• Journal of Mechanical Science and Technology
• /
• v.16 no.8
• /
• pp.1072-1078
• /
• 2002

The constrained motion requires the determination of constraint force acting on unconstrained systems for satisfying given constraints. Most of the methods to decide the force depend on numerical approaches such that the Lagrange multiplier method, and the other methods need vector analysis or complicated intermediate process. In 1992, Udwadia and Kalaba presented the generalized inverse method to describe the constrained motion as well as to calculate the constraint force. The generalized inverse method has the advantages which do not require any linearization process for the control of nonlinear systems and can explicitly describe the motion of holonomically and/or nongolonomically constrained systems. In this paper, an explicit equation to describe the constrained motion is derived by minimizing the performance index, which is a function of constraint force vector, with respect to the constraint force. At this time, it is shown that the positive-definite weighting matrix in the performance index must be the inverse of mass matrix on the basis of the Gauss's principle and the derived differential equation coincides with the generalized inverse method. The effectiveness of this method is illustrated by means of two numerical applications.

• Journal of KSNVE
• /
• v.7 no.5
• /
• pp.773-780
• /
• 1997

Using Generalized Inverse Method presented by Udwadia and Kalaba in 1992, we can obtain equations to exactly describe the motion of constrained systems. When the differential equations are numerically integrated by any numerical integration scheme, the numerical results are generally found to veer away from satisfying constraint equations. Thus, this paper deals with the numerical integration of the differential equations describing constrained systems. Based on Baumgarte method, we propose numerical methods for reducing the errors in the satisfaction of the constraints.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.31B no.8
• /
• pp.147-159
• /
• 1994

The performance of the improvement method of spatial resolution for satellite images based on the generalized inverse matrix is superior to the conventional methods. But, this method calculates the coefficient values for extracting the spatial information from the relation between a small pixel and large pixels. Accordingly it has the problem of remaining the blocky patterns at the result image. In this paper, a new generalized inverse matrix method is proposed which is different in the calculation method of coefficient values for extracting the spatial information. In this proposed metod, it calculates the coefficient values for extracting the spatial information from the relation between a small pixel and small pixels. Consequently it can improve the spatial resolution more efficiently without remaining the blocky patterns at the result image. The effectiveness of the proposed method is varified by simulation experiments with real TM image data.

• Journal of Mechanical Science and Technology
• /
• v.17 no.4
• /
• pp.538-544
• /
• 2003

Although many methodologies exist for determining the constrained equations of motion, most of these methods depend on numerical approaches such as the Lagrange multiplier's method expressed in differential/algebraic systems. In 1992, Udwadia and Kalaba proposed explicit equations of motion for constrained systems based on Gauss's principle and elementary linear algebra without any multipliers or complicated intermediate processes. The generalized inverse method was the first work to present explicit equations of motion for constrained systems. However, numerical integration results of the equation of motion gradually veer away from the constraint equations with time. Thus, an objective of this study is to provide a numerical integration scheme, which modifies the generalized inverse method to reduce the errors. The modified equations of motion for constrained systems include the position constraints of index 3 systems and their first derivatives with respect to time in addition to their second derivatives with respect to time. The effectiveness of the proposed method is illustrated by numerical examples.

• Journal of the Korean Society for Precision Engineering
• /
• v.15 no.3
• /
• pp.127-132
• /
• 1998

Mobile wheeled robots are nonholonomically constrained systems. Generally, it is very difficult to describe the motion of mechanical systems with nonintegrable nonholonomic constraints. An objective of this study is to describe the motion of a robot with a free wheel. The motion of holonomically and/or nonholonomically constrained system can be simply determined by Generalized Inverse Method presented by Udwadia and Kalaba in 1992. Using the method, we describe the exact motion of the robot and determine the constraint force exerted on the robot for satisfying constraints imposed on it. The application illustrates the ease with which the Generalized Inverse Method can be utilized for the purpose of control of nonlinear system without depending on any linearization, maintaining precision tracking motion and explicit determination of control forces of nonholonomically constrained system.

• Honam Mathematical Journal
• /
• v.32 no.1
• /
• pp.1-16
• /
• 2010

By using the generalized operator method given by Burchnall and Chaundy in 1940, the authors present one-dimensional inverse pairs of symbolic operators. Many operator identities involving these pairs of symbolic operators are rst constructed. By means of these operator identities, 11 decomposition formulas for the generalized hypergeometric $_4F_3$ function are then given. Furthermore, the integral representations associated with generalized hypergeometric functions are also presented.

• Proceeding of KASS Symposium
• /
• 2008.05a
• /
• pp.89-94
• /
• 2008

This paper deals with the method of self-equilibrium stress mode analysis of cable dome structures. From the point of view of analysis, cable dome structure is a kind of unstable truss structure which is stabilized by means of introduction of prestressing. The prestress must be introduced according to a specific proportion among different structural member and it is determined by an analysis called self-equilibrium stress mode analysis. The mathematical equation involved in the self-equilibrium stress mode analysis is a system of linear equations which can be solved numerically by adopting the concept of Moore-Penrose generalized inverse. The calculation of the generalized inverse is carried out by rank factorization method. This method involves a parameter called epsilon which plays a critical role in self-equilibrium stress mode analysis. It is thus of interest to investigate the range of epsilon which produces consistent solution during the analysis of self-equilibrium stress mode.

• Journal of the Korean Society for Industrial and Applied Mathematics
• /
• v.2 no.2
• /
• pp.67-80
• /
• 1998

In this paper the linear algebraic system obtained from a singular integral equation with variable coeffcients by a quadrature-collocation method is considered. We study this underdetermined system by means of the Moore Penrose generalized inverse. Convergence in compact subsets of [-1, 1] can be shown under some assumptions on the coeffcients of the equation.

• Communications for Statistical Applications and Methods
• /
• v.27 no.6
• /
• pp.675-688
• /
• 2020

In survival analysis of observational data, the inverse probability weighting method and the Cox proportional hazards model are widely used when estimating the causal effects of multiple-valued treatment. In this paper, the two kinds of weights have been examined in the inverse probability weighting method. We explain the reason why the stabilized weight is more appropriate when an inverse probability weighting method using the generalized propensity score is applied. We also emphasize that a marginal hazard ratio and the conditional hazard ratio should be distinguished when defining the hazard ratio as a treatment effect under the Cox proportional hazards model. A simulation study based on real data is conducted to provide concrete numerical evidence.

• East Asian mathematical journal
• /
• v.27 no.5
• /
• pp.527-538
• /
• 2011

In this paper, we introduce a new iterative scheme for finding a common element of the set of an equilibrium problem, the set of fixed points of nonexpansive mapping and the set of solutions of the generalized variational inequality for ${\alpha}$-inverse strongly g-monotone mapping in a Hilbert space. Under suitable conditions, strong convergence theorems for approximating a common element of the above three sets are obtained.