• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.640-645
• /
• 2004

This paper proposes a direct adaptive control method using self-recurrent wavelet neural network (SRWNN) for stable path tracking of mobile robots. The architecture of the SRWNN is a modified model of the wavelet neural network (WNN). Unlike the WNN, since a mother wavelet layer of the SRWNN is composed of self-feedback neurons, the SRWNN has the ability to store the past information of the wavelet. For this ability of the SRWNN, the SRWNN is used as a controller with simpler structure than the WNN in our on-line control process. The gradient-descent method with adaptive learning rates (ALR) is applied to train the parameters of the SRWNN. The ALR are derived from discrete Lyapunov stability theorem, which are used to guarantee the stable path tracking of mobile robots. Finally, through computer simulations, we demonstrate the effectiveness and stability of the proposed controller.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.13 no.1
• /
• pp.77-82
• /
• 2013

The filtering characteristics of planar distributed feedback (DFB) waveguides composed by gratings with different period are solved using equivalent transmission-line network. To analyze explicitly its band-pass and resonance properties, a longitudinal modal transmission-line theory (L-MTLT) based on Floquet's theorem and Babinet's principle is newly developed. The numerical results reveal that this approach offers a simple and analytic algorithm to analyze the filtering characteristics of cascaded DFB structure with different period, and the bandwidth and side-lobe suppression of cascaded DFB filter are sensitively dependent on the variation of aspect ratio and the number of grating at each region.

• Structural Engineering and Mechanics
• /
• v.62 no.3
• /
• pp.365-372
• /
• 2017

Reliability analysis is a probabilistic approach to determine a safety level of a system. Reliability is defined as a probability of a system (or a structure, in structural engineering) to functionally perform under given conditions. In the 1960s, Basler defined the reliability index as a measure to elucidate the safety level of the system, which until today is a commonly used parameter. However, the reliability index has been formulated based on the pivotal assumption which assumed that the considered limit state function is normally distributed. Nevertheless, it is not guaranteed that the limit state function of systems follow as normal distributions; therefore, there is a need to define a new reliability index for no-normal distributions. The main contribution of this paper is to define a sophisticated reliability index for limit state functions which their distributions are non-normal. To do so, the new definition of reliability index is introduced for non-normal limit state functions according to the probability functions which are calculated based on the convolution theory. Eventually, as the state of the art, this paper introduces a simplified method to calculate the reliability index for non-normal distributions. The simplified method is developed to generate non-normal limit state in terms of normal distributions using series of Gaussian functions.

• Bulletin of the Korean Mathematical Society
• /
• v.35 no.4
• /
• pp.641-652
• /
• 1998

Chung and et al. ([2].1991) introduced a new concept of a manifold, denoted by $^{\ast}g-SEX_n$, in Einstein's n-dimensional $^{\ast}g$-unified field theory. The manifold $^{\ast}g-SEX_n$ is a generalized n-dimensional Riemannian manifold on which the differential geometric structure is imposed by the unified field tensor $^{\ast}g^{\lambda \nu}$ through the SE-connection which is both Einstein and semi-symmetric. In this paper, they proved a necessary and sufficient condition for the unique existence of SE-connection and sufficient condition for the unique existence of SE-connection and presented a beautiful and surveyable tensorial representation of the SE-connection in terms of the tensor $^{\ast}g^{\lambda \nu}$. Recently, Chung and et al.([3],1998) obtained a concise tensorial representation of SE-curvature tensor defined by the SE-connection of $^{\ast}g-SEX_n$ and proved deveral identities involving it. This paper is a direct continuations of [3]. In this paper we derive surveyable tensorial representations of constracted curvature tensors of $^{\ast}g-SEX_n$ and prove several generalized identities involving them. In particular, the first variation of the generalized Bianchi's identity in $^{\ast}g-SEX_n$, proved in theorem (2.10a), has a great deal of useful physical applications.

• Journal of The Korean Astronomical Society
• /
• v.33 no.1
• /
• pp.37-45
• /
• 2000

We have investigated the properties of the high-latitude cloud MBM 7 using the 3 mm transitions of CO, CS, HCN, $HCO^+,\;C_3H_2,\;N_2H^+$, and SiO. The molecular component of MBM 7 shows a very clumpy structure with a size of $\le$0.5 pc, elongated along the northwest-southeast direction, perpendicularly to an extended HI component, which could be resulted from shock formation. We have derived physical properties for two molecular cores in the central region. Their sizes are 0.1-0.3 pc and masses 1-2 M$\bigodot$ having an average volume density $\~2{\times}10^3 cm^{-3}$ at the peak of molecular emission. We have tested the stability of the cores using the full version of the virial theorem and found that the cores are stabilized with ambient medium, and they are expected not to be dissipated easily without external perturbations. Therefore MBM 7 does not seem to be a site for new star formation. The molecular abundances in the densest core appear to be much less (by about one order of magnitude) than the 'general' dark cloud values. If the depletions of heavy elements are not significant in the HLCs compared with those in typical dark clouds, our results may suggest different chemical evolutionary stages or different chemical environments of the HLCs compared with dense dark clouds in the Galactic plane.

• Journal of the Korean Mathematical Society
• /
• v.54 no.5
• /
• pp.1379-1410
• /
• 2017

Kang and Ko introduced a skew-symmetrizable matrix to describe a structure theorem for complete intersections of grade 4. Let $R=k[w_0,\;w_1,\;w_2,\;{\ldots},\;w_m]$ be the polynomial ring over an algebraically closed field k with indetermiantes $w_l$ and deg $w_l=1$, and $I_i$ a homogeneous perfect ideal of grade 3 with type $t_i$ defined by a skew-symmetrizable matrix $G_i(1{\leq}t_i{\leq}4)$. We show that for m = 2 the Hilbert function of the zero dimensional standard k-algebra $R/I_i$ is determined by CI-sequences and a Gorenstein sequence. As an application of this result we show that for i = 1, 2, 3 and for m = 3 a Gorenstein sequence $h(R/H_i)=(1,\;4,\;h_2,\;{\ldots},\;h_s)$ is unimodal, where $H_i$ is the sum of homogeneous perfect ideals $I_i$ and $J_i$ which are geometrically linked by a homogeneous regular sequence z in $I_i{\cap}J_i$.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.32 no.4A
• /
• pp.336-343
• /
• 2007

Due to the ultrawide band property of an UWB pulse, it is difficult to digitally implement a TR-UWB system in time domain. In order to overcome this problem, we propose two types of TR-UWB systems which can be implemented in frequency-domain. One of thorn is derived from the Parseval's theorem, which results in its system performance equitable to that of time-domain based system. In addition, we propose another receiver structure which can improve the performance by exploiting the complex nature of the frequency components. Finally, through simulations, we compare the performances of two receiver structures with the time domain counterpart.

• International Journal of Highway Engineering
• /
• v.10 no.4
• /
• pp.91-101
• /
• 2008

A multi layered elastic analysis program, IDYSPAP, was developed. The objective of this study was to develop the IDYSPAP program on Graphic User Interface environment for field engineers using Visual Basic, which was considered span of multi-wheels and maximum 4 axles using superposition of linear elastic theorem. It is suggested that this study considers algorithm with dynamic properties of asphalt layer on various temperature and non-linear properties of subbase and subgrade on stress non-linearity for asphalt pavement structure. This Program was modified to divide asphalt layer automatically according to layer division concept. The developed program was verified with initial measuring data in test road sections of KEC (Korea Expressway Co.) using laboratory test results.

• Computational Structural Engineering
• /
• v.11 no.1
• /
• pp.217-226
• /
• 1998

The purpose of this study is to develop a technique for the shape analysis of plane truss structures under prescribed displacement modes. The shape analysis is performed based on the existence theorem of the solution and the Moore-Penrose generalized inverse matrix. In this paper, the homologous deformation of structures was proposed as prescribed displacement modes, the shape of the structure is determined from these various modes and applied loads. In general, the shape analysis is a kind of inverse problem different from stress analysis, and the governing equation becomes nonlinear. In this regard, Newton-Raphson method was used to solve the nonlinear equation. Three different shape models are investigated as numerical examples to show the accuracy and the effectiveness of the proposed method.

• Journal of Power Electronics
• /
• v.14 no.5
• /
• pp.1008-1027
• /
• 2014

An electric scooter with a V-belt continuously variable transmission (CVT) driven by a permanent magnet synchronous motor (PMSM) has a lot of nonlinear and time-varying characteristics, and accurate dynamic models are difficult to establish for linear controller designs. A PMSM servo-drive electric scooter controlled by a novel hybrid modified recurrent Legendre neural network (NN) control system is proposed to solve difficulties of linear controllers under the occurrence of nonlinear load disturbances and parameters variations. Firstly, the system structure of a V-belt CVT driven electric scooter using a PMSM servo drive is established. Secondly, the novel hybrid modified recurrent Legendre NN control system, which consists of an inspector control, a modified recurrent Legendre NN control with an adaptation law, and a recouped control with an estimation law, is proposed to improve its performance. Moreover, the on-line parameter tuning method of the modified recurrent Legendre NN is derived according to the Lyapunov stability theorem and the gradient descent method. Furthermore, two optimal learning rates for the modified recurrent Legendre NN are derived to speed up the parameter convergence. Finally, comparative studies are carried out to show the effectiveness of the proposed control scheme through experimental results.