• Nonlinear Functional Analysis and Applications
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• v.26 no.3
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• pp.451-474
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• 2021

In this paper, we investigate a hybrid algorithm for finding zeros of the sum of maximal monotone operators and Lipschitz continuous monotone operators which is also a common fixed point problem for finite family of relatively quasi-nonexpansive mappings and split feasibility problem in uniformly convex real Banach spaces which are also uniformly smooth. The iterative algorithm employed in this paper is design in such a way that it does not require prior knowledge of operator norm. We prove a strong convergence result for approximating the solutions of the aforementioned problems and give applications of our main result to minimization problem and convexly constrained linear inverse problem.

• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.283-290
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• 2021

We propose a task and motion planning algorithm for clearing obstacles and wiping surfaces, which is essential for surface disinfection during the pathogen disinfection process. The proposed task and motion planning algorithm determines task parameters such as grasping pose and placement location during the planning process without using pre-specified or discretized values. Furthermore, to quickly inspect many unit motions, we propose a motion feasibility prediction algorithm consisting of collision checking and an SVM model for inverse mechanics and self-collision prediction. Planning time analysis shows that the feasibility prediction algorithm can significantly increase the planning speed and success rates in situations with multiple obstacles. Finally, we implemented a hierarchical control scheme to enable wiping motion while following a planner-generated joint trajectory. We verified our planning and control framework by conducted an obstacle-clearing and surface wiping experiment in a simulated disinfection environment.

• Korean Journal of Agricultural and Forest Meteorology
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• v.3 no.2
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• pp.96-104
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• 2001

Usage of ecosystem models has been extended to landscape scales for understanding the effects of environmental factors on natural and agro-ecosystems and for serving as their management decision tools. Accurate prediction of spatial variation in daily temperature is required for most ecosystem models to be applied to landscape scales. There are relatively few empirical evaluations of landscape-scale temperature prediction techniques in mountainous terrain such as Korean Peninsula. We derived a periodic function of seasonal lapse rate fluctuation from analysis of elevation effects on daily temperatures. Observed daily maximum and minimum temperature data at 63 standard stations in 1999 were regressed to the latitude, longitude, distance from the nearest coastline and altitude of the stations, and the optimum models with $r^2$ of 0.65 and above were selected. Partial regression coefficients for the altitude variable were plotted against day of year, and a numerical formula was determined for simulating the seasonal trend of daily lapse rate, i.e., partial regression coefficients. The formula in conjunction with an inverse distance weighted interpolation scheme was applied to predict daily temperatures at 267 sites, where observation data are available, on randomly selected dates for winter, spring and summer in 2000. The estimation errors were smaller and more consistent than the inverse distance weighting plus mean annual lapse rate scheme. We conclude that this method is simple and accurate enough to be used as an operational temperature interpolation scheme at landscape scale in Korea and should be applicable to elsewhere.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.19 no.4
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• pp.427-435
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• 2008

In this paper, a stable marching-on in time(MOT) method with a time domain combined field integral equation(CFIE) is presented to obtain the transient scattering response from arbitrarily shaped three-dimensional conducting bodies. This formulation is based on a linear combination of the time domain electric field integral equation(EFIE) with the magnetic field integral equation(MFIE). The time derivatives in the EFIE and MFIE are approximated using a central finite difference scheme and other terms are averaged over time. This time domain CFIE approach produces results that are accurate and stable when solving for transient scattering responses from conducting objects. Numerical results with the proposed MOT scheme are presented and compared with those obtained from the conventional method and the inverse discrete Fourier transform(IDFT) of the frequency domain CFIE solution.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.5 s.176
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• pp.1215-1230
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• 2000

Parallel Approaches using Cray T3E which is NIPP (Massively Parallel Processors) machine are presented for the efficient computation of the finite element analysis of 3-D shape rolling processes. D omain decomposition method coupled with parallel linear equation solver is used. Domain decomposition is applied for obtaining element tangent stifffiess matrices and residual vectors. Direct and iterative parallel algorithms are used for solving the linear equations. Direct algorithm is_parallel version of direct banded matrix solver. For iterative algorithms, the well-known preconditioned conjugate gradient solver with Jacobi preconditioner is also employed. Moreover a new effective iterative scheme with block inverse matrix preconditioner, which is named by present authors, is presented and its results are compared with the one using Jacobi preconditioner. PVM and MPI are used for message passing and synchronization between processors. The performance and efficiency of each algorithm is discussed and comparisons are made among different algorithms.

• Journal of applied mathematics & informatics
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• v.29 no.1_2
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• pp.227-245
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• 2011

In this paper, we introduce a new iterative method for finding a common element of the set of solutions for mixed equilibrium problem, the set of solutions of the variational inequality for a ${\beta}$inverse-strongly monotone mapping and the set of fixed points of a family of finitely nonexpansive mappings in a real Hilbert space by using the viscosity and Ces$\`{a}$ro mean approximation method. We prove that the sequence converges strongly to a common element of the above three sets under some mind conditions. Our results improve and extend the corresponding results of Kumam and Katchang [A viscosity of extragradient approximation method for finding equilibrium problems, variational inequalities and fixed point problems for nonexpansive mapping, Nonlinear Analysis: Hybrid Systems, 3(2009), 475-86], Peng and Yao [Strong convergence theorems of iterative scheme based on the extragradient method for mixed equilibrium problems and fixed point problems, Mathematical and Computer Modelling, 49(2009), 1816-828], Shimizu and Takahashi [Strong convergence to common fixed points of families of nonexpansive mappings, Journal of Mathematical Analysis and Applications, 211(1) (1997), 71-83] and some authors.

• Proceedings of the KIEE Conference
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• 1998.07c
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• pp.871-874
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• 1998

It is most important in small signal stability analysis of large scale power systems to compute only the dominant eigenvalues selectively with numerical stability and efficiency. Hessenberg process is numerically very stable and identifies the largest eigenvalues in magnitude. Hence, transformed system matrix must be used with the process. Inverse transformation with complex shift provides high selectivity centered on the shift, but does not possess the desired property of computing the dominant mode first. Thus, advantage of high selectivity of the transformation can be fully utilized only when the complex shift is given close to the dominant eigenvalues. In this paper, complex shift is determined by Fourier transforming the results of dynamic simulation with PTI's PSS/E transient simulation program. The convergence in Hessenberg process is accelerated using the iterative scheme. Overall, a numerically stable and very efficient small signal stability program is obtained. The stability and efficiency of the program has been validated against New England 10-machines 39-bus system and KEPCO system.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.4
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• pp.340-346
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• 2008

An unmanned surveillance robot consists of a machine gun, a laser receiver, a thermal imager, a color CCD camera, and a laser illuminator. It has two axis control systems for elevation and azimuth. Because the current robot system is mounded at a fixed post to take care of surveillance tasks, it is necessary to modify such a surveillance robot to be installed on an UGV (Unmanned Ground Vehicle) system in order to watch blind areas. Thus, it is required to have a stabilization system to compensate the disturbance from the UGV. In this paper, a simulation based design scheme has been adopted to develop a mobile surveillance robot. The 3D CAD geometry model has first been produced by using Pro-Engineer. The required pan and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to compensate the motion of the vehicle which will experience the rough terrain. To test the performance of the stabilization control system of the robot, ADAMS/simulink co-simulations has been carried out.

• The Transactions of the Korean Institute of Electrical Engineers C
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• v.51 no.11
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• pp.551-558
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• 2002

A time-domain combined field integral equation (CFIE) is presented to obtain the transient scattering response from arbitrarily shaped three-dimensional conducting bodies. This formulation is based on a linear combination of the time-domain electric field integral equation (EFIE) with the magnetic field integral equation (MFIE). The time derivative of the magnetic vector potential in EFIE is approximated using a central finite difference approximation and the scalar potential is averaged over time. The time-domain CFIE approach produces results that are accurate and stable when solving for transient scattering responses from conducting objects. The incident spectrum of the field may contain frequency components, which correspond to the internal resonance of the structure. For the numerical solution, we consider both the explicit and implicit scheme and use two different kinds of Gaussian pulses, which may contain frequencies corresponding to the internal resonance. Numerical results for the EFIE, MFIE, and CFIE are presented and compared with those obtained from the inverse discrete Fourier transform (IDFT) of the frequency-domain CFIE solution.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.3
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• pp.181-190
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• 2015

This paper presents a new approach to control the position of robot arm in workspace a robot manipulator under unknown system parameters and bounded disturbance inputs. To control the motion of the manipulator, an inverse dynamics control scheme was applied. Since parameters of the robot arm such as mass and inertia are not perfectly known, the difference between the actual and estimated parameters was considered as a external disturbance force. To identify the known parameters, an improved robust control algorithm is directly derived from the Lyapunov's Second Method. A robust control algorithm is devised to counteract the bounded disturbance inputs such as contact forces and disturbing forces coming from the difference between the actual and the estimated system parameters. Numerical examples are shown using SCARA arm with four joints.