• 대한수학회보
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• 제47권4호
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• pp.693-699
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• 2010

In this paper we show that the flat property of a left R-module does not imply (carry over) to the corresponding inverse polynomial module. Then we define an induced inverse polynomial module as an R[x]-module, i.e., given an R-linear map f : M $\rightarrow$ N of left R-modules, we define $N+x^{-1}M[x^{-1}]$ as a left R[x]-module. Given an exact sequence of left R-modules $$0\;{\rightarrow}\;N\;{\rightarrow}\;E^0\;{\rightarrow}\;E^1\;{\rightarrow}\;0$$, where $E^0$, $E^1$ injective, we show $E^1\;+\;x^{-1}E^0[[x^{-1}]]$ is not an injective left R[x]-module, while $E^0[[x^{-1}]]$ is an injective left R[x]-module. Make a left R-module N as a left R[x]-module by xN = 0. We show inj $dim_R$ N = n implies inj $dim_{R[x]}$ N = n + 1 by using the induced inverse polynomial modules and their properties.

• 로봇학회논문지
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• 제12권1호
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• pp.42-54
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• 2017

Using an inverse of the geometric Jacobian matrix is one of the most popular ways to control robot manipulators, because the Jacobian matrix contains the relationship between joint space velocities and operational space velocities. However, the control algorithm based on Jacobian matrix has algorithmic singularities: The robot manipulator becomes unstable when the Jacobian matrix loses rank. To solve this problem, various methods such as damped and filtered inverse have been proposed, but comparative studies to evaluate the performance of these algorithms are insufficient. Thus, this paper deals with a comparative analysis of six representative singularity avoidance algorithms: Damped Pseudo Inverse, Error Damped Pseudo Inverse, Scaled Jacobian Transpose, Selectively Damped Inverse, Filtered Inverse, and Task Transition Method. Especially, these algorithms are verified through computer simulations with a virtual model of a humanoid robot, THORMANG, in order to evaluate tracking error, computational time, and multiple task performance. With the experimental results, this paper contains a deep discussion about the effectiveness and limitations of each algorithm.

• 한국생산제조학회지
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• 제7권1호
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• pp.104-111
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• 1998

This study solves the inverse kinematics problem of industrial FANUC robot. Because every joint angle of FANUC robot is dependent on the position of end-effector and the direction of approach vector, arm metrix T6 is very complicated and each joint angle is a function of other joint angles. Therefore, the inverse kinematics problem can not be solved by conventional methods. Noticing the fact that if one joint angle is known, the other joint angles are calculated by the algebraic methods. $ heta$1 is calculated using neumerical analysis method, and solves inverse kinematics problem. This proposed method, in this study, is more simpler and faster than conventional methods and is very useful in the real-time control of the manipulator.

• 대한기계학회논문집
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• 제19권1호
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• pp.142-149
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• 1995

This paper presents a new kinematic control strategy for serial redundant manipulators which gives repeatability in the joint space when the end-effector undergoes some general cyclic motions. Theoretical development has been accomplished by deriving a new inverse kinematic equation that is based on springs being conceptually located in the joints of the manipulator. Although some inverse kinematic equations for serial redundant manipulators have been derived by many researchers, the new strategy is the first to include the free angles of torsional springs and the free lengths of the translational springs. This is important because it ensures repeatability in the joint space of a serial redundant manipulator whose end-effector undergoes a cyclic type motion. Numerical verification for repeatability is done in terms of Lie Bracket Condition. Choices for the free angle and torsional stiffness of a joint (or the free length and translational stiffness) are made based upon the mechanical limits of the joints.

• 로봇학회논문지
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• 제6권1호
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• pp.27-33
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• 2011

Control and trajectory generation of a 7 DOF anthropomorphic robot arm suffer from computational complexity and singularity problem because of numerical inverse kinematics. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of inverse kinematics. In this research, we propose an analytical inverse kinematics algorithm for a 7 DOF anthropomorphic robot arm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regard to the end-effector pose. Performance of the proposed algorithm was verified by various simulations. It is shown that the trajectory planning using this algorithm provides correct results near the singular points and can utilize redundancy intuitively.

• International Journal of Aerospace System Engineering
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• 제3권1호
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• pp.1-4
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• 2016

Functionally graded materials (FGMs) are becoming very popular in various industries due to their effectiveness of the utilization of their constituent elements. However, the modelling of these materials is difficult due to the complex nature of variation of material properties across the thickness. Many shear deformation theories have been developed and employed for the analysis of such functionally graded plates (FGPs). A recently developed inverse hyperbolic shear deformation theory has been successfully employed by Grover et al. [1] for the analysis of laminated composites and sandwich plates. The objective of the study is to obtain finite element solution for the structural analysis of functionally graded plates using inverse hyperbolic shear deformation theory. Finite element analysis facilitates the analysis of complex problems such as functionally graded plates with different boundary conditions and different loadings.

• 대한수학회논문집
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• 제34권3호
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• pp.743-755
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• 2019

For every inverse semigroup S with subsemigroup E of idempotents, necessary and sufficient conditions are obtained for the weighted semigroup algebra $l^1(S,{\omega})$ and its second dual to be $l^1(E)$-module amenble. Some results for the module Arens regularity of $l^1(S,{\omega})$ (as an $l^1(E)$-module) are found. If S is either of the bicyclic inverse semigroup or the Brandt inverse semigroup, it is shown that $l^1(S,{\omega})$ is module amenable but not amenable for any weight ${\omega}$.

• 한국수정란이식학회:학술대회논문집
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• 한국수정란이식학회 2002년도 국제심포지엄
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• pp.96-96
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• 2002

We examined the role of SR 144528 (N-[-(1S-endo-1,3,,3-trimethyl-bicycle[2, 2, 1 ] heptan-2-y1]-5-(-4-chloro-3-mothyl-phenyl)-(4-methylbenzyl)-pyrazole-3- carboxamide) in the modulation of certain AC isoforms in transiently transfected COS-7 cells. We found that CB2 in COS cells has a constitutive activity, and thus leading to inhibition of AC-V activity even in the absence of agonist. In addition, this constitutive modulation of AC is reversed by SR144528. It is now well established that several G protein-coupled receptors can signal without agonist stimulation(constitutive receptors). Inverse agonists have been shown to inhibit the activity of such constitutive G protein-coupled receptor signaling. Agonist activation of the G$\_$i/o/-coupled peripheral cannabinoid receptor CB2 normally inhibits adenylyl cyclase type V and stimulates adenylyl cyclase type II. Using transfected COS cells, we show here that application of SR144528, an inverse agonist of CB2, leads to a reverse action (stimulation of adenylyl cyclase V and inhibition of adenylyl cyclase II). This inverse agonism of SR144528 is dependent on the temperature, as well as on the concentration of the cDNA of CB2 transfected. Pertussis toxin blocked the regulation of adenylyl cyclase activity by SR 144528.

• Journal of applied mathematics & informatics
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• 제4권1호
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• pp.285-297
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• 1997

We will study the generalization of theorems on the pe-riodic locally - solvable FC-groups to the theorems on the periodic locally-solvable CC-groups. The main theorem is the Theorem A. For the proof the inverse limit of inverse system and topological ap-proch developed by Dixon is useful.

• 충청수학회지
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• 제17권2호
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• pp.137-145
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• 2004

We give characterization of ${\Omega}$-stable diffeomorphisms via the notions of weak inverse shadowing. More precisely, it is proved that the $C^1$ interior of the set of diffeomorphisms with the weak inverse shadowing property with respect to the class $\mathcal{T}_h$ coincides with the set of ${\Omega}$-stable diffeomorphisms.