• 전기학회논문지
• /
• 제63권9호
• /
• pp.1266-1272
• /
• 2014

We define the mobile robot navigation problem as an optimization problem to minimize the cost function with the pose error between the goal position and the position of a mobile robot. Using Gauss-Newton method for the optimization, the optimal speeds of the left and right wheels can be found as the solution of the optimization problem. Especially, the rotational speed of wheels of a mobile robot can be directly related to the overall speed of a mobile robot using the Jacobian derived from the kinematic model. When the robot detects the obstacle using sensors, the sub-goal switching method is adopted for the efficient obstacle avoidance during the navigation. The performance was evaluated using the simulation and the simulation results show the validity of the proposed method.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.210-210
• /
• 2000

In this paper, we have investigated the properties of multi-layer perceptron (MLP) for odour patterns classification and concentration estimation simultaneously. When the MLP may be has a fast convergence speed with small error and excellent mapping ability for classification, it can be possible to use for classification and concentration prediction of volatile chemicals simultaneously. However, the conventional MLP, which is back-Propagation of error based on the steepest descent method, was difficult to use for odour classification and concentration estimation simultaneously, because it is slow to converge and may fall into the local minimum. We adapted the Levenberg-Marquardt(LM) algorithm [4,5] having advantages both the steepest descent method and Gauss-Newton method instead of the conventional steepest descent method for the simultaneous classification and concentration estimation of odours. And, We designed the artificial odour sensing system(Electronic Nose) and applied LM-BP algorithm for classification and concentration prediction of VOC gases.

• 대한의용생체공학회:의공학회지
• /
• 제18권3호
• /
• pp.211-216
• /
• 1997

An inverse method with regularization has been developed to determine the viscoelastic properties of trabecular bone. A series of stress relaxation experiments were performed under the condition of uniaxial compression stress state. Optimization has been formulated within the framework of nonlinear least-squares and a modified Gauss-Newton method with a zeroth-order regularization technique. The stress relaxation behavior of trabecular bone was analyzed using a standard viscoelastic model. The present study clearly shows that trabecular bone exhibits typical viscoelastic stress relaxation behavior, and the obtained material parameters well represent the viscoelastic behavior of trabecular bone.

• 대한전기학회논문지:전력기술부문A
• /
• 제49권11호
• /
• pp.542-548
• /
• 2000

In this paper, we proposed a new load flow analysis algorithm. In order to develop it, we converted typical power flow problem into optimal problem. This problem has the objective function that minimize the difference between calculated values and specified values of bus powers and subject to bus power equations of P and Q. Using it, we solved the divergence by singularity of Jacobian matrix, the divergence by initial value in the typical power flow study. In the study of a sample system, we verified the superiority of proposed algorithm.

• 한국윤활학회:학술대회논문집
• /
• 한국윤활학회 1998년도 제27회 춘계학술대회
• /
• pp.167-172
• /
• 1998

An algorithm of Thermal-elastohydrodynamic lubrication analysis for the piston ring is developed. This algorithm contains cavitation boundary condition so it automatically satisfies conservation of mass. 1-D Reynolds equation and 2-D energy equation are solved simultaneously by using Gauss-Jordan method and Newton-Raphson method. Minimum film thickness and friction force are calculated for 1 cycle. There is little difference between the results caculated by isothermal rigid and EHL analysis in entire cycle. In the results of THL, shear heating effect and temperature boundary condition affect the minimum film thickness and friction force prediction. The minimum film thickness and the friction force calculated by THL are lower than those caculated using isothermal assumption.

• 전기전자학회논문지
• /
• 제18권1호
• /
• pp.8-18
• /
• 2014

Electrical resistance tomography (ERT) has high temporal resolution characteristics therefore it is used as an alternative technique to visualize two-phase flows. The image reconstruction in ERT is highly non-linear and ill-posed hence it suffers from poor spatial resolution. In this paper, the inverse problem is solved with homogeneous data used as a prior information to reduce the condition number of the inverse algorithm and improve the spatial resolution. Numerical experiments have been carried out to illustrate the performance of the proposed method.

• 한국지능시스템학회논문지
• /
• 제10권5호
• /
• pp.442-448
• /
• 2000

전통적인 동적 시스템의 제어에는 제어대상의 정확한 수학적 모델링이 필요하다. 그러나 동적 시스템의 모델링은 복잡한 상태방정식과 많은 제어파라메터들에 의해 매우 복잡한 계산과정을 필요로 한다. 그러므로, 본 논문에서는 신경회로망을 이용한 동적 시스템의 상태 공간 인식 모델을 제안하였으며, 제안된 신경회로망을 학습시키기 위하여 가우스-뉴턴 방법을 사용하였다. 본 논문에서 제안된 신경회로망 모델은 시소 시스템 인식문제를 컴퓨터 모이실험을 통해 효과적임을 보였다.

• 대한임상검사과학회지
• /
• 제40권1호
• /
• pp.18-25
• /
• 2008

In classical titrimetric analyses, the major concern is the concentration of titrant, usually the aqueous solution of hydrochloric acid or sodium hydroxide, that could be changed as time goes by and it is accompanied with the inaccuracy of the resulting data. And the statistical approach, the nonlinear regression analysis, which is a well-known statistical method, was introduced to determine the accurate concentration of the titrant and the exact value of parameters, $K_a$, r, $C_a$, $C_b$, for 0.01 M aqueous solutions of analytes, sodium pyruvate, sodium acetate, sodium bicarbonate, ammonium hydroxide, ammonium chloride and acetic acid at $25^{\circ}C$. We used Gauss-Newton method for the linearlization of the nonlinear titration system and the two-parameter fitting showed appreciable convergent data for the parameters of the analytes set with the various range of $K_a$ value.

• 대한조선학회논문집
• /
• 제39권1호
• /
• pp.28-37
• /
• 2002

본 연구에서는 저장력 예인케이블의 비선형 동적거동을 수치적으로 해석하였다. 고장력 케이블해석에서는 흔히 무시되는 굽힘강성의 효과가 저장력 케이블에서는 중요한 역할을 하므로 본 연구에서는 이를 고려하였다. 또한 저장력 케이블에서는 대변위가 발생하기 쉬우므로 기하학적인 비선형 및 유체 비선형 효과가 크므로 이를 고려하였다. 저장력 예인케이블에 대한 3차원 비선형 운동방정식을 수립하고 유한차분법을 적용하여 이산화 시켰다. 시간적분에 있어서 안정적인 해를 얻을 수 있는 음해법(implicit method)을 적용하였으며 비선형 해를 구하기 위하여 Newton-Raphson 반복법을 사용하였다. 케이블과 같이 양단경계조건을 갖고 대각선 주변 성분만 있는 행렬식을 계산하는 경우에는 Gauss-Jordan 방법 등과 같이 일반적인 방법 보다 블록삼중대각행렬 풀이법이 계산시간을 상당히 줄일 수 있음을 알 수 있었다. 몇 가지 예제해석을 수행하였으며 실해역 실험결과에 의해 이미 검증되어 있는 케이블 해석프로그램인 WHOI Cable 프로그램의 해석결과와 비교 검토한 결과 서로 잘 일치함을 알 수 있었다.

• Steel and Composite Structures
• /
• 제29권6호
• /
• pp.785-802
• /
• 2018

In this paper, two different computational methods, called Rayleigh-Ritz and collocation are developed to estimate the ultimate strength of composite plates. Progressive damage behavior of moderately thick composite laminated plates is studied under in-plane compressive load and uniform lateral pressure. The formulations of both methods are based on the concept of the principle of minimum potential energy. First order shear deformation theory and the assumption of large deflections are used to develop the equilibrium equations of laminated plates. Therefore, Newton-Raphson technique will be used to solve the obtained system of nonlinear algebraic equations. In Rayleigh-Ritz method, two degradation models called complete and region degradation models are used to estimate the degradation zone around the failure location. In the second method, a new energy based collocation technique is introduced in which the domain of the plate is discretized into the Legendre-Gauss-Lobatto points. In this new method, in addition to the two previous models, the new model named node degradation model will also be used in which the material properties of the area just around the failed node are reduced. To predict the failure location, Hashin failure criteria have been used and the corresponding material properties of the failed zone are reduced instantaneously. Approximation of the displacement fields is performed by suitable harmonic functions in the Rayleigh-Ritz method and by Legendre basis functions (LBFs) in the second method. Finally, the results will be calculated and discussions will be conducted on the methods.