• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.1
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• pp.606-623
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• 2019

The path following problem of a ship sailing in restricted waters under wind effect is investigated based on Robust $H_{\infty}$ Guaranteed Cost Control (RHGCC). To design the controller, the ship maneuvering motion is modeled as a linear uncertain system with norm-bounded time-varying parametric uncertainty. To counteract the bank and wind effects, the integral of path error is augmented to the original system. Based on the extended linear uncertain system, sufficient conditions for existence of the RHGCC are given. To obtain an optimal robust $H_{\infty}$ guaranteed cost control law, a convex optimization problem with Linear Matrix Inequality (LMI) constraints is formulated, which minimizes the guaranteed cost of the close-loop system and mitigates the effect of external disturbance on the performance output. Numerical simulations have confirmed the effectiveness and robustness of the proposed control strategy for the path following goal of a ship sailing in restricted waters under wind effect.

• Proceedings of the Safety Management and Science Conference
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• 2009.04a
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• pp.185-192
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• 2009

The research contributes extending and reviewing of restricted (constrained) and unrestricted (unconstrained) models in GLM(Generalized Linear Models). The paper includes the methodology for finding EMS(Expected Mean Square) and $F_0$ ratio. The results can be applied to the gauge R&R(Reproducibility and Repeatability) in MSA(Measurement System Analysis).

• Journal of KSNVE
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• v.7 no.2
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• pp.223-229
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• 1997

Presented is a method to estimate system parameters of a system with polynomial non-linerities from the measured higher order frequency response functions. Higher order FRFs can be measured on some restricted regions by sinusoidally exciting a non-linear system with various input amplitudes and measuring the response component at the excitation frequency. These higher order FRFs can be expressed in terms of system parameter, and the system parameters can be estimated from the measured FRFs. Since the expressions for higher order FRFs are complicated, system parameters can be estimated from them using an optimization technique. The present method has been applied to a simulated single degree of freedom system with non-linear stiffness and damping, and has estimated accurate system parameters.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.11
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• pp.861-867
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• 2003

We propose a sliding surface design method for linear systems with mismatched uncertainties in the state space model. In terms of LMIs, we derive a necessary and sufficient condition for the existence of a linear sliding surface such that the reduced-order equivalent sliding mode dynamics restricted to the linear sliding surface is not only stable but completely invariant to mismatched uncertainties. We give an explicit formula of all such linear switching surfaces in terms of solution matrices to the LMI existence condition. We also give a switching feedback control law, together with a design algorithm. Additionally, we give some hints for designing linear switching surfaces guaranteeing pole clustering constraints or linear quadratic performance bound constraints. Finally, we give a design example in order to show the effectiveness of the proposed methodology.

• Journal of applied mathematics & informatics
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• v.11 no.1_2
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• pp.155-164
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• 2003

The existence and representations of some generalized inverses, including ${A_{T,*}}^{(2)},\;{A_{T,*}}^{(1,2)},\;{A_{T,*}}^{(2,3)},\;{A_{*,S}}^{(2)},\;{A_{*,S}}^{(1,2)}\;and\;{A_{*,S}}^{(2,4)}$, are showed. As applications, the perturbation theory for the generalized inverse {A_{T,S}}^{(2)} and the perturbation bound for unique solution of the general restricted system $A_{x}$ = b(dim(AT)=dimT, $b{\in}AT$ and $x{\in}T$) are studied. Moreover, a characterization and representation of the generalized inverse ${A_{T,*}}^{(2)}$ is obtained.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.828-834
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• 1989

On-Line optimization of process units has heretofore been restricted to the individual equipment level using linear approximate models. The advent of the low cost, high speed micro-computer coupled with the speed and robustness of an equation based exact simulator is making real-time optimization of entire process units a reality. The resultant implications for a decision system applied to day-to-day operations, point to a significant change in the way process plants will be managed in the future.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.10 no.4
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• pp.321-328
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• 2016

In this paper, we propose a walk status method which can be fused with conventional walk intention method to improve convenience of an electric assistive walking system for elder people with restricted walking capabilities. The system uses a handlebar as a trigger and regards grabbing a handlebar as expressing will to walk. And the system uses a user's linear velocity and angular velocity as linear velocity and angular velocity of a system, checked by laser range finder. To achieve this, we propose a method to find a virtual central point of a human body by estimating a central point between two legs. The experiments are carried out by comparing user's linear velocity and angular velocity, and system's linear velocity and angular velocity. The results show that the error of linear velocity and angular velocity between a user and a system are 1% and 2.77%, which means the linear velocity and angular velocity of a user can be applied to a system. And it is confirmed that the proposed fusion method can prevent a user from being dragged by an assistive walking system or a malfunction caused by lack of experience

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2749-2752
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• 2003

Magnetocardiography is a very weak biomagnetic field generated from the heart. Since the magnitude of the biomagnetic field is in the order of a few pico Tesla, it is measured with a superconducting quantum interference device (SQUID). SQUID is a transducer converting magnetic flux to voltage, however, its range of linear conversion is very restricted. In order to overcome the narrow dynamic range. a flux locked loop is used to feedback the output field with opposite polarity to the input field so that the total Held becomes zero. This prevents the operating point of the SQUID from moving too far away from the null point thereby escape from the linear region. In this paper, an emulator for the SQUID sensor and feedback coil is proposed. Magnetic courting between the original field and the generated field by the feedback coil is emulated by electronic circuits. By using the emulator, FLL circuits are analyzed and optimized without SQUID sensors. The emulator may be used as a test signal for multi-channel gain calibration and system maintenance.

• Proceedings of the Korean Society for Language and Information Conference
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• 2002.02a
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• pp.2-27
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• 2002

As pact of a long-ranged project that aims at establishing database-theoretic semantics as a model of computational semantics, this presentation focuses on the development of a syntactic component for processing strings of words or sentences to construct semantic data structures. For design arid modeling purposes, the present treatment will be restricted to the analysis of some problematic constructions of Korean involving semi-free word order, conjunction arid temporal anchoring, and adnominal modification and antecedent binding. The present work heavily relies on Hausser's (1999, 2000) SLIM theory for language that is based on surface compositionality, time-linearity arid two other conditions on natural language processing. Time-linear syntax for natural language has been shown to be conceptually simple and computationally efficient. The associated semantics is complex, however, because it must deal with situated language involving interactive multi-agents. Nevertheless, by processing input word strings in a time-linear mode, the syntax cart incrementally construct the necessary semantic structures for relevant queries and valid inferences. The fragment of Korean syntax will be implemented in Malaga, a C-type implementation language that was enriched for both programming and debugging purposes arid that was particluarly made suitable for implementing in Left-Associative Grammar. This presentation will show how the system of syntactic rules with constraining subrules processes Korean sentences in a step-by-step time-linear manner to incrementally construct semantic data structures that mainly specify relations with their argument, temporal, and binding structures.

• Transactions of the Korean Society of Mechanical Engineers
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• v.10 no.1
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• pp.25-33
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• 1986

In this paper, the frontal method based elastic-plastic F.E.M. program for mini-computer was developed. Since, the executable source program size was restricted by the system core memory size on the mini-computer, the active variables were memorized by the element base and the nonactive varables were memorized to the external disc file. The active variables of the finally developed program were reduced enough to execute about 1,000 freedom finite element on the mini-computer on which available variables were restricted as 32,767 integers. A modified CT fracture test specimen was examined to test the developed program. The calculated results were compared with experimental results concerning on the crack tip plastic deformation zone. Recrystallization technique was adopted to visualize the intensive plastic deformation regions. The Von-Mises criterion based calculation results were well agreed with the experimental results in the intensive plastic region which was over than 2% offset strain. The F.E.M. results using the developed program were well agreed with the theoritical plastic boundary which was calculated by the stress intensity factor as r$_{p}$=(K$_{1}$$^{2}$/2.pi..sigma.$_{y}$$^{2}$).f(.theta.).).).