• International Journal of Control, Automation, and Systems
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• 제3권4호
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• pp.552-563
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• 2005

In this paper, we propose a wavelet based fuzzy neural network (WFNN) based direct adaptive control scheme for the solution of the tracking problem of mobile robots. To design a controller, we present a WFNN structure that merges the advantages of the neural network, fuzzy model and wavelet transform. The basic idea of our WFNN structure is to realize the process of fuzzy reasoning of the wavelet fuzzy system by the structure of a neural network and to make the parameters of fuzzy reasoning be expressed by the connection weights of a neural network. In our control system, the control signals are directly obtained to minimize the difference between the reference track and the pose of a mobile robot via the gradient descent (GD) method. In addition, an approach that uses adaptive learning rates for training of the WFNN controller is driven via a Lyapunov stability analysis to guarantee fast convergence, that is, learning rates are adaptively determined to rapidly minimize the state errors of a mobile robot. Finally, to evaluate the performance of the proposed direct adaptive control system using the WFNN controller, we compare the control results of the WFNN controller with those of the FNN, the WNN and the WFM controllers.

• Structural Engineering and Mechanics
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• 제83권3호
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• pp.353-361
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• 2022

Linear Elastic Fracture Mechanics (LEFM) has been developed by applying stress analysis to determine the stress intensity factor (SIF, K). The finite element method (FEM) is widely used as a standard tool for evaluating the SIF for various crack configurations. The prediction accuracy can be achieved by applying an adaptive Delaunay triangulation combined with a FEM. The solution can be solved using either direct or iterative solvers. This work adopts the element-by-element preconditioned conjugate gradient (EBE-PCG) iterative solver into an adaptive FEM to solve the solution to heal problem size constraints that exist when direct solution techniques are applied. It can avoid the formation of a global stiffness matrix of a finite element model. Several numerical experiments reveal that the present method is simple, fast, and efficient compared to conventional sparse direct solvers. The optimum convergence criterion for two-dimensional LEFM analysis is studied. In this paper, four sample problems of a two-edge cracked plate, a center cracked plate, a single-edge cracked plate, and a compact tension specimen is used to evaluate the accuracy of the prediction of the SIF values. Finally, the efficiency of the present iterative solver is summarized by comparing the computational time for all cases.

• Transactions on Control, Automation and Systems Engineering
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• 제4권2호
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• pp.124-129
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• 2002

This paper demonstrates that the largest Lyapunov exponent λ of recurrent neural networks can be controlled efficiently by a stochastic gradient method. An essential core of the proposed method is a novel stochastic approximate formulation of the Lyapunov exponent λ as a function of the network parameters such as connection weights and thresholds of neural activation functions. By a gradient method, a direct calculation to minimize a square error (λ - λ$\^$obj/)$^2$, where λ$\^$obj/ is a desired exponent value, needs gradients collection through time which are given by a recursive calculation from past to present values. The collection is computationally expensive and causes unstable control of the exponent for networks with chaotic dynamics because of chaotic instability. The stochastic formulation derived in this paper gives us an approximation of the gradients collection in a fashion without the recursive calculation. This approximation can realize not only a faster calculation of the gradient, but also stable control for chaotic dynamics. Due to the non-recursive calculation. without respect to the time evolutions, the running times of this approximation grow only about as N$^2$ compared to as N$\^$5/T that is of the direct calculation method. It is also shown by simulation studies that the approximation is a robust formulation for the network size and that proposed method can control the chaos dynamics in recurrent neural networks efficiently.

• 한국전산구조공학회논문집
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• 제24권4호
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• pp.405-412
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• 2011

본 논문에서는 켤레구배법을 이용해 전체-국부 확장함수를 지닌 일반유한요소법을 해석하는 방식을 제안한다. 이 기법은 편미분방정식의 해에 대한 정보가 충분하지 않은 경우에도 수치해석적인 방법으로 일반유한요소법의 확장함수를 구성할 수 있으며, 해석과정 중 약간의 추가적인 연산만으로 좋은 성능을 지닌 전처리행렬 및 초기 추측치를 구성할 수 있어 국부적으로 복잡한 거동을 보이는 문제의 해석에 효과적이다. 본 논문에 포함된 수치해석 예제의 결과는 제안된 기법이 가우스 소거법과 같은 직접 솔버를 이용하는 경우보다 수치해석적으로 더 효율적임을 보여준다.

• 한국유체기계학회 논문집
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• 제2권1호
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• pp.29-34
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• 1999

To develop the efficient numerical optimization method for the design of an airfoil, an evaluation of various methods coupled with two-dimensional Naviev-Stokes analysis is presented. Simplex method and Hook-Jeeves method we used as direct search methods, and steepest descent method, conjugate gradient method and DFP method are used as indirect search methods and are tested to determine the search direction. To determine the moving distance, the golden section method and cubic interpolation method are tested. The finite volume method is used to discretize two-dimensional Navier-Stokes equations, and SIMPLEC algorithm is used for a velocity-pressure correction method. For the optimal design of two-dimensional airfoil, maximum thickness, maximum ordinate of camber line and chordwise position of maximum ordinate are chosen as design variables, and the ratio of drag coefficient to lift coefficient is selected as an objective function. From the results, it is found that conjugate gradient method and cubic interpolation method are the most efficient for the determination of search direction and the moving distance, respectively.

• 한국전산구조공학회논문집
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• 제23권4호
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• pp.369-378
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• 2010

포화된 다공질매체의 수치해석에서는 일반적으로 고체영역과 유체영역을 동시에 고려한 혼합유한요소해석(Mixed Finite Element Analysis)이 쓰인다. 여기서 고체영역과 유체영역에서의 변수를 계산하기 위해서는 직접법(Direct Method) 또는 반복법(Iterative method)을 사용할 수 있으나, 각 구성물질의 상이한 물리적 특성 때문에 수치안정성을 확보하기 위해서는 대부분 스태거드 방법(Staggered method)이 제안된다. 본 논문에서는 수치안정성을 높인 스태거드 방법에서 영역 분할기법 중 하나인 FETI(Finite Element Tearing and Interconnecting)기법을 고체영역에 접목시켜 수치효율성을 증대시키는 방법이 제안되었다. 고체영역에서 라그랑지 승수와 Conjugated Gradient Method를 이용해 영역 분할이 진행되고 MPI(Message Passing Interface) 라이브러리를 사용하여 수치 효율성을 검증하였다.

• 대한기계학회논문집A
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• 제24권5호
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• pp.1215-1230
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• 2000

Parallel Approaches using Cray T3E which is NIPP (Massively Parallel Processors) machine are presented for the efficient computation of the finite element analysis of 3-D shape rolling processes. D omain decomposition method coupled with parallel linear equation solver is used. Domain decomposition is applied for obtaining element tangent stifffiess matrices and residual vectors. Direct and iterative parallel algorithms are used for solving the linear equations. Direct algorithm is_parallel version of direct banded matrix solver. For iterative algorithms, the well-known preconditioned conjugate gradient solver with Jacobi preconditioner is also employed. Moreover a new effective iterative scheme with block inverse matrix preconditioner, which is named by present authors, is presented and its results are compared with the one using Jacobi preconditioner. PVM and MPI are used for message passing and synchronization between processors. The performance and efficiency of each algorithm is discussed and comparisons are made among different algorithms.

• 한국지리정보학회지
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• 제9권4호
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• pp.45-59
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• 2006

중규모 기상모형을 이용하여 기상장에서의 지형적 특성의 효과가 연구되었다. 본 연구에서는 지형의 경사를 고려한 조도각을 이용하여 지표면의 지형 특성이 직달 복사량에 미치는 효과를 계산하고, 이것이 중규모 기상장에 어떠한 영향을 미치는지 살펴보았다. 기상 조건에 따른 직달 복사량의 변화를 고려하기 위해, 고기압의 영향을 받은 날과 저기압의 영향을 받은 흐린 날을 선택하여 두 사례에 대한 실험 결과를 나타내었다. 직달 복사량의 보정에 대한 두 사례의 실험 결과, 지형 경사가 급한 태백산맥과 소백산맥에서 직달 복사량의 뚜렷한 차이가 나타났다. 또한 이러한 결과의 시계열 분석을 살펴보면, 산맥의 동쪽 사면에서의 직달 복사량이 오후보다 오전에 약 $10-60W/m^2$ 더 크게 나타나는 반면, 서쪽 사면에서는 그 반대 경향이 나타났다. 이러한 결과는 맑은 날의 경우 더욱 뚜렷하게 나타났다. 같은 방법으로 지표면 온도의 변화를 살펴본 결과, 맑은 날의 경우 지표면 온도는 전 시간에 걸쳐 양 사면에서 더 높게 나와 관측 값에 더욱 근접한 값을 보였다. 흐리고 비가 왔던 날의 경우, 지표면 온도는 오전에는 동쪽 사면에서 더 높은 값을 보였고 오후에는 더 낮은 온도를 보였다. 반면, 서쪽 사면에서의 지표면 온도는 전 시간에 걸쳐 높은 값을 나타냈다. 이 두 사례의 경우, 지표면의 경사를 고려한 경우의 지표면 온도가 수평 지표면을 고려했을 때보다 대개 높게 나타남을 볼 수 있다. 바람장을 살펴보면, 태백산맥과 소백산맥 주위에서 강한 바람이 모사되는데, 이러한 결과는 지형의 기울기를 고려해 줌으로써 수평면을 고려했을 때 보다 온도 경도가 증가되고, 이에 따라 기압 경도력이 강화되기 때문이다.

• Structural Engineering and Mechanics
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• 제30권4호
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• pp.467-480
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• 2008

An aggregation multigrid method (AMM) is a leading iterative solver in solid mechanics. Recently, AMM is applied for solving Schur Complement system in the FE analysis of shell structures. In this work, an extended application of AMM for solving Schur Complement system in the FE analysis of continuum elements is presented. Further, the performance of the proposed AMM in multiple load cases, which is a challenging problem for an iterative solver, is studied. The proposed method is developed by combining the substructuring and the multigrid methods. The substructuring method avoids factorizing the full-size matrix of an original system and the multigrid method gives near-optimal convergence. This method is demonstrated for the FE analysis of several elastostatic problems. The numerical results show better performance by the proposed method as compared to the preconditioned conjugate gradient method. The smaller computational cost for the iterative procedure of the proposed method gives a good alternative to a direct solver in large systems with multiple load cases.

• Advances in nano research
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• 제12권1호
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• pp.37-47
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• 2022

In this paper, the non-linear static analysis of Timoshenko nanobeams consisting of bi-directional functionally graded material (BFGM) with immovable ends is investigated. The scratching in the FG nanobeam mid-plane, is the source of nonlinearity of the bending problems. The nonlocal theory is used to investigate the non-linear static deflection of nanobeam. In order to simplify the formulation, the problem formulas is derived according to the physical middle surface. The Hamilton principle is employed to determine governing partial differential equations as well as boundary conditions. Moreover, the differential quadrature method (DQM) and direct iterative method are applied to solve governing equations. Present results for non-linear static deflection were compared with previously published results in order to validate the present formulation. The impacts of the nonlocal factors, beam length and material property gradient on the non-linear static deflection of BFG nanobeams are investigated. It is observed that these parameters are vital in the value of the non-linear static deflection of the BFG nanobeam.