신학회논문지
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• 제32권8C호
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• pp.758-766
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• 2007

높은 주파수 효율 때문에 무선 통신에 널리 쓰이고 있는 직교 주파수 분할 다중화 방식의(orthogonal frequency division multiplexing: OFDM) 문제점 중 하나는 높은 첨두대평균 전력비(peak to average power ratio: PAPR) 이다. 본 논문에서는 제한된 되먹임 정보를 가지는 송신 다중 안테나(multiple input single output: MISO) 빔성형 OFDM(beamforming OFDM) 시스템을 위한 PAPR 감소 기법을 제안한다. 제안된 방식은 채널의 영공간(null space)에서 생성된 부가신호를 원 신호에 더하여 PAPR을 줄이는 방법에 기반한다. 먼저 전체 채널 되먹임을 가정한 기존의 시스템을 부분 채널 정보 되먹임 시스템에 적용할 때의 문제점을 파악하고, 이를 바탕으로 수신 성능 열화를 줄이면서 PAPR을 감소시키는 부가 신호에 대한 가중 함수를 제안한다. 가중 함수는 수치적으로 구하며 컴퓨터 모의 실험을 통해 제안된 방식이 비트오류율(bit error rate: BER) 성능 손실은 거의 없으면서 2.5dB 정도의 PAPR감소 효과를 얻을 수 있음을 보인다.

• 로봇학회논문지
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• 제17권3호
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• pp.288-295
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• 2022

This study shows a system identification method of a balancing loading device for a stair climbing delivery robot. The balancing loading device is designed as a 2-axes gimbal structure and is interpreted as two independent pendulum structures for simplifying. The loading device's properties such as mass, moment of inertia, and position of the center of gravity are changeable for luggage. The system identification process of the loading device is required, and the controller should be optimized for the system in real-time. In this study, the system identification method is based on least squares method to estimate the unknown parameters of the loading device's dynamic equation. It estimates the unknown parameters by calculating them that minimize the error function between the real system's motion and the estimated system's motion. This study improves the accuracy of parameter estimation using a null space solution. The null space solution can produce the correct parameters by adjusting the parameter's relative sizes. The proposed system identification method is verified by the simulation to determine how close the estimated unknown parameters are to the real parameters.

• International Journal of Internet, Broadcasting and Communication
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• 제16권2호
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• pp.22-30
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• 2024

Image compression-decompression methods have become increasingly crucial in modern times, facilitating the transfer of high-quality images while minimizing file size and internet traffic. Historically, early image compression relied on rudimentary codecs, aiming to compress and decompress data with minimal loss of image quality. Recently, a novel compression framework leveraging colorization techniques has emerged. These methods, originally developed for infusing grayscale images with color, have found application in image compression, leading to colorization-based coding. Within this framework, the encoder plays a crucial role in automatically extracting representative pixels-referred to as color seeds-and transmitting them to the decoder. The decoder, utilizing colorization methods, reconstructs color information for the remaining pixels based on the transmitted data. In this paper, we propose a novel approach to image compression, wherein we decompose the compression task into grayscale image compression and colorization tasks. Unlike conventional colorization-based coding, our method focuses on the colorization process rather than the extraction of color seeds. Moreover, we employ the Denoising Diffusion Null-Space Model (DDNM) for colorization, ensuring high-quality color restoration and contributing to superior compression rates. Experimental results demonstrate that our method achieves higher-quality decompressed images compared to standard JPEG and JPEG2000 compression schemes, particularly in high compression rate scenarios.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.89-94
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• 1994

This paper presents an impact control algorithm for reducing the potentially damaging effects by interation of redundant manipulators with their environments. In the. proposed control algorithm, the redundancy is resolved at the torque level by locally minimizing joint torque, subject to tire operational space dynamic formulation which maps tire joint torque set into the operational forces. For a given pre-impact velocity of the manipulator, the proposed approach is on generating joint space trajectories throughout the motion near the contact which instantaneously minimize the impulsive force which is a scalar function of manipulator's configurations. This is done by using the null space dynamics which does not affect the motion of an end-effector. The comparative evaluation of the proposed algorithm with a local torque optimization algorithm without reducing impact is performed by computer simulation. The simulation results illustrate the effectiveness of the algorithm in reducing both the effects of impact and large torque requirements.

• Korean Journal of Mathematics
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• 제15권1호
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• pp.13-26
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• 2007

We prove that every strong null sequence in a Banach space X lies inside the range of a vector measure of bounded variation if and only if the condition $\mathcal{N}_1(X,{\ell}_1)={\Pi}_1(X,{\ell}_1)$ holds. We also prove that for $1{\leq}p<{\infty}$ every strong ${\ell}_p$ sequence in a Banach space X lies inside the range of an X-valued measure of bounded variation if and only if the identity operator of the dual Banach space $X^*$ is ($p^{\prime}$,1)-summing, where $p^{\prime}$ is the conjugate exponent of $p$. Finally we prove that a Banach space X has the property that any sequence lying in the range of an X-valued measure actually lies in the range of a vector measure of bounded variation if and only if the condition ${\Pi}_1(X,{\ell}_1)={\Pi}_2(X,{\ell}_1)$ holds.

• 한국항공우주학회지
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• 제37권5호
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• pp.511-517
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• 2009

본 논문에서는 null-seeking method를 사용하여 서보형 받음각 센서를 설계하고 그것의 특징을 분석하였다. Null-seeking method는 측정부의 두 압력 홀에서 측정되는 압력 차이가 0이 되도록 회전한 측정부의 동체 기준선에 대한 회전각으로 받음각을 측정한다. 이 방법은 측정 전 범위에서 높은 정확도와 일정한 오차를 가진다. 그러므로 이러한 종류의 받음각 센서는 무인항공기에 적합하다. 이 논문에서 개발될 받음각 센서의 요구사항을 분석하여, 서보형 받음각 센서를 설계 가공하였다. 그 후 받음각 센서에 탑재할 받음각 계산 알고리즘을 개발하였으며, 끝으로 MATLAB Simulink와 풍동시험을 통해 개발된 받음각 센서의 특성을 검증하였다.

• International Journal of Automotive Technology
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• 제2권3호
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• pp.117-122
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• 2001

For a dynamic analysis of a constrained multibody system, it is necessary to have a routine for satisfying kinematic constraints. LU decomposition scheme, which is used to divide coordinates into dependent and independent coordinates, is efficient but has great difficulty near the singular configuration. Other method such as the projection matrix, which is more stable near a singular configuration, takes longer simulation time due to the large amount of calculation for decomposition. In this paper, the row space and the null space of the Jacobian matrix are proposed by using the pseudo-inverse method and the projection matrix. The equations of the motion of a system are replaced with independent acceleration components using the null space of the Jacobian matrix. Also a new hybrid method is proposed, combining the LU decomposition and the projection matrix. The proposed hybrid method has following advantages. (1) The simulation efficiency is preserved by the LU method during the simulation. (2) The accuracy of the solution is also achieved by the projection method near the singular configuration.

• 한국멀티미디어학회논문지
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• 제7권8호
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• pp.1058-1065
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• 2004

단순 모니터에서 CPU, 메모리, 그리고 하드디스크를 갖춘 셋탑박스에 이르기까지 내장형 시스템은 다양한 응용에 사용되고 있다. 특히 휴대용 또는 소형기기에 멀티미디어를 서비스하는 경우가 증가하고 있고 이들 시스템에는 내장형 운영체제가 탑재되고 있다. 본 논문에서는 멀티미디어 서비스를 위한 내장형 리눅스가 탑재된 임베디드 시스템에서 응용 프로그램과 운영체제 커널사이의 메모리 복사 요구를 감소시키는 Null copy기법을 제안한다. 저성능의 컴퓨팅 파워 및 저용량의 메모리를 가진 내장형 시스템에서 연속 미디어를 네트워크를 통해 실시간으로 전송하고자 할 때 Null copy 기법은 시스템의 QoS를 만족시킬 수 있다. 웹 카메라를 내장형 리눅스 개발 보드에 장착하여 영상 전송 환경을 구축한 결과 Null copy 기법은 CPU 이용률 및 마감시간 실패측면에서 기존 커널에 비해 우수한 성능을 나타내었다.

• Kyungpook Mathematical Journal
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• 제23권1호
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• pp.85-89
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• 1983