• Title/Summary/Keyword: Null Space Solution

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BETCHOV-DA RIOS EQUATION BY NULL CARTAN, PSEUDO NULL AND PARTIALLY NULL CURVE IN MINKOWSKI SPACETIME

  • Melek Erdogdu;Yanlin Li;Ayse Yavuz
    • Bulletin of the Korean Mathematical Society
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    • v.60 no.5
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    • pp.1265-1280
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    • 2023
  • The aim of this paper is to investigate Betchov-Da Rios equation by using null Cartan, pseudo null and partially null curve in Minkowski spacetime. Time derivative formulas of frame of s parameter null Cartan, pseudo null and partially null curve are examined, respectively. By using the obtained derivative formulas, new results are given about the solution of Betchov-Da Rios equation. The differential geometric properties of these solutions are obtained with respect to Lorentzian causal character of s parameter curve. For a solution of Betchov-Da Rios equation, it is seen that null Cartan s parameter curves are space curves in three-dimensional Minkowski space. Then all points of the soliton surface are flat points of the surface for null Cartan and partially null curve. Thus, it is seen from the results obtained that there is no surface corresponding to the solution of Betchov-Da Rios equation by using the pseudo null s parameter curve.

Least Squares Method-Based System Identification for a 2-Axes Gimbal Structure Loading Device (2축 짐벌 구조 적재 장치를 위한 최소제곱법 기반 시스템 식별)

  • Sim, Yeri;Jin, Sangrok
    • The Journal of Korea Robotics Society
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    • v.17 no.3
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    • pp.288-295
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    • 2022
  • This study shows a system identification method of a balancing loading device for a stair climbing delivery robot. The balancing loading device is designed as a 2-axes gimbal structure and is interpreted as two independent pendulum structures for simplifying. The loading device's properties such as mass, moment of inertia, and position of the center of gravity are changeable for luggage. The system identification process of the loading device is required, and the controller should be optimized for the system in real-time. In this study, the system identification method is based on least squares method to estimate the unknown parameters of the loading device's dynamic equation. It estimates the unknown parameters by calculating them that minimize the error function between the real system's motion and the estimated system's motion. This study improves the accuracy of parameter estimation using a null space solution. The null space solution can produce the correct parameters by adjusting the parameter's relative sizes. The proposed system identification method is verified by the simulation to determine how close the estimated unknown parameters are to the real parameters.

Analysis of dynamic performance of redundant manipulators using the concept of aspects

  • Chung, W.J.;Chung, W.K.;Youm, Y.
    • 제어로봇시스템학회:학술대회논문집
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    • 1991.10b
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    • pp.1664-1670
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    • 1991
  • For kinematically redundant manipulators, conventional dynamic control methods of local torque optimization showed the instability which resulted in physically unachievable torque requirements. In order to guarantee stability of the null space vector method which resolves redundancy at the acceleration level, Maciejewski[1] analyzed the kinetic behavior of homogeneous solution component and proposed the condition to identify regions of stability and instability for this method. 'In this paper, a modified null space vector method is first presented based on the Maciejewski's condition which is a function of a manipulator's configuration. Secondly, a new control method which is based on the concept of aspects is proposed. It was shown by computer simulations that the modified null space vector method and the proposed method have a common property that a preferred aspect is preserved during the execution of a task. It was also illustrated that both methods demonstrate a drastic reduction of torque loadings at the joints in the tracking motion of a long trajectory when compared with the null space vector method, and thus guarantee the stability of joint torque.

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ON THE SOLUTION OF NONLINEAR EQUATIONS CONTAINING A NON-DIFFERENTIABLE TERM

  • Argyros, Ioannis K.
    • East Asian mathematical journal
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    • v.24 no.3
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    • pp.295-304
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    • 2008
  • We approximate a locally unique solution of a nonlinear operator equation containing a non-differentiable operator in a Banach space setting using Newton's method. Sufficient conditions for the semilocal convergence of Newton's method in this case have been given by several authors using mainly increasing sequences [1]-[6]. Here, we use center as well as Lipschitz conditions and decreasing majorizing sequences to obtain new sufficient convergence conditions weaker than before in many interesting cases. Numerical examples where our results apply to solve equations but earlier ones cannot [2], [5], [6] are also provided in this study.

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A HYBRID SCHEME USING LU DECOMPOSITION AND PROJECTION MATRIX FOR DYNAMIC ANALYSIS OF CONSTRAINED MULTIBODY SYSTEMS

  • Yoo, W.S.;Kim, S.H.;Kim, O.J.
    • International Journal of Automotive Technology
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    • v.2 no.3
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    • pp.117-122
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    • 2001
  • For a dynamic analysis of a constrained multibody system, it is necessary to have a routine for satisfying kinematic constraints. LU decomposition scheme, which is used to divide coordinates into dependent and independent coordinates, is efficient but has great difficulty near the singular configuration. Other method such as the projection matrix, which is more stable near a singular configuration, takes longer simulation time due to the large amount of calculation for decomposition. In this paper, the row space and the null space of the Jacobian matrix are proposed by using the pseudo-inverse method and the projection matrix. The equations of the motion of a system are replaced with independent acceleration components using the null space of the Jacobian matrix. Also a new hybrid method is proposed, combining the LU decomposition and the projection matrix. The proposed hybrid method has following advantages. (1) The simulation efficiency is preserved by the LU method during the simulation. (2) The accuracy of the solution is also achieved by the projection method near the singular configuration.

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NEW BLOW-UP CRITERIA FOR A NONLOCAL REACTION-DIFFUSION SYSTEM

  • Kim, Eun-Seok
    • Honam Mathematical Journal
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    • v.43 no.4
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    • pp.667-678
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    • 2021
  • Blow-up phenomena for a nonlocal reaction-diffusion system with time-dependent coefficients are investigated under null Dirichlet boundary conditions. Using Kaplan's method with the comparison principle, we establish new blow-up criteria and obtain the upper bounds for the blow-up time of the solution under suitable measure sense in the whole-dimensional space.

Optimal Perturbation of Null Points Inherent to Riccati Solution and Control of Coupling in Nonuniform Coupled-Lines (불균일 결합선로에서 Riccati 해에 내재된 Null점의 최적 섭동과 결합도 제어)

  • Park, Eui-Joon
    • Journal of the Institute of Electronics Engineers of Korea TC
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    • v.38 no.3
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    • pp.35-43
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    • 2001
  • A method is newly presented to synthesize the modal impedances satisfying the desired coupling factor of a reflective (or hack ward) coupled-line. The synthesis is achieved by optimal perturbations of repeating null points of lobes inherent to the solution of the first order nonlinear differential equation for coupling. It is based on the synthesis method of nonlinear source distribution functions for the prescribed space factor pattern in the one-dimensional array antenna. Here, the conventional synthesis method for the even distribution function is extended to the odd case. Resulting modal impedances will have continuously varying profiles. The design procedure of asymmetrical and symmetrical couplers corresponding to the even and odd distribution functions, is examplified to show the generalization and the simplicity of the proposed method.

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ATTITUED CONTROL BY ASYMMETRIC THRUSTERS’INDEPENDENT OFF MODULATION DURING ORBIT ADJUSTMENT MANEUVERS (궤도조절시 비대칭추력기 독립 비분사 조절에 의한 자세제어)

    • Journal of Astronomy and Space Sciences
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    • v.16 no.2
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    • pp.265-272
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    • 1999
  • A thrusters modulation method is suggested for spacecraft attitude control with asymmetric configured thrusters during orbit adjustment maneuvers. Attitude is controlled by thrusters off-modulation during orbit maneuvers. Usual control method for symmetric configured thrusters cam not be applied for asymmetric configured thrusters. Disturbance induced from thrusters asymmetricity shall be compensated during pulsing. In this paper, a thrusters control method using null solution is suggested, which is shown working well without inducing disturbance.

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Memory Organization for a Fuzzy Controller.

  • Jee, K.D.S.;Poluzzi, R.;Russo, B.
    • Proceedings of the Korean Institute of Intelligent Systems Conference
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    • 1993.06a
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    • pp.1041-1043
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    • 1993
  • Fuzzy logic based Control Theory has gained much interest in the industrial world, thanks to its ability to formalize and solve in a very natural way many problems that are very difficult to quantify at an analytical level. This paper shows a solution for treating membership function inside hardware circuits. The proposed hardware structure optimizes the memoried size by using particular form of the vectorial representation. The process of memorizing fuzzy sets, i.e. their membership function, has always been one of the more problematic issues for the hardware implementation, due to the quite large memory space that is needed. To simplify such an implementation, it is commonly [1,2,8,9,10,11] used to limit the membership functions either to those having triangular or trapezoidal shape, or pre-definite shape. These kinds of functions are able to cover a large spectrum of applications with a limited usage of memory, since they can be memorized by specifying very few parameters ( ight, base, critical points, etc.). This however results in a loss of computational power due to computation on the medium points. A solution to this problem is obtained by discretizing the universe of discourse U, i.e. by fixing a finite number of points and memorizing the value of the membership functions on such points [3,10,14,15]. Such a solution provides a satisfying computational speed, a very high precision of definitions and gives the users the opportunity to choose membership functions of any shape. However, a significant memory waste can as well be registered. It is indeed possible that for each of the given fuzzy sets many elements of the universe of discourse have a membership value equal to zero. It has also been noticed that almost in all cases common points among fuzzy sets, i.e. points with non null membership values are very few. More specifically, in many applications, for each element u of U, there exists at most three fuzzy sets for which the membership value is ot null [3,5,6,7,12,13]. Our proposal is based on such hypotheses. Moreover, we use a technique that even though it does not restrict the shapes of membership functions, it reduces strongly the computational time for the membership values and optimizes the function memorization. In figure 1 it is represented a term set whose characteristics are common for fuzzy controllers and to which we will refer in the following. The above term set has a universe of discourse with 128 elements (so to have a good resolution), 8 fuzzy sets that describe the term set, 32 levels of discretization for the membership values. Clearly, the number of bits necessary for the given specifications are 5 for 32 truth levels, 3 for 8 membership functions and 7 for 128 levels of resolution. The memory depth is given by the dimension of the universe of the discourse (128 in our case) and it will be represented by the memory rows. The length of a world of memory is defined by: Length = nem (dm(m)+dm(fm) Where: fm is the maximum number of non null values in every element of the universe of the discourse, dm(m) is the dimension of the values of the membership function m, dm(fm) is the dimension of the word to represent the index of the highest membership function. In our case then Length=24. The memory dimension is therefore 128*24 bits. If we had chosen to memorize all values of the membership functions we would have needed to memorize on each memory row the membership value of each element. Fuzzy sets word dimension is 8*5 bits. Therefore, the dimension of the memory would have been 128*40 bits. Coherently with our hypothesis, in fig. 1 each element of universe of the discourse has a non null membership value on at most three fuzzy sets. Focusing on the elements 32,64,96 of the universe of discourse, they will be memorized as follows: The computation of the rule weights is done by comparing those bits that represent the index of the membership function, with the word of the program memor . The output bus of the Program Memory (μCOD), is given as input a comparator (Combinatory Net). If the index is equal to the bus value then one of the non null weight derives from the rule and it is produced as output, otherwise the output is zero (fig. 2). It is clear, that the memory dimension of the antecedent is in this way reduced since only non null values are memorized. Moreover, the time performance of the system is equivalent to the performance of a system using vectorial memorization of all weights. The dimensioning of the word is influenced by some parameters of the input variable. The most important parameter is the maximum number membership functions (nfm) having a non null value in each element of the universe of discourse. From our study in the field of fuzzy system, we see that typically nfm 3 and there are at most 16 membership function. At any rate, such a value can be increased up to the physical dimensional limit of the antecedent memory. A less important role n the optimization process of the word dimension is played by the number of membership functions defined for each linguistic term. The table below shows the request word dimension as a function of such parameters and compares our proposed method with the method of vectorial memorization[10]. Summing up, the characteristics of our method are: Users are not restricted to membership functions with specific shapes. The number of the fuzzy sets and the resolution of the vertical axis have a very small influence in increasing memory space. Weight computations are done by combinatorial network and therefore the time performance of the system is equivalent to the one of the vectorial method. The number of non null membership values on any element of the universe of discourse is limited. Such a constraint is usually non very restrictive since many controllers obtain a good precision with only three non null weights. The method here briefly described has been adopted by our group in the design of an optimized version of the coprocessor described in [10].

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Computational Method for Dynamic Analysis of Constrained Mechanical Systems Using Partial Velocity Matrix Transformation

  • Park, Jung-Hun;Yoo, Hong-Hee;Hwang, Yo-Ha
    • Journal of Mechanical Science and Technology
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    • v.14 no.2
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    • pp.159-167
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    • 2000
  • A computational method for the dynamic analysis of a constrained mechanical system is presented in this paper. The partial velocity matrix, which is the null space of the Jacobian of the constraint equations, is used as the key ingredient for the derivation of reduced equations of motion. The acceleration constraint equations are solved simultaneously with the equations of motion. Thus, the total number of equations to be integrated is equivalent to that of the pseudo generalized coordinates, which denote all the variables employed to describe the configuration of the system of concern. Two well-known conventional methods are briefly introduced and compared with the present method. Three numerical examples are solved to demonstrate the solution accuracy, the computational efficiency, and the numerical stability of the present method.

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