• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.121-124
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• 1999

Subspace-based state space system identification (4SID) methods have been demonstrated to per-form well in a number of applications, but the properties of these have not been fully analyzed or understood yet. For applying the methods, no assumptions on structure of realization are needed and any coordinate transformation is allowed for the estimates. This is one reason why many kinds of properties expected for identification procedures have not been clarified yet. We illustrate, by using Schur complement, an interpretation of the R matrix yielded by the QR factorization in the 4SID procedure. The results in this paper can be useful for analysis of properties of parameters obtained by 4SID methods.

• Journal of Mechanical Science and Technology
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• v.14 no.10
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• pp.1081-1088
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• 2000

In this paper, a compliance control strategy for robot manipulators that employs a self-adjusting stiffiness function is proposed. Based on the contact force, each entry of the diagonal stiffness matrix corresponding to a task coordinate in the operational space is adaptively adjusted during contact along the corresponding axis. The proposed method can be used for both the unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end-effector. The experimental results involving a two-link direct drive manipulator interacting with an unknown environment demonstrates the effectiveness of the proposed method.

• Proceedings of the KOSOMBE Conference
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• v.1997 no.11
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• pp.537-540
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• 1997

The quantitative comparison of brain architecture across different subjects requires a common coordinate system, with respect to which the spatial variability of features form different individuals can be expressed. We have developed and implemented an image warping technique which is based on an elastic body deformation. The resulting 2D deformation map can be used to quantify anatomic differences between subjects. The technique's accuracy is tested, by warping 2D magnetic resonance images of age seventies into Talairach atlas.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.5
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• pp.46-56
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• 1995

As demands on the precision bevel gears are increased in the related industry, the exact kinematical investigations of a pair of spherical involute bevel gears are required for the computer aided design. The exact angular velocity ratio based on the characteristics of the spherical involute tooth is derived and verified from the relationship between rotational angles. Elementary kinematics of the gearsets is investigated by applying the transformation of the coordinate systems. The tooth contact lines based on logarithmic tooth-wise curve are examines in three dimentional space. Contact ratio is formulated and simulated according to the system parameters such as shaft angles, pressure angle, and spiral angles. The condition of teeth interference is dervied and the critical numbers of gear teeth are calculated. The whole surface geometry of a spiral bevel gearsets are discretized and visualized by a computer graphic tool.

• Progress in Superconductivity and Cryogenics
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• v.18 no.2
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• pp.30-36
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• 2016

For the magnetic field analysis or design, it is important to know the behavior of the magnetic field in an interesting space. Magnetic field mapping becomes a useful tool for the study of magnetic field. In this paper, a numerical way for mapping the magnetic field within the cylindrical center volume of magnet is presented, based on the solution of the Laplace's equation in the cylindrical coordinate system. The expression of the magnetic field can be obtained by the magnetic flux density, which measured in the mapped volume. According to the form of the expression, the measurement points are arranged with the parallel cylindrical line (PCL) method. As example, the magnetic flux density generated by an electron cyclotron resonance ion source (ECRIS) magnet and a quadrupole magnet were mapped using the PCL method, respectively. The mapping results show the PCL arrangement method is feasible and convenience to map the magnetic field within a cylindrical center volume generated by the general magnet.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 1994.10a
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• pp.55-63
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• 1994

The analysis of superplastic sheet forming process is studied by the use of the finite element method using a convected coordinate system and a skew boundary condition. In the formulation, the large inelastic behavior of the superplastic material is described as incompressible, nonlinear, viscous flow. The formulation is then approximated to the finite dimensional space with the use of membrane elements, which results in algebraic linear equations. In addition to the finite element formulation, a pressure cycle control algorithm is combined in the analysis for optimization of the forming time, which deals with the maximization of the strain rate sensitivity, the protection of the thickness reduction, the consistency of the desired strain rate and improvement of formability.

• Journal of Mechanical Science and Technology
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• v.15 no.6
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• pp.813-820
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• 2001

Solutions of inviscid rotational flows near the corners of an arbitrary angle and within a triangle of arbitrary shapes are presented. The corner-flow solutions has a rotational component as a particular solution. The addition of irrotatoinal components yields a general solution, which is indeterminate unless the far-field condition is imposed. When the corner angle is less than 90$^{\circ}$the flow asymptotically becomes rotational. For the corner angle larger than 90$^{\circ}$it tends to become irrotational. The general solution for the corner flow is then applied to rotational flows within a triangle (Method I). The error level depends on the geometry, and a parameter space is presented by which we can estimate the error level of solutions. On the other hand, Method II employing three separate coordinate systems is developed. The error level given by Method II is moderate but less dependent on the geometry.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.49 no.7
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• pp.475-482
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• 2000

This paper presents a novel power-factor correction method using customer STATCOM which generally improves the power quality of electric customers. Customer STATCOM detects the reactive currents of a induction motor(IM) and so injects compensation currents which is in 180$^{\circ}$ phase with load currents that the reactive power of IM is compensated. In particular, the paper proposes the general compensation current references in the synchronous coordinate system and makes converter output voltages using space-vector PWM. The compensation effect of customer STATCOM is confirmed through the simulation according to the operation condition of an induction motor (at no load and full load).

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.12
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• pp.3741-3747
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• 1996

This paper presents a method for the inverse dynamic anlaysis of mechanical systems. Actuating forces(or torques) depending on the driving constraints are analyzed in the relative coordinate space using the velocity transformation technique. A systematic method to compose the inverse velocity transformation matrix, which is used to determine the joint reaction forces, is proposed. Two examples are taken to verify the method developed here.

• International Journal of Control, Automation, and Systems
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• v.5 no.3
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• pp.329-336
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• 2007

This paper considers a fault accommodation problem for inertial navigation systems (INS) that have redundant inertial sensors such as gyroscopes and accelerometers. It is wellknown that the more sensors are used, the smaller the navigation error of INS is, which means that the error covariance of the position estimate becomes less. Thus, when it is decided that double faults occur in the inertial sensors due to fault detection and isolation (FDI), it is necessary to decide whether the faulty sensors should be excluded or not. A new accommodation rule for double faults is proposed based on the error covariance of triad-solution of redundant inertial sensors, which is related to the navigation accuracy of INS. The proposed accommodation rule provides decision rules to determine which sensors should be excluded among faulty sensors. Monte Carlo simulation is performed for dodecahedron configuration, in which case the proposed accommodation rule can be drawn in the decision space of the two-dimensional Cartesian coordinate system.