• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.52-57
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• 1987

In this paper, it is dealt with the dynamic motion equations for a robot arm. Four kinds of the dynamic equations which are the Lagrange-Euler equations, the Recursive L-E equations, the Newton-Euler equations and the improved N-E equation are derived on robot PUMA 600. Finally the algorithms on these equations are programmed using PASCAL. and are compared with each other. As the results, it is found that the improved N-E equations has the most fastest execution time among the equations and can be used in real time processing.

• International Journal of Control, Automation, and Systems
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• v.2 no.4
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• pp.516-522
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• 2004

In this paper we investigate the properties of a generalized impulse response Gramian. The recursive relationship satisfied by the family of Gramians is established. It is shown that the generalized impulse response Gramian contains information on the characteristic polynomial of a linear time-invariant continuous system. The results are applied to model reduction problem.

• Journal of Mechanical Science and Technology
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• v.16 no.10
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• pp.1320-1326
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• 2002

In a one-dimensional heat conduction domain with heated and insulated walls, an integral approach is proposed to estimate time-dependent boundary heat flux without internal measurements. It is assumed that the expression of the heat flux is not known a priori. Hence, the present inverse heat conduction problem is classified as a function estimation problem. The spatial temperature distribution is approximated as a third-order polynomial of position, whose four coefficients are determined from the heat fluxes and the temperatures at both ends at each measurement. After integrating the heat conduction equation over spatial and time domain, respectively, a simple and non-iterative recursive equation to estimate the time-dependent boundary heat flux is derived. Several examples are introduced to show the effectiveness of the present approach.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.5
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• pp.1-11
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• 1994

In computer graphics since objects atre constructed by lines and curves, the high-speed curve generator is indispensible for computer aided design and simulatation. Since the functions of graphic generation can be represented as a series of matrix operations, in this paper, two kind of the high-speed Bezier curve generator that uses matrix equation and a recursive relation for Bezier polynomials are designed. And B-spline curve generator is designed using interdependence of B-spline blending functions. As the result of the comparison of designed curve generator and reference [5], [6] in the operation time and number of operators, the curve generator with 1-dimensional systolic array processor for matrix vector operation that uses matrix equation for Bezier curve is more effective.

• Journal of applied mathematics & informatics
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• v.7 no.3
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• pp.905-915
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• 2000

In this article we discuss some aspects of operational Tau Method on delay differential equations and then we apply this method on the differential delay equation defined by $\omega(u)\;=\frac{1}{u}\;for\;1\lequ\leq2$ and $(u\omega(u))'\;=\omega(u-1)\;foru\geq2$, which was introduced by Buchstab. As Khajah et al.[1] applied the Recursive Tau Method on this problem, they had to apply that Method under the Mathematica software to get reasonable accuracy. We present very good results obtained just by applying the Operational Tau Method using a Fortran code. The results show that we can obtain as much accuracy as is allowed by the Fortran compiler and the machine-limitations. The easy applications and reported results concerning the Operational Tau are again confirming the numerical capabilities of this Method to handle problems in different applications.

• Journal of applied mathematics & informatics
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• v.27 no.5_6
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• pp.1033-1047
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• 2009

In this paper, we consider a m-type risk model with Markov-modulated premium rate. A integral equation for the conditional ruin probability is obtained. A recursive inequality for the ruin probability with the stationary initial distribution and the upper bound for the ruin probability with no initial reserve are given. A system of Laplace transforms of non-ruin probabilities, given the initial environment state, is established from a system of integro-differential equations. In the two-state model, explicit formulas for non-ruin probabilities are obtained when the initial reserve is zero or when both claim size distributions belong to the $K_n$-family, n $\in$ $N^+$ One example is given with claim sizes that have exponential distributions.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.109-114
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• 2000

A new method for the determination of camera system rotation and translation from in 3-D space using recursive least square method is presented in this paper. With this method, the calculation of the equation is found by a linear algorithm. Where the equation are either given or be obtained by solving five or more point correspondences. Good results can be obtained in the presence if more than the eight point. A main advantage of this new method is that it decouple rotation and translation, and then reduces computation. With respect to error in the solution point number in the input image data, adding one more feature correspondence to required minimum number improves the solution accuracy drastically. However, further increase in the number of feature correspondence improve the solution accuracy only slowly. The algorithm proposed by this paper is used to make camera system rotation and translation easy to recognize even when camera system attached at end effecter of six degrees of freedom industrial robot manipulator are applied industrial field.

• Journal of Power System Engineering
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• v.9 no.4
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• pp.175-180
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• 2005

Incorrections between model and plant are parameter, system order uncertainties and modeling error due to disturbance like friction. Therefore to achieve a good tracking performance, adaptive discrete time sliding mode tracking controller is used under time-varying desired position. Based on the diophantine equation, a new discrete time sliding function is defined and utilized for the control law. Robustness is increased by using both a recursive least-square method and a sliding function-based nonlinear feedback. The effectiveness of the proposed control algorithm is proved by the results of simulation and experiment.

• Structural Engineering and Mechanics
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• v.54 no.3
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• pp.419-432
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• 2015

The free vibration of rotating Euler-Bernoulli beams with the thickness and/or width of the cross-section vary linearly along the length is investigated by using the Adomian modified decomposition method (AMDM). Based on the AMDM, the governing differential equation for the rotating tapered beam becomes a recursive algebraic equation. By using the boundary condition equations, the dimensionless natural frequencies and the closed form series solution of the corresponding mode shapes can be easily obtained simultaneously. The computed results for different taper ratios as well as different offset length and rotational speeds are presented in several tables and figures. The accuracy is assured from the convergence and comparison with the previous published results. It is shown that the AMDM provides an accurate and straightforward method of free vibration analysis of rotating tapered beams.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.32 no.6
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• pp.191-198
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• 1983

This paper describes the aplication of different model which can be used for short-term load prediction. The model is based on Bohlin's approach to first develop a load profile model representing the nominal load component and the Box-Jenkins approach is used to predict residuals. An on-line algorithm using Kalman Filter and Time Series is implemented for and hour-ahead prediction. In the Kalman Filter system equation and measurement equation were fixed and parameters of Time Series were varied week after week. A set of data for Korea Electric Power Corporation from April to June 1981 was used for the evaluation of the model. As the result of this simulation 1.2% rms error was acquired.