• Kyungpook Mathematical Journal
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• v.47 no.2
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• pp.239-251
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• 2007

We show how the minimization can be used to solve the quadratic matrix equation and then compare two different types of conjugate gradient method which are Polak and Ribi$\acute{e}$re version and Fletcher and Reeves version. Finally, some results of the global and local convergence are shown.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.6
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• pp.780-785
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• 1998

In this paper, it is shown that the conventional methods for dealing with the singularity problem of a manipulator can be generalized as a local minimization problem with differently weighted objective functions. A new damping method proposed in this article automatically determines the damping amounts for singular values, which are inversely proportional to the magnitude of the singular values. Furthermore, this can be done without explicitly computing the singular values. The proposed method can be applied to all the manipulators with revolute joints.

• Journal of applied mathematics & informatics
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• v.6 no.2
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• pp.379-392
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• 1999

The problem of the state-minimization for the nonde-terministic finite Rabin-Scott's automata is considered. A new algo-rithm for this problem is obtained. The obtained algorithm has the exponential effectiveness like the earlier-known algorithms for this problem. But each of previous algo-rithms amounts to the search of minimum generative system for local reaction of equal automaton of canonical form and unlike them we use in this paper two special function marking states of the given automaton.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.6
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• pp.787-796
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• 2008

When the manipulator collides with surroundings, there occurs an impulse. To reduce the impulse, the self motion should maintain the manipulator's position by the minimally effective mass. At this time, we can use the local joint torque minimization algorithm to resolve the redundancy. In this study, to reduce the impulse and damages by the impact between the manipulator and surroundings, new control algorithm for the minimization of the joint torque using the kinetic redundancy and the impact minimization is proposed. It adapts fuzzy logic and genetic algorithm to the conventional local joint torque minimization algorithm. The proposed algorithm is applied to a 3-DOF redundant planar manipulator. Simulation results show that the proposed algorithm works well.

• Interaction and multiscale mechanics
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• v.2 no.1
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• pp.31-44
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• 2009

While the classical theory of Griffith is the foundation of modern understanding of brittle fracture, it has a number of significant shortcomings: Griffith theory does not predict crack initiation and path and it suffers from the presence of unphysical stress singularities. In 1998, Francfort and Marigo presented an energy functional minimization method, where the crack (or its absence) as well as its path are part of the problem's solution. The energy functionals act on spaces of functions of bounded variations, where the cracks are related to the discontinuity sets of such functions. The new model presented here uses modified energy functionals to account for molecular interactions in the vicinity of crack tips, resulting in Barenblatt cohesive forces, such that the model becomes free of stress singularities. This is done in a physically consistent way using recently published concepts of Sinclair. Here, for the consistency of the model, it becomes necessary to allow for crack reversibility and to consider local minimizers of the energy functionals. The latter is achieved by introducing different time scales. The model is solved in its global as well as in its local version for a simple one-dimensional example, showing that local minimization is necessary to yield a physically reasonable result.

• IE interfaces
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• v.8 no.1
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• pp.23-30
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• 1995

Optimization in the engineering design is to select the best of many possible design alternatives in a complex design space. One major problem of local minimization algorithm is that they often result in local optima. In this paper, a hybrid method was developed by coupling the genetic algorithm and a traditional direct search method. The proposed method first finds a region for possible global optimum using the genetic algorithm and then searchs for a global optimum using the direct search method. To evaluate the performance of the hybrid method, it was applied to three test problems and a problem of designing corrugate bulkhead of a ship.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.5
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• pp.642-648
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• 2008

A lot of researches on the redundant manipulators have been focused mainly on the minimization of joint torques. However, it is well-known that the most dynamic control algorithms using local joint torque minimization cause huge torques which can not be implemented by practical motor drivers. A new control algorithm which reduces considerably such a huge-required-torque problem is proposed in this paper. It adapts fuzzy logic and genetic algorithm to the conventional local joint torque minimization algorithm. The proposed algorithm is applied to a 3-DOF redundant planar robot. Simulation results show that the proposed algorithm works well.

• Journal of the Korea Society of Computer and Information
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• v.20 no.7
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• pp.41-47
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• 2015

The bandwidth minimization problem (BMP) has been classified as NP-complete because the polynomial time algorithm to find the optimal solution has been unknown yet. This paper suggests polynomial time heuristic algorithm is to find the solution of bandwidth minimization problem. To find the minimum bandwidth ${\phi}^*=_{min}{\phi}(G)$, ${\phi}(G)=_{max}\{{\mid}f(v_i)-f(v_j):v_i,v_j{\in}E\}$ for given graph G=(V,E), m=|V|,n=|E|, the proposed algorithm sets the maximum degree vertex $v_i$ in graph G into global central point (GCP), and labels the median value ${\lceil}m+1/2{\rceil}$ between [1,m] range. The graph G is partitioned into subgroup, the maximum degree vertex in each subgroup is set to local central point (LCP), and we adjust the label of LCP per each subgroup as possible as minimum distance from GCP. The proposed algorithm requires O(mn) time complexity for label to all of vertices. For various twelve graph, the proposed algorithm can be obtains the same result as known optimal solution. For one graph, the proposed algorithm can be improve on known solution.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.123-128
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• 1996

Kinematically redundant manipulators have been studied because of its usefulness of kinematic redundancy. It is natural that the kinematic redundancy induces a kind of control redundancy. By using the weighted kinematically decoupled joint space decomposition, we unify the control redundancy and the kinematic redundancy parameterized by the joint space weighting matrix. Concentrating to the particular component of each decomposition, we can describe the local minimization behavior of the control weighted quadratic by each weighted decomposition. The result extends the conventional results on general setting, and should be of interest in understanding the motion behavior of kinematically redundant manipulators.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1581-1584
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• 1997

This paper poropsed an efficient optimization technuque to resolve redundancy and a trajectory planning for a high precision control using proposed optimization technique. The proposed techniqus is the joint disturbance torque optimizatioin considering redundancy in the joing servo control. Joint disturbance torque is not unknown it is described dynamic equation ignored friction and viscosity. The proposed technique is used the dynamic equatiion included the joint disturbance torque characteristics. Numerical example of 3 joint planar redundant robot manipulator is simulated. In the 2-norm minimization of joint disturbance torque we compared pseudoinverse local optimization with proposed technique, and the results showed better the proposed technique. So the proposed technique can be highly precision controlled redundant robot manipulators in the joint servo control.