• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.431-431
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• 2000

The modeling of 5-bar linkage robot manipulator dynamics by means of a mathematical and neural architecture is presented. Such a model is applicable to the design of a feedforward controller or adjustment of controller parameters. The inverse model consists of two parts: a mathematical part and a compensation part. In the mathematical part, the subsystems of a 5-bar linkage robot manipulator are constructed by applying Kawato's Feedback-Error-Learning method, and trained by given training data. In the compensation part, MLP backpropagation algorithm is used to compensate the unmodeled dynamics. The forward model is realized from the inverse model using the inverse of inertia matrix and the compensation torque is decoupled in the input torque of the forward model. This scheme can use tile mathematical knowledge of the robot manipulator and analogize the robot characteristics. It is shown that the model is reasonable to be used for design and initial gain tuning of a controller.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.576-579
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• 2002

This paper presents the jacobian analysis of new type Casing Oscillator using the inverse kinematics, and to search for it's singularities through the jacobian analysis. All parallel manipulator have some singularities in workspace or it's outside workspace. Singularities were cleared by many other study of parallel manipulator f3r that reason recent publication of device control. In this paper defined that singularities of new file of Casing Oscillator and, to show it's graph. Finally this paper will be used for a practical example for construction spot, aviation simulator, vehicles simulator, military equipment etc.

• Coupled systems mechanics
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• 제11권2호
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• pp.133-149
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• 2022

The accurate prediction of elastoplasticity under prescribed workloads is essential in the optimization of engineering structures. Mechanical experiments are carried out with the goal of obtaining reliable sets of material parameters for a chosen constitutive law via inverse identification. In this work, two sample geometries made of high strength steel plates were evaluated to determine the optimal configuration for the identification of Ludwik's nonlinear isotropic hardening law. Finite element model updating(FEMU) was used to calibrate the material parameters. FEMU computes the parameter changes based on the Hessian matrix, and the sensitivity fields that report changes of computed fields with respect to material parameter changes. A sensitivity analysis was performed to determine the influence of the sample geometry on parameter identifiability. It was concluded that the sample with thinned gauge region with a large curvature radius provided more reliable material parameters.

• 대한수학회논문집
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• 제38권2호
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• pp.341-354
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• 2023

In this article, an alternating Fibonacci sequence is defined from a second-order linear homogeneous recurrence relation with constant coefficients. Then, the determinant, inverse, and eigenvalues of the circulant matrices with entries in the first row having the formation of the sequence are formulated explicitly in a simple way. In this study, the method for deriving the formulation of the determinant and inverse is simply using traditional elementary row or column operations. For the eigenvalues, the known formulation from the case of general circulant matrices is simplified by considering the specialty of the sequence and using cyclic group properties. We also propose algorithms for the formulation to show how efficient the computations are.

• 한국정보통신학회논문지
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• 제13권12호
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• pp.2731-2736
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• 2009

본 논문에서는 직교 기저행렬을 이용한 직교 주파수분할다중화 시스템의 새로운 구현방안이 수학적으로 개발된다. 직교기저행렬은 Haar 기저행렬을 기본으로 하고 있으나 직교 주파수분할다중화의 다중 부채널 신호를 변조하기에 적당한 형태를 갖추고 있다. 여기서는 새로운 기저행렬이 간단한 재귀알고리즘에 의하여 확장될 수 있음이 증명된다.그리고 송신기 조합행렬의 차수는 확장에 의하여 두배로 증가된다. 수신기에서 복조는 직교 기저행렬의 재귀에 의하여 생성되는 조합행렬의 역행렬에 의하여 수행된다. 따라서 제안된 직교 주파수분할다중화 시스템에서는 원 신호의 완벽한 재생이 가능함을 알 수 있다.

• 대한기계학회논문집A
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• 제34권4호
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• pp.487-493
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• 2010

대부분의 구조해석 문제는 외부에서 주어진 하중에 대한 변형과 응력에 관심을 두고 있지만 많은 경우에서 표면 또는 내부에 주어진 응력이나 트랙션을 구하는 역문제 해석이 필요하게 된다. 본 연구에서는 구하고자 하는 트랙션에서 멀리 떨어진 영역의 변위를 측정하여 미지의 트랙션을 평가하는데 유한요소법을 사용한 역문제 수식화를 적용하였다. 일반적으로 역시스템의 불안정으로 인하여 측정 변위의 작은 오차는 해석 결과에 큰 영향을 주게 된다. 이와 같은 역시스템의 불안정성을 개선하기 위하여 본 연구에서는 구하고자 하는 트랙션에 가까운 단면의 변위를 Gram-Schmidt 수직화 기법을 통한 수직기저함수 사용하여 예측하고 보다 안정된 역문제를 해석하는 방법을 개발하였고 장점들을 수치 예제를 통하여 보여주었다.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2004년도 봄 학술발표회 논문집
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• pp.1-8
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• 2004

For the linearized differential algebraic equation of the nonlinear constrained system, exact initial values of the acceleration are needed to solve itself. It may be very troublesome to perform the inverse operation for obtaining the incremental quantities since the mass matrix contains the zero element in the diagonal. This fact makes the mass matrix impossible to be positive definite. To overcome this singularity phenomenon the mass matrix needs to be modified to allow the feasible application of predictor and corrector in the iterative computation. In this paper the proposed numerical algorithm based on the modified mass matrix combines the conventional implicit algorithm, Newton-Raphson method and Newmark method. The numerical example presents reliabilities for the proposed algorithm via comparisons of the 4th order Runge-kutta method. The proposed algorithm seems to be satisfactory even though the acceleration, Lagrange multiplier, and energy show unstable behaviour. Correspondingly, it provides one important clue to another algorithm for the enhancement of the numerical results.

• Journal of applied mathematics & informatics
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• 제18권1_2호
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• pp.321-328
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• 2005

We investigate a matrix inequality on Schur complements defined by {1}-generalized inverses, and obtain simultaneously a necessary and sufficient condition under which the inequality turns into an equality. This extends two existing matrix inequalities on Schur complements defined respectively by inverses and Moore-Penrose generalized inverses (see Wang et al. [Lin. Alg. Appl., 302-303(1999)163-172] and Liu and Wang [Lin. Alg. Appl., 293(1999)233-241]). Moreover, the non-uniqueness of $\{1\}$-generalized inverses yields the complicatedness of the extension.

• Journal of the Korean Data and Information Science Society
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• 제26권6호
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• pp.1593-1600
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• 2015

A control chart is very useful in monitoring various production process. There are many situations in which the simultaneous control of two or more related quality variables is necessary. We construct bivariate Shewhart control charts based on the trace of the product of the estimated variance-covariance matrix and the inverse of the in-control matrix and investigate the properties of bivariate Shewart control charts with VSI procedure for monitoring covariance matrix in term of ATS (Average time to signal) and ANSW (Average number of switch) and probability of switch, ASI (Average sampling interval). Numerical results show that ATS is smaller than ARL. From examining the properties of switching in changing covariances and variances in ${\Sigma}$, ANSW values show that it does not switch frequently and does not matter to use VSI procedure.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.734-736
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• 1996

This paper presents a method of calculating a selective number of eigenvalues in power systems, which are rightmost, or are largest modulus. The modified Arnoldi method in conjunction with implicit shift OR-algorithm is used to calculate the rightmost eigenvalues. Algorithm requires neither a prior knowledge of the specified shifts nor the calculation of inverse matrix. The key advantage of the algorithm is its ability to converge to the wanted eigenvalues at once. The method is compared with the modified Arnoldi method combined with S-matrix transformation, where the eigenvalues having the largest modulus are to be determined. The two methods are applied to the reduced Kansai system. Convergence characteristics and performances are compared. Results show that both methods are robust and has good convergence properties. However, the implicit shift OR method is seen to be faster than the S-matrix method under the same condition.