• International Journal of Precision Engineering and Manufacturing
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• 제2권4호
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• pp.61-68
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• 2001

A new approach for motion control of constrained mechanical systems is proposed in this paper. The approach uses a new equations of motion which is proposed by Udwadia and Kalaba and named Udwadia-Kalaba's equations of motion in this paper. This paper reveals that the Udwadia-Kalaba's equations of motion is more adequate to model constrained mechanical systems rather than the famous Lagrange's equations of motion at least for control purpose. The proposed approach coverts most of constraints including holonomic and nonholonomic constraints. Comparison of simulation results of two systems which are well-known in the literature show the superiority of the proposed approach. Furthermore, a special constrained mechanical system which includes nonlinear generalized velocities in its constraint equations, which has been considered to be difficult to control, can be controlled easily. It shows the possibility of the proposed approach to being a general framework for motion control of constrained mechanical systems with various kinds of constraints.

• Journal of applied mathematics & informatics
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• 제14권1_2호
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• pp.51-67
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• 2004

A matrix pair $(X_0,\;Y_0)$ is called a Hermitian nonnegative-definite(respectively, positive-definite) solution to the matrix equation $GXG^*\;+\;HYH^*\;=\;C$ with unknown X and Y if $X_{0}$ and $Y_{0}$ are Hermitian nonnegative-definite (respectively, positive-definite) and satisfy $GX_0G^*\;+\;HY_0H^*\;=\;C$. Necessary and sufficient conditions for the existence of at least a Hermitian nonnegative-definite (respectively, positive-definite) solution to the matrix equation are investigated. A representation of the general Hermitian nonnegative-definite (respectively positive-definite) solution to the equation is also obtained when it has such solutions. Two presented examples show these advantages of the proposed approach.

• Journal of Mechanical Science and Technology
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• 제18권10호
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• pp.1691-1699
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• 2004

The objective of this study is to present an accurate and simple method to describe the motion of constrained mechanical or structural systems. The proposed method is an elimination method to require less effort in computing Moore-Penrose inverse matrix than the generalized inverse method provided by Udwadia and Kalaba. Considering that the results by numerical integration of the derived second-order differential equation to describe constrained motion veer away the constrained trajectories, this study presents a numerical integration scheme to obtain more accurate results. Applications of holonomically or nonholonomically constrained systems illustrate the validity and effectiveness of the proposed method.

• 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.

• 한국임상수의학회지
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• 제21권1호
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• pp.58-61
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• 2004

A 5-year old female shih-tzu referred to the veterinary Teaching Hospital, College of Veterinary Medicine, Konkuk University. The patient was presented with a mass of ventral to pubic region and intraperineal region. CBC, chemistry, x-ray, fine needle aspiration, biopsy and MRI was performed. The dog was definitively diagnosed as lipoma based on cytologic and histopathologic examination. In order to remove the mass, an approach with two direction was made. First, intraperineal region was removed about 40%, and then ventral to pubic was removed the remainder. And inserted penrose drain for obliterate dead space to prevent the accumulation of serous discharge. The dog is clinically normal and being monitored for development of any abnormal signs for the time being. In this case, diagnostic MRI was very useful procedure. it revealed accurate location of a lipoma and useful manner for decision of surgical approach to remove.

• 로봇학회논문지
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• 제10권4호
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• pp.230-244
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• 2015

Continuous-path motion control such as resolved motion rate control requires online solving of the inverse differential kinematics for a robot. However, the solution space of the inverse differential kinematics related to Jacobian J is not well-established. In this paper, the solution space of inverse differential kinematics is analyzed through categorization of mapping conditions between joint velocities and end-effector velocity of a robot. If end-effector velocity is within the column space of J, the solution or the minimum norm solution is obtained. If it is not within the column space of J, an approximate solution by least-squares is obtained. Moreover, this paper introduces an improved mapping diagram showing orthogonality and mapping clearly between subspaces, and concrete examples numerically showing the concept of several subspaces. Finally, a solver and graphics user interface (GUI) for inverse differential kinematics are developed using MATLAB, and the solution of inverse differential kinematics using the GUI is demonstrated for a vertically articulated robot.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1997년도 가을 학술발표회 논문집
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• pp.262-269
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• 1997

The purpose of this study is to survey the shape finding of the plane truss structures under the prescribed displacement mode by the shape analysis. The shape analysis is peformed by the existence condition of a solution and Moore-Penrose generalized inverse matrix, and the prescribed displacement mode is the homologous deformation of structures. The shape analysis of structures is a kind of inverse problem and become the problem of a nonlinear equation. Newton-Raphson method is used to improve the accuracy of approximated solution. To prove the accuracy and the effectiveness of this method, four different shape examples are analyzed.

• 한국수학교육학회지시리즈B:순수및응용수학
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• 제18권2호
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• pp.97-111
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• 2011

We provide a semilocal convergence result for approximating a solution of a singular system with constant rank derivatives, using Newton's method in an Euclidean space setting. Our approach uses more precise estimates and a combination of two Lipschitz-type conditions leading to the following advantages over earlier works [13], [16], [17], [29]: tighter bounds on the distances involved, and a more precise information on the location of the solution. Numerical examples are also provided in this study.

• Archives of Plastic Surgery
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• 제48권3호
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• pp.333-335
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• 2021

In this report, we discuss the postoperative protocol for patients undergoing lymphaticovenous anastomosis (LVA) in our unit. Immediately after LVA, the incision site is closed over a small Penrose drain and a simple gauze dressing is applied without compression. In the first 5 days, ambulation is allowed, but limb elevation is actively encouraged to promote lymphatic flow across the newly formed anastomosis. Prophylactic antibiotics are routinely given to prevent infection because this patient group is susceptible to infections, which could trigger thrombosis in the anastomosis.

• 대한수학회보
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• 제24권1호
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• pp.31-37
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• 1987

I want to focus on developments in the areas of general relativity and gauge theory. The topics to be considered are the singularity theorms of Hawking and Penrose, the positivity of mass, instantons on the four-dimensional sphere, and the string picture of quantum gravity. I should mention that I will not have time do discuss either classical mechanics or symplectic structures. This is especially unfortunate, because one of the roots of differential geometry is planted firmly in mechanics, Cf. [GS]. The French geometer Elie Cartan first formulated his invariant approach to geometry in a series of papers on affine connections and general relativity, Cf. [C]. Cartan was trying to recast the Newtonian theory of gravity in the same framework as Einstein's theory. From the historical perspective it is significant that Cartan found relativity a convenient framework for his ideas. As about the same time Hermann Weyl in troduced the idea of gauge theory into geometry for purposes much different than those for which it would ultimately prove successful, Cf. [W]. Weyl wanted to unify gravity with electromagnetism and though that a conformal structure would fulfill thel task but Einstein rebutted this approach.