• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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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.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.28 no.1B
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• pp.111-114
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• 2008

Explicit solutions of the wave dispersion equation are developed using the recursive relation in terms of the relative water depth. We use the solutions of Eckart (1951), Hunt (1979), and the deep-water and shallow-water solutions for initial values of the solution. All the recursive solutions converge to the exact one except that with the initial value of deep-water solution. The solution with the initial value by Hunt converged much faster than the others. The recursive solutions may be obtained quickly and simply by a hand calculator. For the transformation of linear water waves in whole water depth, the use of the recursive solutions will yield more accurate analytical solutions than use of previously developed explicit solutions.

• Bulletin of the Korean Mathematical Society
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• v.52 no.4
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• pp.1107-1112
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• 2015

A recursive family $\{F_n\}$ of holomorphic functions on the Riemann sphere is defined and some elementary properties of this family is described. Then the Julia set of $F_n$ is computed. Finally this family as a real recursive family is studied and it is shown that $F_n$ is chaotic on a specific subset of $\mathbb{R}$.

• Journal of the Korea Society of Computer and Information
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• v.11 no.2 s.40
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• pp.263-273
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• 2006

The remarkable development of the internet causes us to have too many homepages and content, to be specialized and subdivided, and to need 'CMS'(Content Management System). Currently, CMS have been developed by many solution providers and studied in many ways. However, it is hard to find a system which is able to construct the specified Culture & Tourism content rapidly and managed them efficiently. Step on these requirement, this paper focus on design and implementation of unified CMS based on recursive relation object model which can be satisfied the demand of the usual people's information service of Culture & Tourism and which can be installed and managed the standardized Culture & Tourism content easily.

• The Korean Journal of Applied Statistics
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• v.24 no.5
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• pp.963-977
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• 2011

PCA(Principal Component Analysis) is a well-studied statistical technique and an important tool for handling multivariate data. Although many algorithms exist for PCA, most of them are unsuitable for real time applications or high dimensional problems. Since it is desirable to avoid extensive matrix operations in such cases, alternative solutions are required to calculate the eigenvalues and eigenvectors of the sample covariance matrix. Erdogmus et al. (2004) proposed Recursive PCA(RPCA), which is a fast adaptive on-line solution for PCA, based on the first order perturbation theory. It facilitates the real-time implementation of PCA by recursively approximating updated eigenvalues and eigenvectors. However, the performance of the RPCA method becomes questionable as the size of newly-added data increases. In this paper, we modified the RPCA method by taking advantage of the mathematical relation of eigenvalues and eigenvectors of sample covariance matrix. We compared the performance of the proposed algorithm with that of RPCA, and found that the accuracy of the proposed method remarkably improved.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.23 no.4
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• pp.283-300
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• 2019

In this paper, we propose a new semi-analytic approach based on the generalized Taylor series for solving nonlinear differential equations of fractional order. Assuming the solution is expanded as the generalized Taylor series, the coefficients of the series can be computed by solving the corresponding recursive relation of the coefficients which is generated by the given problem. This method is called the generalized differential transform method(GDTM). In several literatures the standard GDTM was applied in each sub-domain to obtain an accurate approximation. As noticed in [19], however, a direct application of the GDTM in each sub-domain loses a term of memory which causes an inaccurate approximation. In this work, we derive a new recursive relation of the coefficients that reflects an effect of memory. Several illustrative examples are demonstrated to show the effectiveness of the proposed method. It is shown that the proposed method is robust and accurate for solving nonlinear differential equations of fractional order.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1740-1741
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• 2011

This paper proposes a new linear recursive target state estimator for automotive collision warning system. The target motion is modeled in Cartesian coordinate system while the radar measurements such as range, line-of-sight angle and range rate are obtained in polar coordinate system. To solve the problem by nonlinear relation between these two coordinate system, a practical linear filter design scheme employing the predicted line-of-sight Cartesian coordinate system (PLCCS) is proposed. Especially, PLCCS can effectively incorporate range rate measurements into target tracking system. It is known that the utilization of range rate measurements enables the improvement of target tracking performance. Moreover, PLCCS based target tracking system is implemented by linear recursive filter structure and hence is more suitable scheme for the development of reliable collision warning system. The performance of the proposed method is demonstrated by computer simulations.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1788-1789
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• 2011

In order to develop a one-axis gimbaled acoustic source tracker for mobile robots, a pseudo-linear direction of arrival(DOA) estimator is proposed using a linear ultrasonic sensor array. Under the assumption that the sensor measurement errors are negligible, a linear measurement model is derived using the linear prediction relation of the received sinusoidal acoustic signals. Applying the Kalman filtering technique for this model, the linear recursive DOA estimator is designed. For its linear recursive filter structure, it is preferable for real-time implementation on a commercial DSP. Through the experiments, the effectiveness of the suggested method is demonstrated.

• Communications for Statistical Applications and Methods
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• v.14 no.3
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• pp.679-686
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• 2007

Moment expressions are derived for the internally truncated normal distributions commonly applied to screening and constrained problems. They are obtained from using a recursive relation between the moments of the normal distribution whose distribution is truncated in its internal part. Closed form formulae for the moments can be presented up to $N^{th}$ order under the internally truncated case. Necessary theories and two applications are provided.

• Communications for Statistical Applications and Methods
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• v.18 no.4
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• pp.495-505
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• 2011

This study performs statistical tests for stability of a long-run relationship in the telecommunication market system by identifying the time path of a recursively estimated cointegration parameter. A dummy variable is used to recover stability for the period that the hypothesis of stable cointegration is rejected, and then a proper cointegrating relation is derived. A dummy variable appears to reflect the structural change in the cointegrating relation according to the analytical results for the error correction term.