• Journal of Institute of Control, Robotics and Systems
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• v.20 no.5
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• pp.526-532
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• 2014

In this paper, we present and analyze a LQ (Linear Quadratic) inverse optimal state-consensus protocol for continuous-time multi-agent systems with undirected graph topology. By Lyapunov analysis of the state-consensus error dynamics, we show the sufficient conditions on the algebraic connectivity of the graph to guarantee LQ inverse optimality and closed-loop stability. A more relaxed stability condition is also provided in terms of the algebraic connectivity. Finally, a formation control protocol for multiple mobile robots is proposed based on the target LQ inverse optimal consensus protocol, and the simulation results are provided to verify the performance of the proposed LQ inverse formation control method.

• Proceedings of the IEEK Conference
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• 2004.08c
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• pp.514-518
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• 2004

This paper presents an algorithm generating inverse element over finite fields $GF(3^{m})$, and constructing method of inverse element generator based on inverse element generating algorithm. A method computing inverse of an element over $GF(3^{m})$ which corresponds to a polynomial over $GF(3^{m})$ with order less than equal to m-l. Here, the computation is based on multiplication, square and cube method derived from the mathematics properties over finite fields.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2001.10a
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• pp.81-84
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• 2001

An inverse finite element approach is employed for more capability to design the optimum blank shape from the desired final shape with small amount of computation time and effort. In some drawing or stamping simulation with inverse method, it is difficult to apply inverse scheme due to the large aspect ratio or steep vertical angle of inclination. The reason is that initial guesses are hard to make out with present method for those cases. In this paper, a direct mesh marring scheme to generate initial guess on the sliding constraint surface described by finite element patches is suggested for one step inverse analysis to calculate initial blank shape. Radial type mapping is adopted for the simulation of rectangular cup drawing process with large aspect ratio and parallel type mapping for the simulation of S-Rail forming process with steep vertical angle of inclination.

• Journal of the Korean Institute of Telematics and Electronics
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• v.17 no.3
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• pp.20-25
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• 1980

A singular value decomposition (SVD) pseudo-inversion method has been applied to the image reconstruction from projections. This approach is relatively unknown and differs from conventionally used reconstructioll methods such as the Foxier convolution and iterative techniques. In this paper, two SVD pseudo-inversion methods have been discussed for the search of optimum reconstruction and restoration, one using truncated inverse filtering, the other scalar Wiener filtering. These methods partly overcome the ill-conditioned nature of restoration problems by trading off between noise and signal quality. To test the SVD pseudo-inversion method, simulations were performed from projection data obtained from a phantom using truncated inversefiltering. The results are presented together with some limitations particular to the applications of the method to the general class of 3-D image reconstruction and restoration.

• Ocean Science Journal
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• v.41 no.4
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• pp.195-199
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• 2006

Comparative study was carried out for an acoustic iterative inverse method to estimate bubble size distributions in water. Conventional bubble sizing methods consider only sound attenuation for sizing. Choi and Yoon [IEEE, 26(1), 125-130 (2001)] reported an acoustic iterative inverse method, which extracts the sound speed component from the measured sound attenuation. It can more accurately estimate the bubble size distributions in water than do the conventional methods. The estimation results of acoustic iterative inverse method were compared with other experimental data. The experimental data show good agreement with the estimation from the acoustic iterative inverse method. This iterative technique can be utilized for bubble sizing in the ocean.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.3
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• pp.133-140
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• 1993

In this paper, we prpose a method for tracking optimally a spatial trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint euqations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation result of a flexible planar manipulator is presented.

• Journal of the Korean Data and Information Science Society
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• v.25 no.4
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• pp.903-914
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• 2014

The inverse Weibull distribution has been proposed as a model in the analysis of life testing data. Also, inverse Weibull distribution has been recently derived as a suitable model to describe degradation phenomena of mechanical components such as the dynamic components (pistons, crankshaft, etc.) of diesel engines. In this paper, we derive the approximate maximum likelihood estimators of the scale parameter and the shape parameter in the inverse Weibull distribution under multiply type-II censoring. We also develop four modified empirical distribution function (EDF) type tests for the inverse Weibull or extreme value distribution based on multiply type-II censored samples. We also propose modified normalized sample Lorenz curve plot and new test statistic.

• Journal of applied mathematics & informatics
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• v.5 no.3
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• pp.849-857
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• 1998

In this paper we have a concern on the Moore-Penrose inverse of two kinds of partitioned matrices of the form [V X] and [{{{{ {V atop {X} {{{{ {X atop { 0} }}] where V is symmetric. The Moore-Penrose inverse of the partitioned matrices can be reduced to be simpler forms according to some algebraic conditions. Firstly we investigate the representations of the Moore-Penrose inverses of the partitioned matrices under four al-gebraic conditions. Each condition reduces the Moore-Penrose inverses of the partitioned matrices under four al-gebraic conditions. Each condition reduces the Morre-Penrose inverse into some simpler form. Also equivalant conditions will be considered. Finally we will perform a simulation study to investigate which con-dition is the most important in the sense that which condition occurs the most frequently in the real situation. The simluation study will show us a particular condition occurs the most likely tha other conditions. This fact enables us to obtain the Morre-Penrose inverse with less computational efforts and computational storage.

• Proceedings of the KSME Conference
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• 2002.08a
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• pp.603-606
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• 2002

Numerical analysis and its inverse design process of 2nd stage of JT8D aircraft engine is described. One of the most important factors that affect the performante of turbomachine is secondary flow in the blade passage, so that the performance of turbomachine can be improved by controlling secondary flow. In this paper, as a method to control secondary flow, commercial inverse design program, TurboDesign is used. Meridional derivative of angular momentum is selected as a parameter to control blade leading in this program, To validate inverse designed model, computational analysis is applied which includes rotor-stator-interaction. In this paper, CFB results of both original and inverse designed model are compared to examine how much the performance improves without reduction of work output.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.599-606
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• 1992

A manipulator system that needs significantly large workspace volume and high payload capacity has greater link flexibility than typical industrial robots and teleoperators. If link flexibility is significant, position control of the manipulator's end-effector exhibits the nonminimum phase, noncollocated, and flexible structure system control problems. This paper addresses inverse dynamic trajectory planning issues of a flexible manipulator. The inverse dynamic equation of a flexible manipulator was solved in the time domain. By dividing the inverse system equation into the causal part and the anticausal part, the inverse dynamic method calculates the feedforward torque and the trajectories of all state variables that do not excite structural vibrations for a given end-point trajectory. Through simulation and experiment with a single-Unk flexible manipulator, the effectiveness of the inverse dynamic method has been demonstrated.