• Title/Summary/Keyword: Quadratic Model

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Model Based Control System Design of Two Wheeled Inverted Pendulum Robot (이륜 도립진자 로봇의 모델 기반 제어 시스템 설계)

  • Ku, Dae-Kwan;Ji, Jun-Keun;Cha, Guee-Soo
    • The Transactions of the Korean Institute of Power Electronics
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    • v.16 no.2
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    • pp.162-172
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    • 2011
  • This paper proposes embedded System of two wheeled inverted pendulum robot designed by model based design method, using MATLAB/SIMULINK and LEGO NXT Mindstorms. At first, stability and performance of controller is verified through modeling and simulation. After that direct conversion from simulation model to C code is carried and effectiveness of controller is experimentally verified. Two wheeled inverted pendulum robot has basic function about autonomous balancing control using principle of inverted pedulum and it is also possible to arrive at destination. In this paper, state feedback controller designed by quadratic optimal control method is used. And quadratic optimal control uses state feedback control gain K to minimize performance index function J. Because it is easy to find gain, this control method can be used in the controller of two wheeled inverted pendulum robot. This proposed robot system is experimentally verified with following performances - balancing control, disturbance rejection, remote control, line following and obstacle avoidance.

Geometrically non-linear static analysis of a simply supported beam made of hyperelastic material

  • Kocaturk, T.;Akbas, S.D.
    • Structural Engineering and Mechanics
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    • v.35 no.6
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    • pp.677-697
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    • 2010
  • This paper focuses on geometrically non-linear static analysis of a simply supported beam made of hyperelastic material subjected to a non-follower transversal uniformly distributed load. As it is known, the line of action of follower forces is affected by the deformation of the elastic system on which they act and therefore such forces are non-conservative. The material of the beam is assumed as isotropic and hyperelastic. Two types of simply supported beams are considered which have the following boundary conditions: 1) There is a pin at left end and a roller at right end of the beam (pinned-rolled beam). 2) Both ends of the beam are supported by pins (pinned-pinned beam). In this study, finite element model of the beam is constructed by using total Lagrangian finite element model of two dimensional continuum for a twelve-node quadratic element. The considered highly non-linear problem is solved by using incremental displacement-based finite element method in conjunction with Newton-Raphson iteration method. In order to use the solution procedures of Newton-Raphson type, there is need to linearized equilibrium equations, which can be achieved through the linearization of the principle of virtual work in its continuum form. In the study, the effect of the large deflections and rotations on the displacements and the normal stress and the shear stress distributions through the thickness of the beam is investigated in detail. It is known that in the failure analysis, the most important quantities are the principal normal stresses and the maximum shear stress. Therefore these stresses are investigated in detail. The convergence studies are performed for various numbers of finite elements. The effects of the geometric non-linearity and pinned-pinned and pinned-rolled support conditions on the displacements and on the stresses are investigated. By using a twelve-node quadratic element, the free boundary conditions are satisfied and very good stress diagrams are obtained. Also, some of the results of the total Lagrangian finite element model of two dimensional continuum for a twelve-node quadratic element are compared with the results of SAP2000 packet program. Numerical results show that geometrical nonlinearity plays very important role in the static responses of the beam.

Model-based subpixed motion estimation for image sequence compression (도영상 압축을 위한 모델 기반 부화소 단위 움직임 추정 기법)

  • 서정욱;정제창
    • Journal of the Korean Institute of Telematics and Electronics S
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    • v.35S no.1
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    • pp.130-140
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    • 1998
  • This paper presents a method to estimate subpixel accuracy motion vectors using a mathermatical model withoug interpolation. the proposed method decides the coefficients of mathematical model, which represents the motion vector which is achieved by full search. And then the proposed method estimates subpixel accuracy motion vector from achieved mathematical model. Step by step mathematical models such as type 1, type 2, type 3, modified bype 2, modified type 3, and Partial Interpolation type 3 are presented. In type 1, quadratic polynomial, which has 9 unknown coefficients and models the 3by 3 pixel plane, is used to get the subpixel accuracy motion vectors by inverse matrix solution. In type 2 and 3, each quadratic polynomial which is simplified from type 1 has 5 and 6 unknown coefficients and is used by least square solution. Modified type 2 and modified type 3 are enhanced models by weighting only 5 pixels out of 9. P.I. type 3 is more accurate method by partial interpolation around subpixel which isachieved by type 3. LThese simulation results show that the more delicate model has the better performance and modified models which are simplified have excellent performance with reduced computational complexity.

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SHM-based probabilistic representation of wind properties: Bayesian inference and model optimization

  • Ye, X.W.;Yuan, L.;Xi, P.S.;Liu, H.
    • Smart Structures and Systems
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    • v.21 no.5
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    • pp.601-609
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    • 2018
  • The estimated probabilistic model of wind data based on the conventional approach may have high discrepancy compared with the true distribution because of the uncertainty caused by the instrument error and limited monitoring data. A sequential quadratic programming (SQP) algorithm-based finite mixture modeling method has been developed in the companion paper and is conducted to formulate the joint probability density function (PDF) of wind speed and direction using the wind monitoring data of the investigated bridge. The established bivariate model of wind speed and direction only represents the features of available wind monitoring data. To characterize the stochastic properties of the wind parameters with the subsequent wind monitoring data, in this study, Bayesian inference approach considering the uncertainty is proposed to update the wind parameters in the bivariate probabilistic model. The slice sampling algorithm of Markov chain Monte Carlo (MCMC) method is applied to establish the multi-dimensional and complex posterior distribution which is analytically intractable. The numerical simulation examples for univariate and bivariate models are carried out to verify the effectiveness of the proposed method. In addition, the proposed Bayesian inference approach is used to update and optimize the parameters in the bivariate model using the wind monitoring data from the investigated bridge. The results indicate that the proposed Bayesian inference approach is feasible and can be employed to predict the bivariate distribution of wind speed and direction with limited monitoring data.

A Study on Updating of Analytic Model of Dynamics for Aircraft Structures Using Optimization Technique (최적화 기법을 이용한 비행체 구조물 동특성 해석 모델의 최신화 연구)

  • Lee, Ki-Du;Lee, Young-Shin;Kim, Dong-Soo
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.37 no.2
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    • pp.131-138
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    • 2009
  • Analytical modal verification is considered as the process to provide an acceptable description of the subject structure's behaviour. In general, results of original analytical model are different with actual structure results to uncertainty like non-linearity of material, boundary and modified shape, etc. In this paper, the dynamic model of glider's wing is correlated with static deformation and vibration test results by goal-attainment method, multi-objects optimization technique. The structural responses are predicted by using finite element method and optimization is carried out by using the SQP(sequential quadratic programming) method which is widely used in the constrained nonlinear optimization problem. The MAC(Modal Assurance Criterion) is used to modify the mode shapes and quantify the similarity.

An Alternative Model for Determining the Optimal Fertilizer Level (수도(水稻) 적정시비량(適正施肥量) 결정(決定)에 대한 대체모형(代替模型))

  • Chang, Suk-Hwan
    • Korean Journal of Soil Science and Fertilizer
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    • v.13 no.1
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    • pp.21-32
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    • 1980
  • Linear models, with and without site variables, have been investigated in order to develop an alternative methodology for determining optimal fertilizer levels. The resultant models are : (1) Model I is an ordinary quadratic response function formed by combining the simple response function estimated at each site in block diagonal form, and has parameters [${\gamma}^{(1)}_{m{\ell}}$], for m=1, 2, ${\cdots}$, n sites and degrees of polynomial, ${\ell}$=0, 1, 2. (2) Mode II is a multiple regression model with a set of site variables (including an intercept) repeated for each fertilizer level and the linear and quadratic terms of the fertilizer variables arranged in block diagonal form as in Model I. The parameters are equal to [${\beta}_h\;{\gamma}^{(2)}_{m{\ell}}$] for h=0, 1, 2, ${\cdots}$, k site variable, m=1, 2, ${\cdots}$ and ${\ell}$=1, 2. (3) Model III is a classical response surface model, I. e., a common quadratic polynomial model for the fertilizer variables augmented with site variables and interactions between site variables and the linear fertilizer terms. The parameters are equal to [${\beta}_h\;{\gamma}_{\ell}\;{\theta}_h$], for h=0, 1, ${\cdots}$, k, ${\ell}$=1, 2, and h'=1, 2, ${\cdots}$, k. (4) Model IV has the same basic structure as Mode I, but estimation procedure involves two stages. In stage 1, yields for each fertilizer level are regressed on the site variables and the resulting predicted yields for each site are then regressed on the fertilizer variables in stage 2. Each model has been evaluated under the assumption that Model III is the postulated true response function. Under this assumption, Models I, II and IV give biased estimators of the linear fertilizer response parameter which depend on the interaction between site variables and applied fertilizer variables. When the interaction is significant, Model III is the most efficient for calculation of optimal fertilizer level. It has been found that Model IV is always more efficient than Models I and II, with efficiency depending on the magnitude of ${\lambda}m$, the mth diagonal element of X (X' X)' X' where X is the site variable matrix. When the site variable by linear fertilizer interaction parameters are zero or when the estimated interactions are not important, it is demonstrated that Model IV can be a reasonable alternative model for calculation of optimal fertilizer level. The efficiencies of the models are compared us ing data from 256 fertilizer trials on rice conducted in Korea. Although Model III is usually preferred, the empirical results from the data analysis support the feasibility of using Model IV in practice when the estimated interaction term between measured soil organic matter and applied nitrogen is not important.

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Genetically Optimized Fuzzy Polynomial Neural Networks Model and Its Application to Software Process (진화론적 최적 퍼지다항식 신경회로망 모델 및 소프트웨어 공정으로의 응용)

  • Lee, In-Tae;Park, Ho-Sung;Oh, Sung-Kwun;Ahn, Tae-Chon
    • Proceedings of the KIEE Conference
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    • 2004.11c
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    • pp.337-339
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    • 2004
  • In this paper, we discuss optimal design of Fuzzy Polynomial Neural Networks by means of Genetic Algorithms(GAs). Proceeding the layer, this model creates the optimal network architecture through the selection and the elimination of nodes by itself. So, there is characteristic of flexibility. We use a triangle and a Gaussian-like membership function in premise part of rules and design the consequent structure by constant and regression polynomial (linear, quadratic and modified quadratic) function between input and output variables. GAs is applied to improve the performance with optimal input variables and number of input variables and order. To evaluate the performance of the GAs-based FPNNs, the models are experimented with the use of Medical Imaging System(MIS) data.

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Fuzzy H2H Controller Design for Delayed Nonlinear Systems (시간지연을 갖는 비선형 시스템의 퍼지 H2H 제어기 설계)

  • Jo, Hui-Su;Lee, Gap-Rae;Park, Hong-Bae
    • Journal of Institute of Control, Robotics and Systems
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    • v.8 no.7
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    • pp.578-583
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    • 2002
  • This paper presents a method for designing fuzzy $H_2/H_{\infty}$ controllers of nonlinear systems with time varying delay. Takagi-Sugeno fuzzy model is employed to represent nonlinear systems with time varying delay. Using a single quadratic Lyapunov function, the globally exponential stability and $H_2/H_{\infty}$ performance problem are discussed. A sufficient condition for the existence of fuzzy $H_2/H_{\infty}$ controllers is then presented in terms of linear matrix inequalities(LMls). The proposed fuzzy $H_2/H_{\infty}$ controllers minimizes the upper bound on the linear quadratic performance measure.

PERFORMANCE ANALYSIS OF THE TURBULENCE MODELS FOR A TURBULENT FLOW IN A TRIANGULAR ROD BUNDLE

  • In W.K;Chun T.H;Myong H.K
    • Journal of computational fluids engineering
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    • v.10 no.1
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    • pp.63-66
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    • 2005
  • A computational fluid dynamics(CFD) analysis has been made for fully developed turbulent flow in a triangular bare rod bundle with a pitch to diameter ratio (P/D) of 1.123. The nonlinear turbulence models predicted the turbulence-driven secondary flow in the triangular subchannel. The nonlinear quadratic κ-ε models by Speziale[1] and Myong-Kasagi[2] predicted turbulence structure in the rod bundle fairly well. The nonlinear quadratic and cubic k-ε models by Shih et al.[3] and Craft et al.[4] showed somewhat weaker anisotropic turbulence. The differential Reynolds stress model by Launder et al.[5} appeared to over predict the turbulence anisotropy in the rod bundle.

Optical Implementation of a Quadratic Associative Memory Model of Neural Networks (신경회로망의 2차 비선형 연상기억 모델의 광학적 구현)

  • Jang, Ju-Seog;Shin, Sang-Yung;Lee, Soo-Young
    • Journal of the Korean Institute of Telematics and Electronics
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    • v.26 no.5
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    • pp.79-84
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    • 1989
  • Optical implementation of a quadratic associative memory model of neural networks is reported. Weighted $N^3$ interconnections between neurons are realized with an optical matrix-vector multiplier and interconnection holograms.

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