• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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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.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.20 no.2
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• pp.95-103
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• 2007

An analytical closed-form solution for wave propagation velocity and damping in saturated porous media is presented in this paper The fully coupled field model with compressible solid Brains and pore water were used to derive this solution. An engineering approach for the analysis of fully saturated porous media was adopted and closed-form solutions for one dimensional wave propagation in a homogeneous domain were derived. The solution is highly versatile in that it considers compression of the solid grains, compression of the pore water, deformation of the porous skeleton, and spatial damping and can be used to compute wavespeeds of first and second kind and damping coefficients in various geologic materials. This solution provides a means of analyzing the influence of material property variations on wavespeed and attenuation. In Part 2 of this work the theoretical solution is incorporated into the numerical code and the code is used in a parametric study on wave propagation velocity and damping.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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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.

• Communications of the Korean Mathematical Society
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• v.36 no.3
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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.

• The Journal of the Acoustical Society of Korea
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• v.35 no.1
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• pp.35-41
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• 2016

Based on correlation and least square method, a closed-form algorithm for estimating the location of mixed far-field and near-field source is presented using the Uniform Circular Array (UCA). Recently, for a homogeneous circular arrangement case, a correlation based closed-form algorithm is proposed to estimate 2-D angle (azimuth, elevation) and the extended algorithm is proposed to 3-D location (azimuth, elevation, range). These algorithms assume the far-field source or near-field source only. Therefore, for mixed source localization, the proposed algorithm estimates source location with the assumption of far-field source, and then estimates the range to distinguish the far-field from the near-field source. For both cases, numerical experiments have been performed, which confirmed the validity of the proposed algorithm.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.1
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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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• 1997.10a
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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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• v.22 no.4
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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.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.95-99
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• 1993

In this paper, we discuss H$_{\infty}$ robust performance problem for uncertain system described in a descriptor form. We show that the method based on Riccati equation can be extended to solve this problem. First, such a sufficient condition is given that the system described in a descriptor form is quadratic stable and H$_{\infty}$ norm of a specified transfer function is less than a given level. Using this result, a state feedback law which ensures H$_{\infty}$ robust performance of closed loop system is derived based on a positive definite solution of a Riccati equation. This result shows that a solution of the problem can be also obtained by solving H$_{\infty}$ standard problem for an extended plant. Finally, a design example and simulation results will be given.ven.