• 대한기계학회논문집
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• 제19권4호
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• pp.1023-1032
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• 1995

The multiple cooperating robot system plays an important role in the research of modern manufacturing system as the emphasis of production automation is more on the side of flexibility than before. While the kinematic and dynamic analysis of a single robot is performed as an open-loop chain, the dynamic formulation of robot in a multiple cooperating robot system differs from that of a single robot when the multiple cooperating robots form a closed kinematic chain holding an object simultaneously. The object may be any type from a rigid body to a multi-joint linkage. The mobility of the system depends on the kinematic configuration of the closed kinematic chain formed by robots and object, which also decides the number of independent input parameters. Since the mobility is not the same as the number of robot joints, proper constraint condition is sought. The constraints may be such that : the number of active robot joints is kept the same as mobility, all robot joints are active and have interrelations between each joint forces/torques, two robots have master-slave relation, or so on. The dynamic formulation of system is obtained. The formulation is based on recursive dual-number screw-calculus Newton-Eulerian approach which has been used for single robot analysis. This new scheme is recursive and compact symbolically and may facilitate the consideration of the object in real time.

• 한국자동차공학회논문집
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• 제16권3호
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• pp.166-171
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• 2008

In this paper, the optimization design module for the brake system of a vehicle is developed. As using this module, design variables, that minimize an object function and satisfy nonlinear constraint conditions, can be found easily. Before an optimization is operated, Plackett-Burman design, one of the factorial design methods, is used to choose the design variables which affect a response function significantly. Using the response surface analysis, second order recursive model function, which informs a relation between design variables and response function, is estimated. In order to verify the reliability of the model function, analysis of variances(ANOVA) table is used. The value of design variables which minimize the model function and satisfy the constraint conditions is predicted through Sequential Quadratic-Programming (SQP) method. As applying the above procedure to a real vehicle simulation model and comparing the values of object functions of a current and optimized system, the optimization results are verified.

• 제어로봇시스템학회논문지
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• 제17권3호
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• pp.211-217
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• 2011

This paper proposes a quasi-optimal linear DOA (Direction-of-Arrival) estimator which is necessary for the development of a real-time robot auditory system tracking moving acoustic source. It is well known that the use of conventional nonlinear filtering schemes may result in the severe performance degradation of DOA estimation and not be preferable for real-time implementation. These are mainly due to the inherent nonlinearity of the acoustic signal model used for DOA estimation. This motivates us to consider a new uncertain linear acoustic signal model based on the linear prediction relation of a noisy sinusoid. Using the suggested measurement model, it is shown that the resultant DOA estimation problem is cast into the NCRKF (Non-Conservative Robust Kalman Filtering) problem [12]. NCRKF-based DOA estimator provides reliable DOA estimates of a fast moving acoustic source in spite of using the noise-corrupted measurement matrix in the filter recursion and, as well, it is suitable for real-time implementation because of its linear recursive filter structure. The computational efficiency and DOA estimation performance of the proposed method are evaluated through the computer simulations.

• 대한수학교육학회지:수학교육학연구
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• 제16권4호
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• pp.367-386
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• 2006

본 논문에서는 구성주의 교육관의 관점에서 컴퓨터와 수학교육의 관계를 바라보는 '컴퓨터와 수학교육'에 대해 다룬다. '컴퓨터와 수학교육'은 그 필요성에 비해 최근까지 원활히 이루어지지 못했다. 그 이유는 먼저 그 구성요소들 사이의 관계가 명확하게 이해되지 못하였고, 이에 따라 구성주의에 대한 명확한 실천적 전략이 부족하였고, 서로 다른 컴퓨터 하드웨어-소프트웨어 환경들이 유기적으로 연결되지 못했기 때문이다. 이에 바람직한 '컴퓨터와 수학교육'을 위해서는 먼저 구성요소들 사이의 관계를 이해하고, 이를 바탕으로 '컴퓨터와 수학교육'의 실천적 설계 전략을 모색하며, 개별적인 소프트웨어 환경을 마이크로월드의 관점에서 통합적으로 연계시켜야 할 필요가 있다. 본 논문에서는 이러한 문제의식을 가지고 '컴퓨터와 수학교육'의 구성요소인 학생, 수학, 컴퓨터를 중심으로 관계된 이론을 고찰하여 각각에 대한 구체적 실천적 전략으로 구성주의. 함수화, 인터넷 상호작용의 원리를 도출한다. 또한 역사적으로 가장 성공적이고 대표적인 '컴퓨터와 수학교육' 환경인 Logo와 동적 기하 환경(DGS)을 이러한 관점으로 분석 고찰하여, Logo를 행동 문자 명령과 대수적 문자조작을 통해 재귀적 패턴의 탐구가 가능한 환경으로 발전시키고, 점들 사이의 기하적 관계를 다루던 DGS를 관계식과 대수기하적 탐구가 가능한 환경으로 설계, 구현한다. 나아가 Logo와 DGS의 이러한 수준 상승이 가지는 수학교육적 의미를 고찰하고, 타일 및 전개도 등의 새로운 대상을 도입하여 통합 마이크로월드를 구현한다. 본 논문에서는 Logo와 DGS, 그리고 통합 환경을 하나의 JavaMAL 인터넷 환경 속에서 통합 설계하고 이를 구현하며 나아가 그 의미를 논의한다.

• 전자공학회논문지B
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• 제32B권10호
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• pp.1326-1337
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• 1995

In this paper, we transformed the bilinear filter into an equivalent linear multichannel filter and derived QR decomposition based recursive least squares algorithms for bilinear lattice filters. We also defined order update relation of the forward and the backward input vectors by using the channel decomposition. The forward and the backward data matrices were defined by using the forward and the backward input vectors and orthogonalized with the QR decomposition. we can obtain the lattice equations of the bilinear filters by using the channel decomposition. we can be derived the lattice equations of the bilinear filters using this decomposition process which are the same as the lattice equations derived by Baik, we can use the coefficient transformation algorithm proposed by Baik. We derived the equation error and the output error algorithm of the QRD based RLS bilinear lattice algorithm. Also, we evaluated the performance of the proposed algorithms through the system identification of the bilinear system.

• 전자공학회논문지B
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• 제31B권5호
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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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• 제29권1_2호
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• pp.381-394
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• 2011

In this paper, a Naveir-Stokes equation is solved by using the Adomian's decomposition method (ADM), modified Adomian's decomposition method (MADM), variational iteration method (VIM), modified variational iteration method (MVIM), modified homotopy perturbation method (MHPM) and homotopy analysis method (HAM). The approximate solution of this equation is calculated in the form of series which its components are computed by applying a recursive relation. The existence and uniqueness of the solution and the convergence of the proposed methods are proved. A numerical example is studied to demonstrate the accuracy of the presented methods.

• The Journal of the Acoustical Society of Korea
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• 제17권4E호
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• pp.3-10
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• 1998

This paper concerns the dynamical behavior, in probabilistic sense, of a feedforward neural network performing auto association for novelty. Networks of retinotopic topology having a one-to-one correspondence between and output units can be readily trained using back-propagation algorithm, to perform autoassociative mappings. A novelty filter is obtained by subtracting the network output from the input vector. Then the presentation of a "familiar" pattern tends to evoke a null response ; but any anomalous component is enhanced. Such a behavior exhibits a promising feature for enhancement of weak signals in additive noise. As an analysis of the novelty filtering, this paper shows that the probability density function of the weigh converges to Gaussian when the input time series is statistically characterized by nonsymmetrical probability density functions. After output units are locally linearized, the recursive relation for updating the weight of the neural network is converted into a first-order random differential equation. Based on this equation it is shown that the probability density function of the weight satisfies the Fokker-Planck equation. By solving the Fokker-Planck equation, it is found that the weight is Gaussian distributed with time dependent mean and variance.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1987년도 정기총회 및 창립40주년기념 학술대회 학회본부
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• pp.133-136
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• 1987

This paper presents a new algorithm of optimal measurement system by using band matrix characteristic respectively for state estimation. A performance index of measurement system is established to reflect relation among measurement sets, probability of measurement failure and cost of individual meter installation. Selection ranking in the candidates of measurement sets is composed to guarantee the observability for any any single meter outage. Performance index sensitivity is introduced and recursive formula which based on the matrix inversion lemma used for selection. The proposed algorithm is composed of successive addition algorithm, successive elimination algorithm and combinatorial algorithm. The band matrix characteristic could save in memory requirements and calculate the performance index faster than earlier.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2615-2617
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• 2003

The Kalman filter is a recursive Linear Estimator for the linear dynamic systems(LDS) affected by two different noises called process noise and measurement noise both of which are uncorrelated white. The Expectation Maximization(EM) algorithm is employed in this paper as a preprocessor to reinforce the effectiveness of Kalman estimator. Particularly, we focus on the relation between Kalman filter and EM algorithm in the LDS. In this paper, we propose a new algorithm to improve the performance on the parameter estimation via EM algorithm, which improves the overall process of Kalman filtering. Since Kalman filter algorithm not only needs the system parameters but also is very sensitive the initial state conditions, the initial conditions decided through EM turns out to be very effective. In experiments, the computer simulation results ate provided to demonstrate the superiority of the proposed algorithm.