• 대한기계학회논문집A
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• 제24권9호
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• pp.2334-2343
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• 2000

This paper proposes an efficient beam-shell modeling technique for the free vibration analysis of a T-joint thin-walled beam structure. Except a small portion of a T-joint which is modeled by shell elements, the structure is modeled by thin-walled beam elements that can describe warping and distortion. In order to match the shell and thin-walled beam elements at the interface of the dissimilar elements, a technique based on a pseudo inverse matrix is formulated. This paper also examines the role of the thin-walled element taking into account the distortion and warping deformation degrees of freedom in predicting accurately the dynamic characteristics of a T-joint thin-walled structure.

• 대한기계학회논문집A
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• 제24권8호
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• pp.1931-1939
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• 2000

Operating excitation forces of the linear vibratory system are normally determined by direct measurement techniques using load cells, strain gauges, etc. But, hydraulic forces of the rotating turbomachinery such as centrifugal pumps are exerted on an impeller due to asymmety of the flow by the interaction between pump impeller and volute. So, investigations of wide range of hydraulic designs and geometric deviations are difficult by direct method. This paper presents a hybrid approach for fourier transformed operational excitation forces, which uses pseudo-inverse matrix of the transfer matrix for the system and the measured vibrational data with standard installed pump. The determination of the transfer function matrix is based on a linear rotor/stationary system and steady state harmonic response in finite element analysis. And, vibrational data is collected in both vertical and horizontal directions at inboard and outboard bearing housings. The results of the process may be enhanced by making acceleration measurements at many more locations than there are forces to be determined.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.927-931
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• 2003

In this paper, a new Recursive Least-Squares(RLS) algorithm based on matrix pseudo-inverses is presented. The aim is to use the proposed new RLS algorithm for not only the over-determined but also the under-determined estimation problem. Compared with previous results, e.g., Jie Zhou et al., the derivation of the proposed recursive form is much easier, and the recursion form is also much simpler. Furthermore, it is shown by simulations that the proposed RLS algorithm is more efficient and numerically stable than the existing algorithms.

• 한국공작기계학회논문집
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• 제13권2호
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• pp.75-80
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• 2004

Vehicle structures are composed of many substructure connected to one another by various types of mechanical joints. In vehicle engineering it is important to study these connected structures under various dynamic forces for the evaluations of fatigue life and stress concentration exactly. It is difficult to obtain the accurate load history of specified positions because of the errors such as modeling, measurement and etc. In the beginning of design exact load data are actually necessary for the fatigue strength and life analysis to minimize the cost and time of designing. In this paper, the procedure of practical dynamic force determination is developed by the combination of the principal stresses of F. E. Analysis and experiment. Least square pseudo inverse matrix is adopted to obtain in inverse matrix of analyzed stresses matrix. The error minimization method utilizes the inaccurate measured error and the shifting error that the whole data is stiffed over real data. The least square criterion is adopted to avoid these non. Finally, to verify the proposed procedure, a bus is analyzed. This measurement and prediction technology can be extended to the structural modification of any geometric shape in complex structure.

• International Journal of Automotive Technology
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• 제2권3호
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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.

• Journal of the Korean Data and Information Science Society
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• 제27권2호
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• pp.381-394
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• 2016

그래피컬 모형은 변수들 사이의 조건부 종속성을 노드와 연결선을 통하여 그래프로 나타낸다. 변수들 사이의 복잡한 연관성을 표현하기 위하여 그래피컬 모형은 물리학, 경제학, 생물학을 포함하여 다양한 분야에 적용되고 있다. 조건부 종속성은 공분산 행렬의 역행렬의 비대각 성분이 0인 것과 대응하는 두 변수의 조건부 독립이 동치임에 기반하여 공분산 행렬의 역행렬로부터 추정될 수 있다. 본 논문은 공분산 행렬의 역행렬을 희박하게 추정하는 유사가능도 기반의 CONCORD (convex correlation selection method) 방법에 대하여 기존의 BCD (block coordinate descent) 알고리즘을 랜덤 치환을 활용한 갱신 규칙과 그래픽 처리 장치 (graphics processing unit)의 병렬 연산을 활용하여 고차원 자료에 대하여 보다 효율적인 BCDR (block coordinate descent with random permutation) 알고리즘을 제안하였다. 두 종류의 네트워크 구조를 고려한 모의실험에서 제안하는 알고리즘의 효율성을 수렴까지의 계산 시간을 비교하여 확인하였다.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• 제14권1호
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• pp.35-42
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• 2010

A goal of Magnetic Resonance Imaging is reproducing a spatial map of the effective spin density from the measured Fourier coefficients of a specimen. The imaging procedure can be done by inverse Fourier transformation or backward fast Fourier transformation if the data are sampled on a regular grid in frequency space; however, it is still a challenging question how to reconstruct an image from a finite set of Fourier data on irregular points in k-space. In this paper, we describe some mathematical and numerical properties of imaging techniques from non-uniform MR data using the pseudo-inverse or the diagonal-inverse weight matrix. This note is written as an easy guide to readers interested in the non-uniform MRI techniques and it basically follows the ideas given in the paper by Greengard-Lee-Inati [10, 11].

• Journal of electromagnetic engineering and science
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• 제17권3호
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• pp.113-119
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• 2017

The application of compressive sensing (CS) to a radar imaging system based on a frequency-scanned microstrip leaky wave antenna is investigated. First, an analytical model of the system matrix is formulated as the basis for the inversion algorithm. Then, $L_1-norm$ minimization is applied to the inverse problem to generate a range-azimuth image of the scene. Because of the antenna length, the near-field effect is considered in the CS formulation to properly image close-in targets. The resolving capability of the combined frequency-scanned antenna and CS processing is examined and compared to results based on the short-time Fourier transform and the pseudo-inverse. Both simulation and measurement data are tested to show the system performance in terms of image resolution.

• 한국정밀공학회지
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• 제10권4호
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• pp.200-205
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• 1993

In many applications, the typical parallel-jaw end-effector of a robot arm has been remarkably satisfactory. But, it is not adequate for the applications such as complicated manipulation. In the study, a finger with 4 joints (so, having redundancy) was consturcted to investigate the characteristics of an articulated hand. Each joint was driven by one actuator, and the motor torque was transmited to each joint through a tendon-pulley system. In the context, major considerations for hardware design and the method to solve the inverse kinematics of a redundant manipulator were presented. Finally, the basic capabilities of an articulated hand were presented through experiments.

• 한국정밀공학회지
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• 제10권2호
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• pp.170-177
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• 1993

In robotic arc welding, the roll (rotation) of the torch about its direction vector does not have any effect on the welding operation. Thus we could use this redundant degree of greedom for the motion control of the robot manipulator. This paper presents an algorithm for the pseudo- inverse kinematic motion control of the 6-axis robot, which utilizes the above mentioned redunancy. The prototype welding operation and the tool path are also graphically simulated. Since the proposed algorithm requires only the position and normal vector of the weldine as an input data, it is useful for the CAD-based off-line programming of the arc welding robot. In addition, it also has the advantages of the redundant manipulator motion control, like singularity avoidance and collision free motion planning, when compared with the other motion control method based on the direct inverse kinematics.