• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.214-218
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• 1992

In this paper, we propose a method for obtaining state-space realization form of two-dimensional transfer function matrices (2DTFM). It contains free parameters. And, we perform various consideration about it. Moreover, we present the conditions so that the state-space realization form exists.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1623-1626
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• 1991

The paper considers the algorithms of balanced realization from SISO transfer functions. Some methods which have been proposed to find a balanced realization from the companion form realization, are investigated. Then a new method is proposed which finds a balanced realization from the discrete Schwarz form realization. The process of computing the elements of Schwarz matrix from the transfer function is equivalent to the Schur-Cohn stability test procedure. Comparison of the proposed method with the previous works is also discussed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1785-1789
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• 1991

Recently, a number of papers on adaptive control scheme of manipulators are proposed. Slotine and Li[1] showed an adaptive control scheme for robot manipulator. The controller was described in closed form. And later Niemeyer and Slotine discussed about a computational implementation of the controller in recursive form[2]. Walker proposed another adaptive control scheme which can be implemented by a recursive-form controller[4]. Closed-form description is used for the analysis or design of adaptive control systems while recursive-form realization is used for implementation of the controller. The relation between the closed-form realization and the recursive-form one seems to be inadequately referred. Hence, it makes sense to consider the relation between the closed-form description and the recursive-form one. In this paper, first, we make a simple derivation of an closed-form dynamics description of a robot arm from its recursive-form description. And then we derive the closed-form realization of Walker's scheme applied to manipulators having no kinematic loop. We clarify the difference between the Walker's scheme and Slotine's and evaluate the convergence under the controllers.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1593-1598
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• 2004

In this paper, we use the input and output maps and develop simple procedures to obtain realizations for linear continuous-time systems. The procedures developed are numerically efficient and yield explicit formulae for the state space matrices of the realization in terms of the system parameters, notably the system modes. Both cases of the systems with distinct modes and repeated modes are treated. We also present a procedure for converting a realization obtained through the input or output map into the Jordan canonical form. The transformation matrices required to bring the realization into the Jordan canonical form are specified entirely in terms of the system modes.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 추계학술대회 논문집 학회본부 B
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• pp.533-536
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• 1999

We consider digital implementation problems of continuous-time controllers. In general, digital controllers use fixed point representation of number and of finite word length(FWL). Under these conditions, this paper investigates the closed-loop stability caused by three design constraints; (i) finite precision representation of the controller parameters, (ii) realization forms such as direct form, cascade form, and parallel form, and (iii) sampling time. We calculate the coefficient stability margins of both predesigned controllers and controller to be implemented. This method can be applied to determine the word length, realization structure, and sampling time so that remains the stability.

• 전자공학회논문지S
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• 제35S권5호
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• pp.103-110
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• 1998

In this paper we propose various rotation block realization method of MIMO LBR system. For this, we first discuss how to realize a given LBR system in the form of LBR two-pair cascades. Then we examine several systematic extraction procedures which enable to realize each LBR two-pair in the form of rotation block. Then we consider which realization methods we select for each two-pair block in view of the dynamci range of the coefficients of the rotation blocks. Finally, we demonstrate the LBR realization method using a detailed numerical example that converts a 4th order IIR filter function into a 4*4 transform domain transfer matrix, and then realizes it in a rotation-block cascade.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.366-370
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• 2003

This paper is on weighted model reduction using structurally balanced truncation. For a given weighted(single or double-sided) transfer function, a state space realization with the linear fractional transformation form is obtained. Then we prove that two block diagonal LMI(linear matrix inequality) solutions always exist, and it is possible to get a reduced order model with guaranteed stability and a priori error bound. Finally, two examples are used to show the validity of proposed weighted reduction method, and the method is compared with other existing methods.

• 융합신호처리학회논문지
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• 제5권2호
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• pp.143-150
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• 2004

In this paper, a recursive digital filter realization for an ionospheric channel model is proposed. This realization is in the form of a cascade of identical second-order all-pass filters, and is determined by only three parameters; two coefficients of an all-pass section, and the number of sections. The values of these parameters are optimized by a nonlinear optimization algorithm called the "downhill simplex method", so that the resulting time delay function closely approximates that of the ionospheric channel model. Comparing with the nonrecursive digital filter realization, it can be shown that the proposed recursive-digital-filter-realization is advantageous in points of view for the numbers of filter coefficients and the realization.

• 건축역사연구
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• 제12권4호
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• pp.27-48
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• 2003

This paper aims to identify the meaning of architectural form of the East and the West. Ordinarily, we know the visual differences of architectural form between the two cultural families, and the technical reasons of such differences. However, the East and the West have their own views of architectural form that are derived from their own views of architecture, and again the views of architecture are rooted in their own views of the world. The paper maintains a comparative stance between the two cultures in analyzing the different concepts of architectural form, and employ the ideas of 'Form(形象)' and 'Energy-Form(氣形)' as a kind of representative concept of the two views of architectural form. It is discussed that the idea of Form pursued the realization of ultimate substance which is less materialistic but more ideal., while, the idea of Energy-Form pursued the realization of oneness and health through mutual interaction between man, architecture and nature. Architectural form in the West has been the purposeful expression of human ideal, while in the East, it was an expediential device for better energy condition. It seems important to understand such differences of the meaning of architectural form between the East and the West, since, in present time, we tend to think that the Western conception of architectural form is the only possible one. But it is not generally known that the Western conception of form has very particular background reason of its own which is unique to Western culture, and on the other hand, the nature of East Asian conception of architectural form is generally unknown.

• 음성과학
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• 제9권2호
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• pp.109-132
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• 2002

The purpose of this study is to examine the focus realization of [Adjective+Noun] phrases which are used in English classroom situations. In order to examine this, two production and one perception experiments were designed. The noun phrases in the first two production experiments are divided into three patterns according to the location of focus. The difference between the two production experiments is that in the first experiment the focused words are contextually given in the classroom situation, but in the second experiment they are presented in written form. We compare the native English teachers' focus realization of noun phrases with that of Korean teachers from the point of view of intonational phonology. In the perception test, we examine how the uttered sentences are perceived by English native speakers and Korean native speakers. The results from the three experiments show that native English teachers' focus realization is quite consistent with informational structure. Also, there is a significant difference in pitch range of adjectives and nouns when the native speakers give pitch accents on the two content words, and the uttered sentences are mostly perceived as well as the speakers' intentions. As for Korean speakers, however, they usually focus only on the adjective or they focus on both the adjective and the noun, regardless of the relative informativeness of these words. From these findings, we can conclude that focus realization of Korean teachers is rather inconsistent with respect to informational structure when compared to that of native English teachers.