• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.640-645
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• 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.

• 한국인터넷방송통신학회논문지
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• 제13권1호
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• pp.77-82
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• 2013

주기가 다른 격자들로 구성된 평면 DFB 도파로의 필터 특성들을 등가 전송선로 망을 사용하여 구현하였다. 대역 필터 특성과 공진 특성을 정확하게 분석하기 위하여 Floquet 이론과 Babinet 원리에 기초한 종방향 모드 전송선로 이론 (L-MTLT)을 제시하였다. 수치해석 결과, 본 논문에서 제시한 해석법은 주기가 다른 격자들로 구성된 DFB 도파로의 필터 특성들을 분석하기 위한 간단한 수치 해석적 알고리즘을 제공하였으며, DFB 필터의 대역폭과 사이드로브의 억압특성 각 영역에서의 격자개수와 격자 종횡비 (aspect ratio)에 민감하게 의존함을 보였다.

• Structural Engineering and Mechanics
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• 제62권3호
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• pp.365-372
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• 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.

• 대한수학회보
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• 제35권4호
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• pp.641-652
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• 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.

• 천문학회지
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• 제33권1호
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• pp.37-45
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• 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.

• 대한수학회지
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• 제54권5호
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• pp.1379-1410
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• 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 $I_i{\cap}J_i$.

• 한국통신학회논문지
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• 제32권4A호
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• pp.336-343
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• 2007

본 논문은 UWB 신호의 초광대역 특성으로 인해서 시간영역에서 디지털적 구현이 어려운 TR-UWB 시스템을 주파수영역에서 구현할 수 있는 방법을 제시한다. 한 시스템은 Parseval 정리로부터 유도되었으며 그로 인해 시간영역에서 구현되는 TR-UWB 시스템과 동일한 성능을 갖는다. 또한 주파수 성분들의 복소수 특성을 이용해서 성능을 보다 개선할 수 있는 새로운 구조의 TR-UWB 시스템을 제시한다. 마지막으로 시뮬레이션에 의해서 시간영역에서 구현될 수 있는 TR-UWB 시스템과 주파수영역 시스템들 간의 성능을 비교한다.

• 한국도로학회논문집
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• 제10권4호
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• pp.91-101
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• 2008

본 연구에서는 기본설계용 다층탄성이론을 이용한 역학적 거동해석 프로그램을 개발하였고, 현장에서 간편하게 사용될 수 있도록 Visual Basic 프로그래밍을 사용한 사용자 편의의 전 후 처리기법을 도입하여 본 연구에서 개발된 다층탄성해석 프로그램을 패키지화하였다. 패키지화한 상용프로그램에 아스팔트층의 깊이별 온도변화에 따른 영향과 보조기층, 노상과 같은 비구속층에서의 응력비선형성을 고려하여 아스팔트 포장구조해석모형을 개발하였다. 또한 개발된 해석과정을 이용하여 시험도로 실제 초기 현장계측자료의 현장검증을 실시하였다.

• 전산구조공학
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• 제11권1호
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• pp.217-226
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• 1998

본 논문은 변위제약모드를 갖는 트러스구조물의 형태해석을 목적으로 하였으며, 이를 위하여 해의 존재조건과 무어-펜로즈(Moore-Penrose) 일반역행렬을 이용하였다. 또한, 수치해석과정에서의 변위제약모드로는 호몰로지변형(homologous deformation)을 고려하여 해석하였고, 다음으로 다양한 변위제약모드와 절점에 작용하는 하중비를 만족하는 구조물의 형태를 구하였다. 본 논문에서의 형태해석문제는 지정된 변위를 만족하는 구조물의 형태를 찾는 일종의 역문제(inverse problem)로서 일반적인 구조해석과정과는 반대되는 입장에서 접근하였다. 또한, 본 논문에서는 수치해석과정에서 근사해의 정도를 향상시키기 위하여 뉴튼-랩슨법을 사용하였고, 수치해석예제로서 부재의 배열형태에 따라 3가지모델을 선택하였으며, 이들 모델을 통하여 적용한 해석기법의 정확성과 효율성을 검증하였다.

• Journal of Power Electronics
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• 제14권5호
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• pp.1008-1027
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• 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.