• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.525-529
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• 2004

A novel translational 3-dof parallel mechanism is proposed and analyzed. The mechanism consists of three RRPS serial subchains and an additional passive 3-dof type serial subchain. Three RRPS serial subchains alone may form a structure of the 6-DOF Stewart Platform mechanism. However, in the proposed mechanism, an additional passive serial subchain acts as constraints to restrict the output motion of the mechanism in 3-DOF translational space. The closed form position solutions of the proposed mechanism and its first-order kinematic model are derived. Then its workspace size and kinematic characteristics are examined via kinematic isotropic index.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.520-524
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• 2004

In this work, a novel spherical 3-dof parallel mechanism is proposed and analyzed. The mechanism consists of three RRPS serial subchains and an additional passive 3-dof type serial subchain. Three RRPS serial subchains alone may form a structure of 6-DOF Stewart Platform mechanism. However, in the proposed mechanism, an additional passive serial subchain acts as constraints to restrict the output motion of the mechanism within 3-DOF spherical space. The closed form solutions of position analysis of the proposed mechanism and its first-order kinematic model are derived. Then its workspace size and kinematic characteristics are examined via kinematic isotropic index.

• 한국전산구조공학회논문집
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• 제20권2호
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• pp.95-103
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• 2007

본 논문에서는 포화된 다공성매체에서 파동의 전파속도와 감쇠를 구할 수 있는 해석적 이론해를 유도하여 제시하였다. 이론해의 유도를 위하여 압축성의 고체입자와 간극수를 고려하는 완전 연계 Field모델을 사용하였다. 완전 포화된 다공성 매체의 해석을 위한 공학적인 접근방법이 채택되었으며, 균질 영역에서 1차원 파동의 전파를 위한 이론해가 유도되었다. 본 논문에서 유도한 이론해는 고체입자의 압축성, 간극수의 압축성, 다공성입자의 변형, 공간의 감쇠(Spatial damping) 등을 고려할 수 있어 매우 다양하게 사용될 수 있다. 또한 다양한 지반체에서 두 가지 종류의 파속(Wavespeed)과 감쇠계수를 계산하는데 이용 가능하다. 본 논문에서 제시한 이론해를 전산코드화하여 파동의 전파속도와 감쇠에 대한 파라미터연구를 수행한 결과는 본 연구의 II부에 제시할 예정이다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.76-76
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• 2000

The calibration of the robot system with a visual sensor consists of robot, hand-to-eye, and sensor calibration. This paper describe a new technique for computing 3D position and orientation of a 3D sensor system relative to the end effect of a robot manipulator in an eye-on-hand robot configuration. When the 3D coordinates of the feature points at each robot movement and the relative robot motion between two robot movements are known, a homogeneous equation of the form AX : XB is derived. To solve for X uniquely, it is necessary to make two robot arm movements and form a system of two equation of the form: A$_1$X : XB$_1$ and A$_2$X = XB$_2$. A closed-form solution to this system of equations is developed and the constraints for solution existence are described in detail. Test results through a series of simulation show that this technique is simple, efficient, and accurate fur hand/eye calibration.

• 대한수학회논문집
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• 제36권3호
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• pp.485-494
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• 2021

In this article, we prove the existence of a solution to some classes of integral equations of generalized convolution type generated by the Kontorovich-Lebedev (K) transform, the Laplace (𝓛) transform and the Fourier (F) transform in some appropriate function spaces and represent it in a closed form.

• 한국음향학회지
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• 제35권1호
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• pp.35-41
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• 2016

본 논문에서는 상관함수와 최소자승 기법에 기반하여 단일 음원의 위치가 원거리 혹은 근거리 모두 가능한 경우, 이에 상관없이 닫힌 형태로 위치를 추정하는 기법을 제안한다. 최근 균일 환영 배열에서 상호상관함수를 이용하여 원거리 단일 음원의 위치를 2차원으로 추정하는 기법이 제안되었으며, 이를 확장하여 근거리 단일 음원의 위치를 3차원으로 추정하는 기법이 제안되었다. 그러나 기존 기법은 음원의 위치가 원거리, 혹은 근거리로 제한된 상황만 다루고 있다. 반면 제안 기법은 먼저 원거리 음원으로 가정하여 거리 독립적으로 방위와 고각을 구하고 이후 거리 추정에서 원거리와 근거리 음원을 구분하여 혼합 환경에 적용가능하다. 시뮬레이션에서는 두 가지 경우 모두에 대해 실험하여 제안 기법의 타당성을 검증하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제14권1호
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• pp.40-52
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• 2020

In this paper, we consider a precoder design problem for multiuser interference channel. Most of the conventional schemes for precoder design utilize a signal-to-interference-plus-noise ratio (SINR) as a cost function. However, since the SINR metric of a desired transmitter-receiver pair is a function of precoding vectors of all transmitters in the multiuser interference channel, an analytic closed-form solution is not available for the precoding vector of a desired transmitter that maximizes the SINR metric. To eliminate coupling between the precoding vectors of all transmitters and to find a closed-form solution for the precoding vector of the desired transmitter, we use a signal-to-leakage-plus-noise ratio (SLNR) instead as a cost function because the SLNR at a transmitter is a function of the precoding vector of the desired transmitter only. In addition, channel estimation errors for undesired links are considered when designing the precoding vector because they are inevitable in a multiuser interference channel. In this case, we propose a design scheme for the precoding vector that is robust to the channel estimation error. In the proposed scheme, the precoding vector is designed to maximize the worst-case SLNR. Through computer simulation, we show that the proposed scheme has better performance than the conventional scheme in terms of SLNR, SINR, and sum rate of all users.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1297-1301
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• 1997

Generally, singularity analysis of 6-DOF parallerl manipulators is very difficult and, as result, velocity relation has many uncertainties. In this paper, an alternative method using the local structurizatioin method(LSM) for the analysis of singular configuraions is presented. With LSM, the velocity relation can be represented in a simple form, and the result is totally equivalent to the conventional velocity relation. The velocity relation suggested in this paper gives a closed-form solution of singularities.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• 제22권4호
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• pp.289-294
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• 2018

In this work, a recently developed semi-analytic technique, so called the residual power series method, is generalized to process higher-dimensional linear and nonlinear partial differential equations. The solutions obtained takes a form of an infinite power series which can, in turn, be expressed in a closed exact form. The results reveal that the proposed generalization is very effective, convenient and simple. This is achieved by handling the (m+1)-dimensional Burgers equation.

• Journal of Advanced Research in Ocean Engineering
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• 제1권3호
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• pp.157-167
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• 2015

In order to provide simple and accurate wave theory in design of offshore structure, an analytical approximation is introduced in this paper. The solution is limited to flat bottom having a constant water depth. Water is considered as inviscid, incompressible and irrotational. The solution satisfies the continuity equation, bottom boundary condition and non-linear kinematic free surface boundary condition exactly. Error for dynamic condition is quite small. The solution is suitable in description of breaking waves. The solution is presented with closed form and dispersion relation is also presented with closed form. In the last century, there have been two main approaches to the nonlinear problems. One of these is perturbation method. Stokes wave and Cnoidal wave are based on the method. The other is numerical method. Dean's stream function theory is based on the method. In this paper, power series method was considered. The power series method can be applied to certain nonlinear differential equations (initial value problems). The series coefficients are specified by a nonlinear recurrence inherited from the differential equation. Because the non-linear wave problem is a boundary value problem, the power series method cannot be applied to the problem in general. But finite number of coefficients is necessary to describe the wave profile, truncated power series is enough. Therefore the power series method can be applied to the problem. In this case, the series coefficients are specified by a set of equations instead of recurrence. By using the set of equations, the nonlinear wave problem has been solved in this paper.