• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 A
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• pp.381-385
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• 1992

In this paper, dynamic modeling and adaptive control problems for a space robot system are discussed. The space robot consist of a robot manipulator mounted on a free-floating base where no attitude control is applied. Using an extended robot model, the entire space robot can be viewed as an under-actuated robot system. Based on nonlinear control theory, the extended space robot model can then be decomposed into two subsystems: one is input-output exactly linearizable, and the other is unlinearizable and represents an internal dynamics. With this decomposition, a normal form-augmentation approach and an augmented state-feedback control are proposed to facilitate the design of adaptive control for the space robot system against parameter uncertainty, unknown dynamics and unmodeled payload in space applications. We demonstrate that under certain conditions, the entire space robot can be represented as a full-actuated robot system to avoid the inclusion of internal dynamics. Based on the dynamic model, we propose an adaptive control scheme using Cartesian space representation and demonstrate its validity and design procedure by a simulation study.

• Bulletin of the Korean Chemical Society
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• 제14권1호
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• pp.21-29
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• 1993

For the study of relaxation processes in complex spin system, a general master equation, which can be used to simulate a vast range of pulse experiments, has been formulated using the Liouville representation of quantum mechanics. The state of a nonequilibrium spin system in magnetic field is described by a density vector in Liouville space and the time evolution of the system is followed by the application of a linear master operator to the density vector in this Liouville space. In this master equation the nuclear spin relaxation due to intramolecular dipolar interaction or randomly fluctuating field interaction is explicitly implemented as a relaxation supermatrix for a strong coupled two-spin (1/2) system. The whole dynamic information inherent in the spin system is thus contained in the density vector and the master operator. The radiofrequency pulses are applied in the same space by corresponding unitary rotational supertransformations of the density vector. If the resulting FID is analytically Fourier transformed, it is possible to represent the final nonstationary spectrum using a frequency dependent spectral vector and intensity determining shape vector. The overall algorithm including relaxation interactions is then translated into an ANSIFORTRAN computer program, which can simulate a variety of two dimensional spectra. Furthermore a new strategy is tested by simulation of multiple quantum signals to differentiate the two relaxation interaction types.

• 인지과학
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• 제23권2호
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• pp.133-164
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• 2012

폴 처칠랜드는 인지신경생물학과 연결주의 AI의 연구 성과로부터, 상태공간 표상이론을 제안하였다. 그 표상이론에 따르면 세계의 다양한 현상들에 대한 우리의 표상은 신경세포 또는 신경세포집단의 활동에 대응하는 위상 상태공간의 지점들로 재현될 수 있다. 그러한 표상 체계를 모의하는 연결주의 AI 신경망은 은닉유닛들 속에 우리가 세계를 인지할 의미론의 범주 체계를 담아내는 것으로 해석된다. 그러한 해석의 관점에 따르면, 신경망은 세계에 대한 범주체계를 은닉 유닛들이 갖는 위상 상태공간의 특정 지점이라고 주장한다. 그러나 포도와 르포르는 그러한 전망을 어둡게 본다. 그의 전망에 따르면, '차원의 개별화' 가능성, 내용 동일성의 '분석/종합 구분'의 측면, 그리고 '부차적 정보'에 따른 상태공간의 상이성 등을 고려할 때 새로운 표상이론은 의미론적 내용 동일성을 주장하기 어렵다. 그 상태공간 표상은 유사성의 기준을 전제하기 때문이다. 본 논문은 처칠랜드 표상이론의 제안과 포도와 르포르의 비판 중에 어느 것이 더 설득력을 갖는지 검토한다. 상태공간 표상이론에 대한 필자의 이해에 따르면, 인공 그물망은 학습알고리즘에 따라서 스스로 내용 유사성의 분별 기준을 조성한다. 이러한 근거에서 포도와 르포르의 지적은 처칠랜드 표상이론에 대한 적절한 공격이 되지 못한다. 또한 그 표상이론은 미래의 인공지능 시스템이 의식 이하의 수준에서 세계를 인지할 개념체계를 어떻게 담아낼 수 있을지 우리에게 이해를 제공한다. 따라서 우리는 앞으로 인지과학 연구의 초점을 무엇에 집중해야 할지도 전망할 수 있게 되었다.

• Journal of Electrical Engineering and Technology
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• 제6권6호
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• pp.867-873
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• 2011

A navigation mesh (NavMesh) is a suitable tool for the representation of a three-dimensional game world. A NavMesh consists of convex polygons covering free space, so the path can be found reliably without detecting collision with obstacles. The main disadvantage of a NavMesh is the huge state space. When the $A^*$ algorithm is applied to polygonal meshes for detailed terrain representation, the pathfinding can be inefficient due to the many states to be searched. In this paper, we propose a method to reduce the number of states searched by using visibility tests to achieve fast searching even on a detailed terrain with a large number of polygons. Our algorithm finds the visible vertices of the obstacles from the critical states and uses the heuristic function of $A^*$, defined as the distance to the goal through such visible vertices. The results show that the number of searched states can be substantially reduced compared to the $A^*$ search with a straight-line distance heuristic.

• 한국지능시스템학회논문지
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• 제15권2호
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• pp.251-256
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• 2005

Up to now, a number of models have been proposed and discussed to describe a wide range of inelastic behaviors of materials. The fetal problem of using such models is however the existence of model errors, and the problem remains inevitably as far as a material model is written explicitly. In this paper, the authors define the implicit constitutive model and propose an implicit viscoplastic constitutive model using neural networks. In their modeling, inelastic material behaviors are generalized in a state space representation and the state space form is constructed by a neural network using input output data sets. A technique to extract the input-output data from experimental data is also described. The proposed model was first generated from pseudo-experimental data created by one of the widely used constitutive models and was found to replace the model well. Then, having been tested with the actual experimental data, the proposed model resulted in a negligible amount of model errors indicating its superiority to all the existing explicit models in accuracy.

• Journal of information and communication convergence engineering
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• 제6권3호
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• pp.310-314
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• 2008

This paper proposes a very novel method which makes it possible that state feedback controller can be designed for unknown dynamic system with measurable states. This novel method uses the support vector machines (SVM) with its function approximation property. It works together with RLS (Recursive least-squares) algorithm. The RLS algorithm is used for the identification of input-output relationship. A virtual state space representation is derived from the relationship and the SVM makes the relationship between actual states and virtual states. A state feedback controller can be designed based on the virtual system and the SVM makes the controller with actual states. The results of this paper can give many opportunities that the state feedback control can be applied for unknown dynamic systems.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 제38회 하계학술대회
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• pp.1648-1649
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• 2007

This paper proposes a very novel method which makes it possible that state feedback controller can be designed for unknown dynamic system with measurable states. The RLS algorithm is used for the identification of input-output relationship. A virtual state space representation is derived from the relationship and the SVM(Support Vector Machines) makes the relationship between actual states and virtual states. A state feedback controller can be designed based on the virtual system and the SVM makes the controller be with actual states. The results of this paper can give many opportunities that the state feedback control can be applied for unknown dynamic systems

• Smart Structures and Systems
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• 제20권3호
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• pp.263-272
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• 2017

This paper presents the time response of a mixed vibration system with the viscous damping and the hysteretic damping. There are two ways to derive the time response of such a vibration system. One is an analytical method, using the contour integral of complex functions to compute the inverse Fourier transforms. The other is an approximate method in which the analytic functions derived by Hilbert transform are expressed in the state space representation, and only the effective eigenvalues are used to efficiently compute the transient response. The unit impulse responses of the two methods are compared and the change in the damping properties which depend on the viscous and hysteretic damping values is investigated. The results showed that the damping properties of a mixed damping vibration system do not present themselves as a linear combination of damping properties.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문집
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• pp.134-139
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• 2002

This paper presents a servo design method for high track-density hard disk drives, in which the plant time delay, mainly due to the processor computation time, is taken into account. The key idea behind the proposed design method is to incorporate the delay model into the output equation of the state-space representation for the plant model; thereby, the delay is accounted for by a standard state observer in a natural manner, with simplified state equations as compared to those for conventional methods. The results from practical application confirm that the proposed method is quite effective in realizing a high-bandwidth servo system in hard disk drives.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 하계학술대회 논문집
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• pp.512-515
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• 1991

The advantages of poly-phase converter are to be able to reduce the ripple current and to lessen the weight of power inductors. This paper is derived the equivalent circuit, dc of and ac modeling circuit of a 3-phase multiple buck converter by using state space representation and averaging techniche. Futhermore, it is represented the equivalent circuits according to the duty cycle.