• 대한기계학회논문집B
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• 제30권3호
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• pp.270-277
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• 2006

Inverse radiation problems were solved for estimating boundary temperature distribution in a way of function estimation approach in an axisymmetric absorbing, emitting and scattering medium, given the measured radiative data. In order to reduce the computational time fur the calculation of sensitivity matrix, automatic differentiation and Broyden combined method were adopted, and their computational precision and efficiency were compared with the result obtained by finite difference approximation.. In inverse analysis, the effects of the precision of sensitivity matrix, the number of measurement points and measurement error on the estimation accuracy had been inspected using quasi-Newton method as an inverse method. Inverse solutions were validated with the result acquired by additional inverse methods of conjugate-gradient method or Levenberg-Marquardt method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.990-994
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• 2004

This paper presents a method to predict the transient characteristic of the air lubricated slider head in a hard disk drive by using optimization technique. The time dependent modified Reynolds equation based on the molecular slip flow approximation equations was used to describe the fluid flow within the air bearing and the implicit finite difference scheme is applied to calculate the pressure distribution under the slider head. The exhaustive search combined with the Broyden-Fletcher-Goldfarb-Shanno method were employed to obtain optimum design variables which are taper angle, rail width and taper length in order to keep the forces and moments acting on the slider head in dynamic equilibrium. The results show that the optimal head slider of the magnetic head has good stability characteristic that can reach the steady state within 0.5 microsecond.

• 동력기계공학회지
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• 제6권1호
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• pp.96-101
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• 2002

In this paper, we address the problem of controlling an end-effector to track and grab a moving target using the visual servoing technique. A visual servo mechanism based on the image-based servoing principle, is proposed by using visual feedback to control an end-effector without calibrated robot and camera models. Firstly, we consider the control problem as a nonlinear least squares optimization and update the joint angles through the Taylor Series Expansion. And to track a moving target in real time, the Jacobian estimation scheme(Dynamic Broyden's Method) is used to estimate the combined robot and image Jacobian. Using this algorithm, we can drive the objective function value to a neighborhood of zero. To show the effectiveness of the proposed algorithm, simulation results for a six degree of freedom robot are presented.