• 제목/요약/키워드: variational approach

검색결과 171건 처리시간 0.026초

로보트 매니퓰레이터의 역모델을 갖는 자기동조 극배치 제어 (Self-Tuning Pole-Placement Control Of Robotic Manipulators With An Inverse Modela)

  • 이은옥;양해원
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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    • pp.50-53
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    • 1988
  • This paper presents an approach to the position control of a robot manipulator by using a self-tuning pole-placement controller with an inverse model. The linearized independent difference equations of manipulator motion are obtained, and the parameters of these models are estimated on line. The controller is composed of two parts, the primary controller obtains desired torques by using an inverse model and the secondary controller computes variational torques on the basis of induced perturbation equations by minimizing a quadratic criterion with a closed-loop pole-placement. Simulation is performed to demonstrate the effectiveness of this approach.

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Water level forecasting for extended lead times using preprocessed data with variational mode decomposition: A case study in Bangladesh

  • Shabbir Ahmed Osmani;Roya Narimani;Hoyoung Cha;Changhyun Jun;Md Asaduzzaman Sayef
    • 한국수자원학회:학술대회논문집
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    • 한국수자원학회 2023년도 학술발표회
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    • pp.179-179
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    • 2023
  • This study suggests a new approach of water level forecasting for extended lead times using original data preprocessing with variational mode decomposition (VMD). Here, two machine learning algorithms including light gradient boosting machine (LGBM) and random forest (RF) were considered to incorporate extended lead times (i.e., 5, 10, 15, 20, 25, 30, 40, and 50 days) forecasting of water levels. At first, the original data at two water level stations (i.e., SW173 and SW269 in Bangladesh) and their decomposed data from VMD were prepared on antecedent lag times to analyze in the datasets of different lead times. Mean absolute error (MAE), root mean squared error (RMSE), and mean squared error (MSE) were used to evaluate the performance of the machine learning models in water level forecasting. As results, it represents that the errors were minimized when the decomposed datasets were considered to predict water levels, rather than the use of original data standalone. It was also noted that LGBM produced lower MAE, RMSE, and MSE values than RF, indicating better performance. For instance, at the SW173 station, LGBM outperformed RF in both decomposed and original data with MAE values of 0.511 and 1.566, compared to RF's MAE values of 0.719 and 1.644, respectively, in a 30-day lead time. The models' performance decreased with increasing lead time, as per the study findings. In summary, preprocessing original data and utilizing machine learning models with decomposed techniques have shown promising results for water level forecasting in higher lead times. It is expected that the approach of this study can assist water management authorities in taking precautionary measures based on forecasted water levels, which is crucial for sustainable water resource utilization.

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A method to evaluate the frequencies of free transversal vibrations in self-anchored cable-stayed bridges

  • Monaco, Pietro;Fiore, Alessandra
    • Computers and Concrete
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    • 제2권2호
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    • pp.125-146
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    • 2005
  • The objective of this paper is setting out, for a cable-stayed bridge with a curtain suspension, a method to determine the modes of vibration of the structure. The system of differential equations governing the vibrations of the bridge, derived by means of a variational formulation in a nonlinear field, is reported in Appendix C. The whole analysis results from the application of Hamilton's principle, using the expressions of potential and kinetic energies and of the virtual work made by viscous damping forces of the various parts of the bridge (Monaco and Fiore 2003). This paper focuses on the equation concerning the transversal motion of the girder of the cable-stayed bridge and in particular on its final form obtained, restrictedly to the linear case, neglecting some quantities affecting the solution in a non-remarkable way. In the hypotheses of normal mode of vibration and of steady-state, we propose the resolution of this equation by a particular method based on a numerical approach. Respecting the boundary conditions, we derive, for each mode of vibration, the corresponding frequency, both natural and damped, the shape-function of the girder axis and the exponential function governing the variability of motion amplitude in time. Finally the results so obtained are compared with those deriving from the dynamic analysis performed by a finite elements calculation program.

Lateral-torsional buckling of prismatic and tapered thin-walled open beams: assessing the influence of pre-buckling deflections

  • Andrade, A.;Camotim, D.
    • Steel and Composite Structures
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    • 제4권4호
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    • pp.281-301
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    • 2004
  • The paper begins by presenting a unified variational approach to the lateral-torsional buckling (LTB) analysis of doubly symmetric prismatic and tapered thin-walled beams with open cross-sections, which accounts for the influence of the pre-buckling deflections. This approach (i) extends the kinematical assumptions usually adopted for prismatic beams, (ii) consistently uses shell membrane theory in general coordinates and (iii) adopts Trefftz's criterion to perform the bifurcation analysis. The proposed formulation is then applied to investigate the influence of the pre-buckling deflections on the LTB behaviour of prismatic and web-tapered I-section simply supported beams and cantilevers. After establishing an interesting analytical result, valid for prismatic members with shear centre loading, several elastic critical moments/loads are presented, discussed and, when possible, also compared with values reported in the literature. These numerical results, which are obtained by means of the Rayleigh-Ritz method, (i) highlight the qualitative differences existing between the LTB behaviours of simply supported beams and cantilevers and (ii) illustrate how the influence of the pre-buckling deflections on LTB is affected by a number of factors, namely ($ii_1$) the minor-to-major inertia ratio, ($ii_2$) the beam length, ($ii_3$) the location of the load point of application and ($ii_4$) the bending moment diagram shape.

The effects of stiffness strengthening nonlocal stress and axial tension on free vibration of cantilever nanobeams

  • Lim, C.W.;Li, C.;Yu, J.L.
    • Interaction and multiscale mechanics
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    • 제2권3호
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    • pp.223-233
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    • 2009
  • This paper presents a new nonlocal stress variational principle approach for the transverse free vibration of an Euler-Bernoulli cantilever nanobeam with an initial axial tension at its free end. The effects of a nanoscale at molecular level unavailable in classical mechanics are investigated and discussed. A sixth-order partial differential governing equation for transverse free vibration is derived via variational principle with nonlocal elastic stress field theory. Analytical solutions for natural frequencies and transverse vibration modes are determined by applying a numerical analysis. Examples conclude that nonlocal stress effect tends to significantly increase stiffness and natural frequencies of a nanobeam. The relationship between natural frequency and nanoscale is also presented and its significance on stiffness enhancement with respect to the classical elasticity theory is discussed in detail. The effect of an initial axial tension, which also tends to enhance the nanobeam stiffness, is also concluded. The model and approach show potential extension to studies in carbon nanotube and the new result is useful for future comparison.

Micro-Mechanical Approach for Spanwise Periodically and Heterogeneously Beam-like Structures

  • 이창용
    • 한국태양에너지학회 논문집
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    • 제36권3호
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    • pp.9-16
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    • 2016
  • This paper discusses a refined model for investigating the micro-mechanical behavior of beam-like structures, which are composed of various elastic moduli and complex geometries varying through the cross-section directions and are also periodically-repeated and heterogeneous along the axial direction. Following the previous work (Lee and Yu, 2011), the original three-dimensional static problem is first formulated in a unified and compact form using the concept of decomposition of the rotation tensor. Taking advantage of the smallness of the cross-sectional dimension-to-length parameter and the micro-to-macro heterogeneity, while also performing homogenization along the dimensional reduction simultaneously, the variational asymptotic method is rigorously used to construct a total energy function, which is asymptotically correct up to the second order. Furthermore, through the transformation procedure based on the pure kinematic relations and the linearized equilibrium equations, a generalized Timoshenko model is systematically established. For the purpose of dealing with realistic and complex geometries and constituent materials at the microscopic level, this present approach is incorporated into a commercial analysis package. A few examples available in literature are used to demonstrate the consistency and efficiency of this proposed model, especially for the structures, in which the effects of transverse shear deformations are significant.

Limit elastic speed analysis of rotating porous annulus functionally graded disks

  • Madan, Royal;Bhowmick, Shubhankar;Hadji, Lazreg;Tounsi, Abdelouahed
    • Steel and Composite Structures
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    • 제42권3호
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    • pp.375-388
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    • 2022
  • In this work, limit elastic speed analysis of functionally graded porous rotating disks has been reported. The work proposes an effective approach for modeling the mechanical properties of a porous functionally graded rotating disk. Four different types of porosity models namely: uniform, symmetric, inner maximum, and outer maximum distribution are considered. The approach used is the variational principle, and the solution has been achieved using Galerkin's error minimization theory. The study aims to investigate the effect of grading indices, aspect ratio, porosity volume fraction, and porosity types on limit angular speed for uniform and variable disk geometries of constant mass. To validate the current study, finite element analysis has been used, and there is good agreement between the two methods. The study yielded a decrease in limit speed as grading indices and aspect ratio increase. The porosity volume fraction is found to be more significant than the aspect ratio effect. The research demonstrates a range of operable speeds for porous and non-porous disk profiles that can be used in industries as design data. The results show a significant increase in limit speed for an exponential disk when compared to other disk profiles, and thus, the study demonstrates a range of FG-based structures for applications in industries that will not only save material (lightweight structures) but also improve overall performance.

변분 베이지안 방법을 이용한 점집합의 오차제거 (Point Set Denoising Using a Variational Bayesian Method)

  • 윤민철;;이승용
    • 한국정보과학회논문지:컴퓨팅의 실제 및 레터
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    • 제14권5호
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    • pp.527-531
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    • 2008
  • 스캐너를 이용해 스캔한 데이타는 오차를 포함하고 있으며, 이러한 오차는 통계적인 성질을 갖는 경우가 많다. 이러한 이유에서 통계적인 방법은 오차 처리를 위해 매우 효과적인 방법이며, 최근 많은 연구가 이루어지고 있다. 이러한 통계적인 방법 중 대표적인 방법인 점 추정 방법은 데이타의 여러 성질을 나타내지 못하고 단지 확률이 최대가 되는 부분의 성질만을 나타내는 한계가 있으며, 이러한 한계로 인하여 오버피팅 문제가 발생하게 된다. 이러한 한계를 극복하고 오버피팅 문제를 해결하기 위해서 본 논문에서는 변분 베이지안 방법을 이용한다. 점집합의 오차를 제거하기 위해 지역적 근사곡면을 사용하고, 높이함수를 이용해서 근사곡면을 나타낸다. 변분 베이지안 방법을 사용하여 오차가 제거된 근사곡면을 구하고, 주어진 점들을 근사곡면으로 매핑하여 오차를 제거한다. 제시된 방법은 계량적 실험과 실제 스캔된 자료를 이용한 실험을 통하여 검증된다.