• Proceedings of the IEEK Conference
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• summer
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• pp.263-268
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• 2004

The inverse kinematics problem is to find a set of joint variable values that will place the end effector of a robot manipulator into a given pose. Pieper has shown that a sufficient condition for a manipulator to have a closed form solution is that three adjacent joint axes intersects, hence the six axes robot with spherical wrist allows closed form solution. But many industrial robots have a non-spherical wrist to provide a stronger wrist configuration so that they can handle heavy payloads. Also, the use of a non-spherical wrist can result in a cheap and simple wrist arrangement than when all three axes intersect at a common point. In these cases, closed form solutions cannot be found. Therefore numerical technique must be used to solve the inverse kinematics equations. This paper proposes a new algorithm that can be used for finding inverse kinematics solution of the six axes robot with non-spherical wrist. Computer simulations are provided to prove the usefulness of our method.

• Korean Journal of Computational Design and Engineering
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• v.15 no.2
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• pp.106-114
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• 2010

The swept volume, the region of a moving object, is applied in many fields such as valid paths for motions of tools, visualization in robot paths and interference tests for parts assembling or disjointing. The shape of a swept volume depends on an generators computed with normal vectors of an object and velocity vectors of a motion. Although free-from surfaces are widely used to represent geometric models in CAD, computing the generators for a free-form object is a formidable task. Previous approaches exploit the closed form expressions of generators but limited to planer or quadric faces. In this paper, we propose the algorithm to compute swept volumes generated by free-form objects in screw motions. For the algorithm a tracing method is applied to the computation of generators. It considers curvatures of surfaces of an object to increase the computational accuracy. We implemented our algorithm in the CATIA V.5 environment to test the validity of our algorithm and to generate examples.

• Communications for Statistical Applications and Methods
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• v.29 no.6
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• pp.721-733
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• 2022

In this paper we compare parameter estimation by Grassmann manifold optimization and sequential candidate set algorithm in a structured principal fitted component (PFC) model. The structured PFC model extends the form of the covariance matrix of a random error to relieve the limits that occur due to too simple form of the matrix. However, unlike other PFC models, structured PFC model does not have a closed form for parameter estimation in dimension reduction which signals the need of numerical computation. The numerical computation can be done through Grassmann manifold optimization and sequential candidate set algorithm. We conducted numerical studies to compare the two methods by computing the results of sequential dimension testing and trace correlation values where we can compare the performance in determining dimension and estimating the basis. We could conclude that Grassmann manifold optimization outperforms sequential candidate set algorithm in dimension determination, while sequential candidate set algorithm is better in basis estimation when conducting dimension reduction. We also applied the methods in real data which derived the same result.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.6
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• pp.1421-1429
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• 1994

An algorithm is developed for solving the inverse kinematic problem of a 6-degree-of-freedom robot with a wrist offset for which the closed form inverse solutions are not obtainable, but knowledge of one joint variable allows closed form solutions of the remaining joint variables. The algorithm does not require Forward Kinematics nor Jacobian but uses the implicit kinematic relationships between joint variables and the given hand position. An iterative back substitution method is used to solve the inversion and the optimal conditions of the convergence are incoporated. An example is given to illustrate the concepts, the solution procedure and its convergency.

• Structural Engineering and Mechanics
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• v.74 no.2
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• pp.189-199
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• 2020

Researchers have elaborated several accurate methods to calculate member-end rotations or moments, directly, for bridge-type structures. Recently, the concept of rotation and moment propagation (RMP) has been presented considering bending flexibility, only. Through which, in spite of moment distribution method, all joints are free resulting in rotation and moment emit throughout the structure similar to wave motion. This paper proposes a new set of closed-form equations to calculate member-end rotation or moment, directly, comprising both shear and bending flexibility. Furthermore, the authors program the algorithm of Timoshenko beam theory cooperated with the finite element. Several numerical examples, conducted on the procedures, show that the method is superior in not only the dominant algorithm but also the preciseness of results.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.46-51
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• 1991

An algorithm of finding a solution to an $H^{\infty}$-minimization problem is proposed, and the solution is obtained explicity in terms of closed-form. We construct an optimal controller subject to the interpolation constraints such that $H^{\infty}$-norm and the minimized value of transfer function matrix are equal.l.

• Proceedings of the KIEE Conference
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• 1999.07b
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• pp.537-539
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• 1999

When dealing with a controller design in the two parameter configuration, there are some situations when neither a known pseudo inverse technique nor the inverse method can be applicable. In this case, we propose two methods of designing a controller by the gradient algorithm and the new pseudo inverse method such that the designed closed loop polynomial may be equal to or nearly equal to the desired closed loop polynomial. We compare the proposed methods with the known methods. We use the Manabe standard form as a desired closed loop characteristic polynomial.

• ETRI Journal
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• v.36 no.1
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• pp.175-178
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• 2014

We introduce the Energy-Based Blind Separating (EBS) algorithm for extremely fast separation of mixed speech signals without loss of quality, which is performed in two stages: iterative-form separation and closed-form separation. This algorithm significantly improves the separation speed simply due to incorporating only some specific frequency bins into computations. Simulation results show that, on average, the proposed algorithm is 43 times faster than the independent component analysis (ICA) for speech signals, while preserving the separation quality. Also, it outperforms the fast independent component analysis (FastICA), the joint approximate diagonalization of eigenmatrices (JADE), and the second-order blind identification (SOBI) algorithm in terms of separation quality.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.8 no.10
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• pp.3342-3360
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• 2014

In this paper, the capacity and BER performance of downlink distributed antenna systems (DAS) with transmit antenna selection and multiple receive antennas are investigated in MIMO composite channel, where path loss, Rayleigh fading and lognormal shadowing are all considered. Based on the performance analysis, using the probability density function (PDF) of the effective SNR and numerical integrations, tightly-approximate closed-form expressions of ergodic capacity and average BER of DAS are derived, respectively. These expressions have more accuracy than the existing expressions, and can match the simulation well. Besides, the outage capacity of DAS is also analyzed, and a tightly-approximate closed-form expression of outage capacity probability is derived. Moreover, a practical iterative algorithm based on Newton's method for finding the outage capacity is proposed. To avoid iterative calculation, another approximate closed-form outage capacity is also derived by utilizing the Gaussian distribution approximation. With these theoretical expressions, the downlink capacity and BER performance of DAS can be effectively evaluated. Simulation results show that the theoretical analysis is valid, and consistent with the corresponding simulation.

• Smart Structures and Systems
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• v.13 no.2
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• pp.319-341
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• 2014

A family of smart tuned mass dampers (STMDs) with variable frequency and damping properties is analyzed under harmonic excitations and ground motions. Two types of STMDs are studied: one is realized by a semi-active independently variable stiffness (SAIVS) device and the other is realized by a pendulum with an adjustable length. Based on the feedback signal, the angle of the SAIVS device or the length of the pendulum is adjusted by using a servomotor such that the frequency of the STMD matches the dominant excitation frequency in real-time. Closed-form solutions are derived for the two types of STMDs under harmonic excitations and ground motions. Results indicate that a small damping ratio (zero damping is the best theoretically) and an appropriate mass ratio can produce significant reduction when compared to the case with no tuned mass damper. Experiments are conducted to verify the theoretical result of the smart pendulum TMD (SPTMD). Frequency tuning of the SPTMD is implemented through tracking and analyzing the signal of the excitation using a short time Fourier transformation (STFT) based control algorithm. It is found that the theoretical model can predict the structural responses well. Both the SAIVS STMD and the SPTMD can significantly attenuate the structural responses and outperform the conventional passive TMDs.