• The Journal of the Acoustical Society of Korea
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• v.38 no.3
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• pp.283-289
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• 2019

RLS (Recursive-least-squares) algorithm is known to have good convergence and excellent error level after convergence. However, there is a disadvantage that numerical instability is included in the algorithm due to inverse matrix calculation. In this paper, we propose an algorithm with no matrix inversion to avoid the instability aforementioned. The proposed algorithm still keeps the same convergence performance. In the proposed algorithm, we adopt an averaged gradient-based step size as a self-adjusted step size. In addition, a variable forgetting factor is introduced to provide superior performance for time-varying channel estimation. Through simulations, we compare performance with conventional RLS and show its equivalency. It also shows the merit of the variable forgetting factor in time-varying channels.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.69-72
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• 1996

This paper considers a global resolution of kinematic redundancy under inequality constraints as a constrained optimal control. In this formulation, joint limits and obstacles are regarded as state variable inequality constraints, and joint velocity limits as control variable inequality constraints. Necessary and sufficient conditions are derived by using Pontryagin's minimum principle and penalty function method. These conditions leads to a two-point boundary-value problem (TPBVP) with natural, periodic and inequality boundary conditions. In order to solve the TPBVP and to find a global minimum, a numerical algorithm, named two-stage algorithm, is presented. Given initial joint pose, the first stage finds the optimal joint trajectory and its corresponding minimum performance cost. The second stage searches for the optimal initial joint pose with globally minimum cost in the self-motion manifold. The effectiveness of the proposed algorithm is demonstrated through a simulation with a 3-dof planar redundant manipulator.

• Journal of The Korean Astronomical Society
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• v.37 no.5
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• pp.447-454
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• 2004

During the hierarchical formation of large scale structure in the universe, the progressive collapse and merging of dark matter should inevitably drive shocks into the gas, with nonthermal particle acceleration as a natural consequence. Two topics in this regard are discussed, emphasizing what important things nonthermal phenomena may tell us about the structure formation (SF) process itself. 1. Inverse Compton gamma-rays from large scale SF shocks and non-gravitational effects, and the implications for probing the warm-hot intergalactic medium. We utilize a semi-analytic approach based on Monte Carlo merger trees that treats both merger and accretion shocks self-consistently. 2. Production of $^6Li$ by cosmic rays from SF shocks in the early Galaxy, and the implications for probing Galaxy formation and uncertain physics on sub-Galactic scales. Our new observations of metal-poor halo stars with the Subaru High Dispersion Spectrograph are highlighted.

• Journal of The Korean Astronomical Society
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• v.37 no.5
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• pp.509-515
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• 2004

We present results from an extensive synthetic observation analysis of numerically-simulated radio galaxy (RG) jets. This analysis is based on the first three-dimensional simulations to treat cosmic ray acceleration and transport self-consistently within a magnetohydrodynamical calculation. We use standard observational techniques to calculate both minimum-energy and inverse-Compton field values for our simulated objects. The latter technique provides meaningful information about the field. Minimum-energy calculations retrieve reasonable field estimates in regions physically close to the minimum-energy partitioning, though the technique is highly susceptible to deviations from the underlying assumptions. We also study the reliability of published rotation measure analysis techniques. We find that gradient alignment statistics accurately reflect the physical situation, and can uncover otherwise hidden information about the source. Furthermore, correlations between rotation measure (RM) and position angle (PA) can be significant even when the RM is completely dominated by an external cluster medium.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.2
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• pp.467-475
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• 1998

The Six Degree-of-Freedom manipulators are generally operated by linear actuators which are hydraulic cylinder, pneumatic cylinder, ball-screw. But these actuators are not adequate to have a wide work-space, and furthermore some of them have a self-locking property. Therfore, we have designed a new manipulator which fully overcomes these demerits. The new manipulating system consists of 6 DC-motors to generate operation forces and 6 position transducers to feedback displacement signals. This paper presents an overview of the design and characteristics of 6 Degree-of-Freedom force feedback manipulators for vitual reality implementation. we can operate Six Degree-of-Freedom manipulator with six motors and six potentiometers.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.465-469
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• 1997

In this paper, shape memory compsites are made by powder metallurgy. And then, an self-strengthening effect of the composites by shape memory effect above inverse transformation temperature A/sab f/ of TiNi alloy discussed. Moreover, TiNiCo/Al composite is made by using TiNiCo alloy as fiber. And it is discused aboutaffection of Co in the shape memory composite. The results of the intelligent properties of TiNi/Ai-radical shape memory composite, using SMA, by powder metallurgy are the tensile strength of TiNiCo wire is much higher than that of TiNi wire. and the strength of TiNiCo/Al composite is generally higher than that TiNi/Al composite.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.32B no.12
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• pp.1652-1662
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• 1995

In this paper, a hybrid neural network is proposed to improve the learning ability of a neural network. The union of the characteristics of a Self-Organizing Neural Network model and of multi-layer perceptron model using the backpropagation learning method gives us the advantage of reduction of the learning error and the learning time. In learning process, the proposed hybrid neural network reduces the number of nodes in hidden layers to reduce the calculation time. And this proposed neural network uses the fuzzy feedback values, when it updates the responding region of each node in the hidden layer. To show the effectiveness of this proposed hybrid neural network, the boolean function(XOR, 3Bit Parity) and the solution of inverse kinematics are used. Finally, this proposed hybrid neural network is applied to the visual tracking control of a PUMA560 robot, and the result data is presented.

• BMB Reports
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• v.44 no.1
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• pp.22-27
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• 2011

A series of elastin-like proteins, $SKGPG[V(VKG)_3VKVPG]_n$-(ELP1-90)WP (n = 1, 2, 3, and 4), were biosynthesized based on the hydrophobic and lysine linkage domains of tropoelastin. The formation of self-assembled hydrophobic aggregates was monitored in order to determine the influence of cationic segments on phase transition properties as well as the sensitivity to changes in salt and pH. The thermal transition profiles of the proteins fused with only one or two cationic blocks (n = 1 or 2) were similar to that of the counterpart ELP1-90. In contrast, diblock proteins that contain 3 and 4 cationic blocks displayed a triphasic profile and no transition, respectively. Upon increasing the salt concentration and pH, a stimulus-induced phase transition from a soluble conformation to an insoluble aggregate was observed. The effects of cationic segments on the stimuli sensitivity of cationic bimodal ELPs were interpreted in terms of their structural and molecular characteristics.

• Journal of Welding and Joining
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• v.16 no.2
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• pp.73-83
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• 1998

This study investigated the relationships between the microstructure and the wear resistance of hardfaced iron/chromium alloys to examine the low stress abrasive wear mechanism. The effects of volume fraction of reinforcing phases(chromium carbide and eutectic phase) were studied. The alloys were deposited once or twice on a mild steel plate using a self-shielding flux cored arc welding process. The low stress abrasion resistance of he alloys against dry sands was measured by the Dry Sand/Ruber Wheel Abrasion Tester (RWAT). The wear resistance of hypoeutectic alloys, below 0.36 volume fraction of chromium-carbide phase (VFC), behaved as Equal Pressure Mode (EPM) for the inverse rule of mixture whereas the wear resistance of hypereutectic alloys, above 0.36 VFC, represented Equal Wear Mode (EWM) for the linear rule of mixture.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 2001.05a
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• pp.64-76
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• 2001

In this paper, A simple image hologram encryption and decryption technique based on the principle of interference are proposed. The technique using the photorefractive material for getting a stable interference pattern is also proposed. And combine these two techniques, I would like to implement a stable optical information security system. In the encrypting process, I would generate binary phase hologram which can reconstruct original image perfectly, and regard this hologram as original image to be encrypted image. And then the hologram is encrypted as randomly generated binary phase image. Reference image is also generated from the encrypted image by applying interference rule. In the decrypting process, I can get a interference intensity by interfering the reference image and the encrypted image in the interferometer. and transform inferference intensity information into phase information. I recover original image by inverse Fourier transforming the phase information. In this process, the intensity information generated by interference of two images is very sensitive to external vibrations. So, I would like to get a stable interference using the characteristic of SPPCM(self pumped phase conjugate mirror) in photorefractive materials, especially BaTiO₃.