• International Journal of Control, Automation, and Systems
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• v.3 no.4
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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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• v.83 no.3
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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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• v.4 no.2
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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.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.24 no.4
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• pp.405-412
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• 2011

This paper introduces the generalized finite element method with global-local enrichment functions using the preconditioned conjugate gradient method. The proposed methodology is able to generate enrichment functions for problems where limited a-priori knowledge on the solution is available and to utilize a preconditioner and initial guess of good quality with only small addition of computational cost. Thus, it is very effective to analyze problems where a complex behavior is locally exhibited. Several numerical experiments are performed to confirm its effectiveness and show that it is computationally more efficient than the analysis utilizing direct solvers such as Gauss elimination method.

• The KSFM Journal of Fluid Machinery
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• v.2 no.1 s.2
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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.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.23 no.4
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• pp.369-378
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• 2010

The mixed finite element analysis is the most widely used method for saturated porous media. Generally, in this method, direct method and iterative method are proposed to obtain unknown variable, however, the iterative method is recommended because the method provide numerical stability and accuracy under the material properties for solid and fluid are different. In this paper, we introduce staggered method which has strong numerical stability, and FETI(Finite Element Tearing and Interconnecting) which is one of decomposition methods are applied into the method in order to obtain numerical efficiency. In which, Lagrange Multipliers and conjugated gradient method to solve decomposed domain are proposed, and then, the proposed method is verified numerical efficiency by point to point MPI(Message Passing Interface) library.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.5 s.176
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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.

• Journal of the Korean Association of Geographic Information Studies
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• v.9 no.4
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• pp.45-59
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• 2006

In this study, the effects of the surface topographical characteristics on the meteorological fields are examined in a mesoscale meteorlolgical model. We calculated the direct solar radiation using the illumination angle considering the inclination of topography and tried to find out its effect on meteorological fields. In above experiments, we selected two cases for the clear day and the cloudy day to show the effect of weather and represented the results for two cases. In the correction of the direct solar radiation, the results of two cases indicate that there are obvious differences on the steep Taeback and Soback mountains. And on the time-series analysis the east-facing slope of these mountains receives the more direct solar radiation about $10-60W/m^2$ in the morning hours but lesser in the afternoon hours than the horizontal surface while it is opposite on the west-facing slope. And the results mentioned above are more obvious at clear day. With the same analysis method, at clear day, the surface skin temperature is higher at all hours than that on horizontal surface on the both of slope. At cloudy and rainy day, the surface skin temperature on the east-facing slope is higher in the morning hours but lower in the afternoon hours than that on horizontal surface. But on the west-facing slope, it is higher at all hours than that on horizontal surface. In the two cases, the temperature considering the slope of surface is almost higher than that on the horizontal surface. The wind is stronger than that on the horizontal surface with increasing pressure gradient force according as increasing temperature gradient around the Taeback and the Soback mountains.

• Structural Engineering and Mechanics
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• v.30 no.4
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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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• v.12 no.1
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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.