• The Journal of Korea Robotics Society
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• v.10 no.4
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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.

• Kyungpook Mathematical Journal
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• v.62 no.1
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• pp.89-106
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• 2022

We are concerned with finding a common solution to an equilibrium problem associated with a bifunction, and a constrained convex minimization problem. We propose an iterative fixed point algorithm and prove that the algorithm generates a sequence strongly convergent to a common solution. The common solution is identified as the unique solution of a certain variational inequality.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.12
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• pp.1973-1983
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• 1997

Higher order isoparametric elements are usually used in the finite element analysis because they can represent easily the geometric shape of a complex structure ad can improve the solution quality. When these elements are used, the position of internal nodes affects greatly on the solution accuracy. Decreasing of the accuracy related to the position of internal nodes is due to non-conformal mapping often results in an unstable Jacobian value. This paper, in order to remove this difficulty, suggests a modified shape function which can establish conformal mapping between two coordinate systems. Numerical experiments with the proposed shape function show that a stable solution can be obtained without respect to the position of internal nodes, and offer convenience that one can take arbitrarily the position of internal nodes considering only the geometric shape of element boundaries.

• Journal of Computing Science and Engineering
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• v.2 no.1
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• pp.44-73
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• 2008

There is general agreement that the problem of data semantics has to be addressed for XML data to become machine-processable. This problem can be tackled by defining a semantic mapping between an XML schema and an ontology. Unfortunately, creating such mappings is a tedious, time-consuming, and error-prone task. To alleviate this problem, we present a solution that heuristically discovers semantic mappings between XML schemas and ontologies. The solution takes as input an initial set of simple correspondences between element attributes in an XML schema and class attributes in an ontology, and then generates a set of mapping formulas. Once such a mapping is created, it is important and necessary to maintain the consistency of the mapping when the associated XML schema and ontology evolve. In this paper, we first offer a mapping formalism to represent semantic mappings. Second, we present our heuristic mapping discovery algorithm. Third, we show through an empirical study that considerable effort can be saved when discovering complex mappings by using our prototype tool. Finally, we propose a mapping maintenance plan dealing with schema evolution. Our study provides a set of effective solutions for building sustainable semantic integration systems for XML data.

• East Asian mathematical journal
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• v.17 no.2
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• pp.297-301
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• 2001

• Honam Mathematical Journal
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• v.30 no.1
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• pp.197-203
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• 2008

We show the existence of the unique solution of the following system of the nonlinear wave equations with Dirichlet boundary conditions and periodic conditions under some conditions $U_{tt}-U_{xx}+av^+=s{\phi}_{00}+f$ in $(-{\frac{\pi}{2},{\frac{\pi}{2}}){\times}R$, ${\upsilon}_{tt}-{\upsilon}_{xx}+bu^+=t{\phi}_{00}+g$ in $(-{\frac{\pi}{2},{\frac{\pi}{2}}){\times}R$, where $u^+$ = max{u, 0}, s, t ${\in}$ R, ${\phi}_{00}$ is the eigenfunction corresponding to the positive eigenvalue ${\lambda}_{00}$ of the wave operator. We first show that the system has a positive solution or a negative solution depending on the sand t, and then prove the uniqueness theorem by the contraction mapping principle on the Banach space.

• Journal of the Korean Mathematical Society
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• v.58 no.3
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• pp.525-552
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• 2021

In this paper, we introduce two general iterative algorithms (one implicit algorithm and one explicit algorithm) for finding a common element of the solution set of the variational inequality problems for a continuous monotone mapping, the zero point set of a set-valued maximal monotone operator, and the fixed point set of a continuous pseudocontractive mapping in a Hilbert space. Then we establish strong convergence of the proposed iterative algorithms to a common point of three sets, which is a solution of a certain variational inequality. Further, we find the minimum-norm element in common set of three sets.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.11
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• pp.4347-4366
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• 2015

Distinguished with traditional strategies which offload an application's computation to a single server, parallel computation offloading can promote the performance by simultaneously delivering the computation to multiple computing resources around the mobile terminal. However, due to the variability of communication and computation environments, static application component multi-partitioning algorithms are difficult to maintain the optimality of their solutions in time-varying scenarios, whereas, over-frequent algorithm executions triggered by changes of environments may bring excessive algorithm costs. To this end, an adaptive application component mapping algorithm for parallel computation offloading in variable environments is proposed in this paper, which aims at minimizing computation costs and inter-resource communication costs. It can provide the terminal a suitable solution for the current environment with a low incremental algorithm cost. We represent the application component multi-partitioning problem as a graph mapping model, then convert it into a pathfinding problem. A genetic algorithm enhanced by an elite-based immigrants mechanism is designed to obtain the solution adaptively, which can dynamically adjust the precision of the solution and boost the searching speed as transmission and processing speeds change. Simulation results demonstrate that our algorithm can promote the performance efficiently, and it is superior to the traditional approaches under variable environments to a large extent.

• The Pure and Applied Mathematics
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• v.30 no.3
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• pp.289-307
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• 2023

We prove some common fixed point theorems for β-non-decreasing mappings under contraction mapping principle on partially ordered metric spaces. We study the existence of solution for periodic boundary value problems and also give an example to show the degree of validity of our hypothesis. Our results improve and generalize various known results.

• The Pure and Applied Mathematics
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• v.30 no.4
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• pp.443-461
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• 2023

In this paper, we establish some common fixed point theorems satisfying contraction mapping principle on partially ordered non-Archimedean fuzzy metric spaces and also derive some coupled fixed point results with the help of established results. We investigate the solution of integral equation and also give an example to show the applicability of our results. These results generalize, improve and fuzzify several well-known results in the recent literature.