• 로봇학회논문지
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• 제15권3호
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• pp.212-220
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• 2020

This paper deals with a strategy of gain optimization for the kinematic control algorithm of a wire-driven surgical robot. The proposed controller consists of the closed-loop inverse kinematics with the back-calculation method. The closed-loop inverse kinematics has 18 PID control gains, and the back-calculation method has 6 gains. An efficient strategy is designed to optimize 18 values first and then the remaining 6 values. The optimal gain sets are searched under the step input with performance indices. In this gain optimization, the objective function is defined as the minimum value of signal-to-noise ratio of the performance indices for 6 DoF (Degree-of-Freedom) motion that is based on the Taguchi method, and the constraints are applied to obtain stable responses for each motion evenly. The gain sets obtained are verified by simulations using the test trajectories. In comparative results, the optimal gain value based on the performance index combined with ISE (integral of square error) and settling time showed the best control performance.

• Structural Engineering and Mechanics
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• 제88권5호
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• pp.493-500
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• 2023

The multiparameter eigenvalue method can be used to solve the damped finite element model updating problems. This method transforms the original problems into multiparameter eigenvalue problems. Comparing with the numerical methods based on various optimization methods, a big advantage of this method is that it can provide all possible choices of physical parameters. However, when solving the transformed singular multiparameter eigenvalue problem, the proposed method based on the generalised inverse of a singular matrix has some computational challenges and may fail. In this paper, more details on the transformation from the dynamic model updating problem to the multiparameter eigenvalue problem are presented and the structure of the transformed problem is also exposed. Based on this structure, the rigorous mathematical deduction gives the upper bound of the number of possible choices of the physical parameters, which confirms the singularity of the transformed multiparameter eigenvalue problem. More importantly, we present a row and column compression method to overcome the defect of the proposed numerical method based on the generalised inverse of a singular matrix. Also, two numerical experiments are presented to validate the feasibility and effectiveness of our method.

• 한국CDE학회논문집
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• 제4권2호
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• pp.162-171
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• 1999

Plane sweep plays an important role in computational geometry. This paper shows that an extension of topological plane sweep to three-dimensional space can calculate the volume swept by rotating a solid polyhedral object about a fixed axis. Analyzing the characteristics of rotational swept volumes, we present an incremental algorithm based on the three-dimensional topological sweep technique. Our solution shows the time bound of O(n²·2?+T?), where n is the number of vertices in the original object and T? is time for handling face cycles. Here, α(n) is the inverse of Ackermann's function.

• 품질경영학회지
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• 제25권2호
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• pp.1-14
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• 1997

This paper considers maximum likelihood (ML) estimation of lifetime distribution under stress bounded ramp tests in which the stress is increased linearly from used condition stress to the stress u, pp.r bound. The following assumptions are used: exponential lifetime distribution under a constant stress, an inverse power law relationship between stress and mean of exponential lifetime distribution, and a cumulative exposure model for the effect of changing stress. Likelihood equations for the parameters involved in the model and asymptotic distribution of the estimators are obtained, and a numerical example is given.

• Structural Monitoring and Maintenance
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• 제7권4호
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• pp.319-344
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• 2020

Inverse analysis of non-linear reinforced concrete bridge pier using recursive Gaussian filtering for in-situ condition assessment is the main theme of this work. For this purpose, minimum variance unbiased estimation using unscented sigma points is adopted here. The uniqueness of this inverse analysis lies in its approach for strain based updating of engineering demand parameters, where appropriate bound and constrained conditions are introduced to ensure numerical stability and convergence. In this analysis, seismic input is also identified, which is an added advantage for the structures having no dedicated sensors for earthquake measurement. First, the proposed strategy is tested with a simulated example whose hysteretic properties are obtained from the slow-cyclic test of a frame to investigate its efficiency and accuracy. Finally, the experimental test data of a full-scale bridge pier is used to study its in-situ condition in terms of Park & Ang damage index. Overall the study shows the ability of the augmented minimum variance unbiased estimation based recursive time-marching algorithm for non-linear system identification with the aim to estimate the engineering damage parameters that are the fundamental information necessary for any future decision making for retrofitting/rehabilitation.

• Journal of Biosystems Engineering
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• 제39권4호
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• pp.345-351
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• 2014

Purpose: Rapid detection of bacteria is very important in agricultural and food industries to prevent many foodborne illnesses. The objective of this study was to develop a portable nuclear magnetic resonance (NMR)-based system to detect foodborne pathogens (E. coli). This study was focused on developing a method to detect low concentrations of magnetic nanoparticles using NMR techniques. Methods: NMR relaxometry was performed to examine the NMR properties of iron nanoparticle mixtures with different concentrations by using a 1 T permanent magnet magnetic resonance imaging system. Exponential curve fitting (ECF) and inverse Laplace transform (ILT) methods were used to estimate the NMR relaxation time constants, $T_1$ and $T_2$, of guar gum solutions with different iron nanoparticle concentrations (0, $10^{-3}$, $10^{-4}$, $10^{-5}$, $10^{-6}$, and $10^{-7}M$). Results: The ECF and ILT methods did not show much difference in these values. Analysis of the NMR relaxation data showed that the ILT method is comparable to the classical ECF method and is more sensitive to the presence of iron nanoparticles. This study also showed that the spin-spin relaxation time constants acquired by a Carr-Purcell-Meiboom-Gill (CPMG) pulse sequence are more useful for determining the concentration of iron nanoparticle solutions comparwith the spin-lattice relaxation time constants acquired by an inversion recovery pulse sequence. Conclusions: We conclude that NMR relaxometry that utilizes CPMG pulse sequence and ILT analysis is more suitable for detecting foodborne pathogens bound to magnetic nanoparticles in agricultural and food products than using inversion recovery pulse sequence and ECF analysis.

• Journal of Electrical Engineering and Technology
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• 제9권5호
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• pp.1774-1779
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• 2014

It is known that muscle strength of human body can alter or deteriorate as aging. In this study, we present an inverse dynamics simulation to investigate the effect of muscle strength on performing the daily activities. A 3D musculoskeletal model developed in this study includes several segments of whole body, long and short muscles, ligaments and disc stiffness. Five daily activities such as standing, flexion, finger tip to floor, standing lift close and lifting flexed were simulated with varying the maximum muscle force capacities (MFC) of each muscle fascicles from 30 to $90N/cm^2$ with an increment of $30N/cm^2$. In the result, no solution can be obtained for finger tip to floor and lifting flexed with $30N/cm^2$. Even though the solution was available for standing lift close activity in case of $30N/cm^2$ capacity, many of muscle fascicles hit the upper bound of muscle strength which means that it is not physiologically possible to perform the acvities in reality. For lifing flexed, even the case of $60N/cm^2$ capaciy, represents the moderate healthy people, was not able to find the solutions, showing that 18 muscles among 258 muscle fascicles reached 100% of muscle capacity. The estimated results imply that people who have low muscle strength such as elders or rehabilitation patients were required higher muscle work to perform and maintain the same daily activities than healthy one.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.81-84
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• 1996

We propose the robust nonlinear controller design methodology, the $H_{\infty}$ constrained quasi - linear quadratic Gaussian control (QLQG/ $H_{\infty}$), for the statistically-linearized multivariable system with hard nonlinearties such as Coulomb friction, deadzone, etc. The $H_{\infty}$ performance constraint is involved in the optimization process by replacing the covariance Lyapunov equation with the Riccati equation whose solution leads to an upper bound of the QLQG performance. Because of the system's nonlinearity, however, one equation among three Riccati equations contain the nonlinear correction terms that are very difficult to solve numerically. To treat this problem, we use simple algebraic techniques. With some analytic transformation for Riccati equations, the nonlinear correction terms can be so eliminated that the set of a linear controller to the different operating points are designed. Synthesizing these via inverse random input describing function (IRIDF) technique, the final nonlinear controller can be designed.

• ETRI Journal
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• 제34권5호
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• pp.684-689
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• 2012

A mode-singular-value-decomposition (SVD) maximum likelihood (ML) estimation procedure is proposed for the source localization problem under an additive measurement error model. In a practical situation, the noise variance is usually unknown. In this paper, we propose an algorithm that does not require the noise covariance matrix as a priori knowledge. In the proposed method, the weight is derived by the inverse of the noise magnitude square in the ML criterion. The performance of the proposed method outperforms that of the existing methods and approximates the Taylor-series ML and Cram$\acute{e}$r-Rao lower bound.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• 제2권1호
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• pp.72-87
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• 1998

The subject of this research is to determine the optimal pumping rate so that seawater can not intrude so much to the freshwater region. There are several ingradients affecting the fluctuation of the interface: some geological parameters, fluid parameters, the precipitation, artificial recharge and discharge(due to pumping) are such ones. The parameter of particular interest is the pumpage of freshwater. In this article all the parameters are assumed to be known except the freshwater pumping rate. By considering a suitable inverse or parameter estimation problem we want to determine the pumpage which will not make the interface rise over the permissible bound.