• 대한수학회논문집
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• 제11권4호
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• pp.1175-1185
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• 1996

We study the computation of sparse null bases of equilibrium matrices in the context of structural optimization and incompressible fluid flow. In our approach we emphasize the parallel computatin and examine the applications. New block decomposition and node ordering schemes are suggested, and numerical examples are considered.

• 한국통신학회논문지
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• 제32권12A호
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• pp.1238-1243
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• 2007

본 논문에서는 zero-forcing (ZF) 기반 다중 사용자 MIMO (multiple-input multiple-output) 시스템에서, 송신-처리-행렬을 구하기 위한 간단한 순차적 (recursive) nulling 행렬 계산 알고리즘을 제안한다. 제안한 방식은 채널 행렬의 부분 행렬을 써서 구한 nulling 행렬을 이용하여 전체 행렬의 nulling 행렬과 송신-처리-행렬을 구하는 방식으로써, 전체 채널 행렬을 이용하여 송신-처리-행렬을 구하는 기존 방식에 비해 계산량을 줄일 수 있다.

• 대한수학회논문집
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• 제15권1호
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• pp.133-142
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• 2000

We consider some numerical solution methods for equilibrium equations Af + E$^{T}$ λ = r, Ef = s. Algebraic problems of this form evolve from many applications such as structural optimization, fluid flow, and circuits. An important approach, called the force method, to the solution to such problems involves dimension reduction nullspace computation for E. The purpose of this paper is to investigate the substructuring method for the solution step of the force method in the context of the incompressible fluid flow. We also suggests some iterative methods based upon substructuring scheme..

• 로봇학회논문지
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• 제10권4호
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• pp.230-244
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• 2015

Continuous-path motion control such as resolved motion rate control requires online solving of the inverse differential kinematics for a robot. However, the solution space of the inverse differential kinematics related to Jacobian J is not well-established. In this paper, the solution space of inverse differential kinematics is analyzed through categorization of mapping conditions between joint velocities and end-effector velocity of a robot. If end-effector velocity is within the column space of J, the solution or the minimum norm solution is obtained. If it is not within the column space of J, an approximate solution by least-squares is obtained. Moreover, this paper introduces an improved mapping diagram showing orthogonality and mapping clearly between subspaces, and concrete examples numerically showing the concept of several subspaces. Finally, a solver and graphics user interface (GUI) for inverse differential kinematics are developed using MATLAB, and the solution of inverse differential kinematics using the GUI is demonstrated for a vertically articulated robot.