• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.4
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• pp.235-245
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• 2004

In this paper, fault tolerant mechanisms are presented for a servo manipulator system designed to operate in a hot cell. A hot cell is a sealed and shielded room to handle radioactive materials, and it is dangerous for people to work in the hot cell. So, remote operations are necessary to handle the radioactive materials in the hot cell. KAERI has developed a servo manipulator system to perform such remote operations. However, since electric components such as servo motors may fail by radiation, fault tolerant mechanisms have to be considered. For fault tolerance of the servo manipulator system, duplication mechanism increasing the reliability of the transport's driving motors and reconfiguration algorithm accommodating the slave's motor failure have been presented. The reconfiguration algorithm recovering the end effector's motion in spite of one motor's failure is based on control allocation redistributing redundant axes. The constrained optimization method and pseudo inverse method have been adopted for control allocation. Simulation examples and real test results have been presented to verify the Proposed methods.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.2
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• pp.111-119
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• 2017

This paper presents a method to determine the rear steering angle in integrated chassis control with electronic stability control (ESC) and rear wheel steering (RWS). A control yaw moment needed to stabilize a vehicle should be distributed into the tire forces generated by the ESC and RWS. Weighted pseudo-inverse control allocation (WPCA) is adopted to determine the tire forces. Four methods are proposed to calculate the rear wheel steering angle. To validate the proposed methods, a simulation is performed using a vehicle simulation software package, CarSim. The simulation results show that the proposed method for determining the rear wheel steering angle improves the performance of the integrated chassis control.

• Structural Engineering and Mechanics
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• v.10 no.4
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• pp.359-369
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• 2000

Random loading identification has long been a difficult problem for Multi-Input-Multi-Output (MIMO) structure. In this paper, the Pseudo Excitation Method (PEM), which is an exact and efficient method for computing the structural random response, is extended inversely to identify the excitation power spectral densities (PSD). This identified method, named the Inverse Pseudo Excitation Method (IPEM), resembles the general dynamic loading identification in the frequency domain, and can be used to identify the definite or random excitations of complex structures in a similar way. Numerical simulations are used to reveal the the difficulties in such problems, and the results of some numerical analysis are discussed, which may be very useful in the setting up and processing of experimental data so as to obtain reasonable predictions of the input loading from the selected structural responses.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.4
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• pp.487-493
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• 2010

Most structural analyses are concerned with the deformations and stresses in a body subjected to external loads. However, in many fields, inverse problems have to be interpreted to determine surface tractions or internal stresses from displacements measured on a remote surface. In this study, the inverse processes are studied by using the finite element method for the evaluation of internal stresses. Small errors in the measured displacements often result in a substantial loss of stability of an inverse system. In order to improve the stability of the inverse system, the displacements on a section near the region of the unknown tractions are predicted by using orthogonal basis functions. We use the Gram-Schmidt orthogonal technique to determine two bases for the displacements on a section near the region of the unknown tractions. Advantages over previous methods are discussed by using numerical examples.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.1
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• pp.118-125
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• 2016

This study evaluates the performance of image to patient registration algorithm by using stereo vision and CT image for facial region surgical navigation. For the process of image to patient registration, feature extraction and 3D coordinate calculation are conducted, and then 3D CT image to 3D coordinate registration is conducted. Of the five combinations that can be generated by using three facial feature extraction methods and three registration methods on stereo vision image, this study evaluates the one with the highest registration accuracy. In addition, image to patient registration accuracy was compared by changing the facial rotation angle. As a result of the experiment, it turned out that when the facial rotation angle is within 20 degrees, registration using Active Appearance Model and Pseudo Inverse Matching has the highest accuracy, and when the facial rotation angle is over 20 degrees, registration using Speeded Up Robust Features and Iterative Closest Point has the highest accuracy. These results indicate that, Active Appearance Model and Pseudo Inverse Matching methods should be used in order to reduce registration error when the facial rotation angle is within 20 degrees, and Speeded Up Robust Features and Iterative Closest Point methods should be used when the facial rotation angle is over 20 degrees.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2183-2187
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• 2005

In this paper we propose a new fault detection and isolation (FDI) method for those faults of parameter change type. First, we design a residual generator based on the ${\delta}$-operator model of the plant by using the stable pseudo inverse system. Second, the parameter change is estimated by using the property of the block Hankel operator. Third, reliability with respect to stability is quantified. Fourth, the limitations for the meaningful diagnosis in our method are given. The numerical examples demonstrate the effectiveness of the proposed method.

• The Pure and Applied Mathematics
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• v.17 no.4
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• pp.307-319
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• 2010

We provide a new semilocal convergence analysis of the Gauss-Newton method (GNM) for solving nonlinear equation in the Euclidean space. Using our new idea of recurrent functions, and a combination of center-Lipschitz, Lipschitz conditions, we provide under the same or weaker hypotheses than before [7]-[13], a tighter convergence analysis. The results can be extented in case outer or generalized inverses are used. Numerical examples are also provided to show that our results apply, where others fail [7]-[13].

• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.2
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• pp.75-80
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• 2004

Vehicle structures are composed of many substructure connected to one another by various types of mechanical joints. In vehicle engineering it is important to study these connected structures under various dynamic forces for the evaluations of fatigue life and stress concentration exactly. It is difficult to obtain the accurate load history of specified positions because of the errors such as modeling, measurement and etc. In the beginning of design exact load data are actually necessary for the fatigue strength and life analysis to minimize the cost and time of designing. In this paper, the procedure of practical dynamic force determination is developed by the combination of the principal stresses of F. E. Analysis and experiment. Least square pseudo inverse matrix is adopted to obtain in inverse matrix of analyzed stresses matrix. The error minimization method utilizes the inaccurate measured error and the shifting error that the whole data is stiffed over real data. The least square criterion is adopted to avoid these non. Finally, to verify the proposed procedure, a bus is analyzed. This measurement and prediction technology can be extended to the structural modification of any geometric shape in complex structure.

• Korean Journal of Remote Sensing
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• v.28 no.5
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• pp.561-571
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• 2012

The MTF(Modulation Transfer Function) is one of quality assesment factors to evaluate the performance of satellite images. Image restoration is needed for MTF compensation, but it is an ill-posed problem and doesn't have a certain solution. Lots of filters were suggested to solve this problem, such as Inverse Filter(IF), Pseudo Inverse Filter(PIF) and Wiener Filter(WF). The most commonly used filter is a WF, but it has a limitation on distinguishing signal and noise. The L-curve-based Modified Wiener Filter(MWF) is a solution technique using a Tikhonov regularization method. The L-curve is used for estimating an optimal regularization parameter. The image restoration was performed with Dubaisat-1 images for PIF, WF, and MWF. It is found that the image restored with MWF results in more improved MTF by 20.93% and 10.85% than PIF and WF, respectively.

• Journal of the Korean Data and Information Science Society
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• v.27 no.2
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• pp.381-394
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• 2016

Graphical model represents conditional dependencies between variables as a graph with nodes and edges. It is widely used in various fields including physics, economics, and biology to describe complex association. Conditional dependencies can be estimated from a inverse covariance matrix, where zero off-diagonal elements denote conditional independence of corresponding variables. This paper proposes a efficient BCDR (block coordinate descent with random permutation) algorithm using graphics processing units and random permutation for the CONCORD (convex correlation selection method) based on the BCD (block coordinate descent) algorithm, which estimates a inverse covariance matrix based on pseudo-likelihood. We conduct numerical studies for two network structures to demonstrate the efficiency of the proposed algorithm for the CONCORD in terms of computation times.