• Journal of the Korean Society for Precision Engineering
• /
• v.15 no.1
• /
• pp.78-86
• /
• 1998

This paper presents a numerical method of the minimum-time trajectory planning for a robot manipulator amid obstacles. Each joint displacement is represented by the linear combination of the finite-term quintic B-splines which are the known functions of the path parameter. The time is represented by the linear function of the same path parameter. Since the geometric path is not fixed and the time is linear to the path parameter, the coefficients of the splines and the time-scale factor span a finite-dimensional vector space, a point in which uniquely represents the manipulator motion. The displacement, the velocity and the acceleration conditions at the starting and the goal positions are transformed into the linear equality constraints on the coefficients of the splines, which reduce the dimension of the vector space. The optimization is performed in the reduced vector space using nonlinear programming. The total moving time is the main performance index which should be minimized. The constraints on the actuator forces and that of the obstacle-avoidance, together with sufficiently large weighting coefficients, are included in the augmented performance index. In the numerical implementation, the minimum-time motion is obtained for a planar 3-1ink manipulator amid several rectangular obstacles without simplifying any dynamic or geometric models.

• Geomechanics and Engineering
• /
• v.10 no.3
• /
• pp.269-284
• /
• 2016

Simplified techniques based on in situ testing methods are commonly used to assess seismic liquefaction potential. Many of these simplified methods were developed by analyzing liquefaction case histories from which the liquefaction boundary (limit state) separating two categories (the occurrence or non-occurrence of liquefaction) is determined. As the liquefaction classification problem is highly nonlinear in nature, it is difficult to develop a comprehensive model using conventional modeling techniques that take into consideration all the independent variables, such as the seismic and soil properties. In this study, a modification of the Multivariate Adaptive Regression Splines (MARS) approach based on Logistic Regression (LR) LR_MARS is used to evaluate seismic liquefaction potential based on actual field records. Three different LR_MARS models were used to analyze three different field liquefaction databases and the results are compared with the neural network approaches. The developed spline functions and the limit state functions obtained reveal that the LR_MARS models can capture and describe the intrinsic, complex relationship between seismic parameters, soil parameters, and the liquefaction potential without having to make any assumptions about the underlying relationship between the various variables. Considering its computational efficiency, simplicity of interpretation, predictive accuracy, its data-driven and adaptive nature and its ability to map the interaction between variables, the use of LR_MARS model in assessing seismic liquefaction potential is promising.

• Steel and Composite Structures
• /
• v.33 no.4
• /
• pp.583-594
• /
• 2019

In the areas highly exposed to earthquakes, concrete-filled steel tube columns (CFSTCs) are known to provide superior structural aspects such as (i) high strength for good seismic performance (ii) high ductility (iii) enhanced energy absorption (iv) confining pressure to concrete, (v) high section modulus, etc. Numerous studies were reported on behavior of CFSTCs under axial compression loadings. This paper presents an analytical model to predict ultimate load capacity of CFSTCs with circular sections under axial load by using multivariate adaptive regression splines (MARS). MARS is a nonlinear and non-parametric regression methodology. After careful study of literature, 150 comprehensive experimental data presented in the previous studies were examined to prepare a data set and the dependent variables such as geometrical and mechanical properties of circular CFST system have been identified. Basically, MARS model establishes a relation between predictors and dependent variables. Separate regression lines can be formed through the concept of divide and conquers strategy. About 70% of the consolidated data has been used for development of model and the rest of the data has been used for validation of the model. Proper care has been taken such that the input data consists of all ranges of variables. From the studies, it is noted that the predicted ultimate axial load capacity of CFSTCs is found to match with the corresponding experimental observations of literature.

• Proceedings of the Korea Water Resources Association Conference
• /
• 2018.05a
• /
• pp.351-354
• /
• 2018

본 연구에서는 일 증발접시 증발량 모델링을 위한 다변량 적응 회귀 스플라인 (multivariate adaptive regression splines, MARS) 모델의 성능을 평가하였다. 모델 입력변수 집합은 부산 관측소 (기상청)로부터 수집된 기상자료를 활용하여 증발접시 증발량과의 상관성이 높은 변수들의 조합으로 구성되었으며, 일사량, 일조시간, 평균지상온도, 최대기온의 조합으로 구성된 세 가지 입력집합이 결정되었다. MARS 모델의 성능은 네 가지의 모델성능평가지표를 활용하여 정량적으로 산출되었으며, 그 결과를 인공신경망 (artificial neural network, ANN) 모델과 비교하였다. 입력변수로서 일사량 및 일조시간을 가지는 Set 1의 경우 MARS1 모델이 ANN1 모델보다 우수한 성능을 나타내었으며, Set 2 (일사량, 일조시간, 평균지상온도)의 경우 ANN2 모델, Set 3 (일사량, 일조시간, 평균지상온도, 최대기온)의 경우 MARS3 모델이 상대적으로 우수한 모델 성능을 나타내었다. 모든 분석 모델들을 비교하였을 때, MARS3, ANN2, ANN3, MARS2, MARS1, ANN1 모델의 순서로 우수한 모델 성능을 나타내었으며, 특히 MARS3 모델은 CE = 0.790, $r^2=0.800$, RMSE = 0.762, MAE = 0.587로서 가장 우수한 일 증발접시 증발량 모델링 성능을 나타내었다. 따라서 본 연구에서 적용한 MARS 모델은 지상관측 기상자료를 활용한 일 증발접시 증발량 모델링에서 효과적인 대안이 될 수 있을 것으로 판단된다.

• Journal of applied mathematics & informatics
• /
• v.8 no.3
• /
• pp.811.2-818
• /
• 2001

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
• /
• 2010.04a
• /
• pp.415-417
• /
• 2010

• Journal of the Korean Data and Information Science Society
• /
• v.25 no.1
• /
• pp.19-26
• /
• 2014

In this paper, we propose a polychotomous regression model when independent variables include both categorical and numerical variables. For categorical independent variables, we use direct sums, and tensor product splines are used for continuous independent variables. We use BIC for varible selections criterior. We implemented the algorithm and apply the algorithm to real data. The use of direct sums and tensor products outperformed the usual multinomial logistic regression model.

• Korean Journal of Computational Design and Engineering
• /
• v.15 no.4
• /
• pp.253-260
• /
• 2010

This paper presents algorithms for computing offsets of freeform curves. The approach first divides the original curve into several segments at the inflexion points. Based on the obtained new control polygon and its offsets, quadratic trigonometric splines are constructed to approximate the offset curves. Finally, the shape parameter value of trigonometric spline is determined to satisfy the required tolerance. The degree of the output curve is two, independent of the original curve's degree. Because of the great controllability, the proposed method can generate a completely overestimating offset curve by adjusting the value of the shape parameter, which guarantees no overcutting in NC machining. Furthermore, it also produces the lowest number of control points compared with other works.

• 한국전산유체공학회:학술대회논문집
• /
• 2001.05a
• /
• pp.72-77
• /
• 2001

The computational efficiency of an shape optimization procedure is highly dependent upon the proper selection of shape representation methods and design variables. In this study, shape functions, Bezier and NURBS(non-uniform rational B-splines) curves are selected as configuration generation methods and their efficiencies on the nose shape design of high-speed air vehicles, are compared. The effects of the number of control points, weighting factors and the optimization methods when utilizing the NURBS curves, are investigated. By implementing Bezier and NURBS curves, shapes having lower drag than the optimization case utilizing the shape functions, were obtained, hence it was demonstrated that these curves have better capability in representing the configuration. Efforts will be given to improve the convergence behavior when utilizing the NURBS, hence to reduce the number of Navier-Stokes analysis calculations.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1995.10a
• /
• pp.1133-1137
• /
• 1995

This paper presents a numerical method of the global search for an optimal geometric path for a manipulator arm amid obstacles. Finite term quintic B-splines are used to describe an arbitrary point-to-point manipulator motion with fixed moving time. The coefficients of the splines span a linear vector space, a point in which uniquely represents the manipulator motion. All feasible geometric paths are searched by adjusting the seed points of the obstacle models in the penetration growth distances. In the numerical implementation using nonlinear programming, the globally optimal geometric path is obtained for a spatial 3-link(3-revolute joints) manipulator amid several hexahedral obstacles without simplifying any dynamic or geometric models.