• Title, Summary, Keyword: Moore-Penrose inverse

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Solution Space of Inverse Differential Kinematics (역미분기구학의 해 공간)

  • Kang, Chul-Goo
    • 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.

Estimation of Vibration Level Inside an Engine Based on Rigid Body Theory and Measurement Technology (강체 운동 해석 및 실험을 통한 엔진 내부 진동 예측에 관한 연구)

  • Kim, Byung-Hyun;Park, Jong-Ho;Kim, Eui-Yeol;Lee, Sang-Kwon;Kim, Tae-Jeong;Heo, Jeong-Ki
    • Transactions of the Korean Society for Noise and Vibration Engineering
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    • v.21 no.11
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    • pp.1043-1050
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    • 2011
  • This paper presents practical results for the estimation of vibration level inside a powertrain based on the rigid body theory and measurement. The vibration level of inside powertrain has been used for the calculation of excitation force of an engine indirectly. However it was difficult to estimate or measure the vibration level inside of a powertrain when a powertrain works on the driving condition of a vehicle. To do this work, the rigid body theory is employed. At the first, the vibration on the surface of a powertrain is measured and its results are secondly used for the estimation the vibration level inside of powertrain together with rigid body theory. Also did research on how to decrease the error rate when the rigid body theory is applied. This method is successfully applied to the estimation of the vibration level on arbitrary point of powertrain on the driving condition at the road.

An Efficient Computing Method of the Orthogonal Projection Matrix for the Balanced Factorial Design

  • Kim, Byung-Chun;Park, Jong-Tae
    • Journal of the Korean Statistical Society
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    • v.22 no.2
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    • pp.249-258
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    • 1993
  • It is well known that design matrix X for any factorial design can be represented by a product $X = TX_o$ where T is replication matrix and $X_o$ is the corresponding balanced design matrix. Since $X_o$ consists of regular arrangement of 0's and 1's, we can easily find the spectral decomposition of $X_o',X_o$. Also using this we propose an efficient algorithm for computing the orthogonal projection matrix for a balanced factorial design.

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THE SOLUTIONS OF SOME OPERATOR EQUATIONS

  • Cvetkovic-Ilic, Dragana S.
    • Journal of the Korean Mathematical Society
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    • v.45 no.5
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    • pp.1417-1425
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    • 2008
  • In this paper we consider the solvability and describe the set of the solutions of the operator equations $AX+X^{*}C=B$ and $AXB+B^{*}X^{*}A^{*}=C$. This generalizes the results of D. S. Djordjevic [Explicit solution of the operator equation $A^{*}X+X^{*}$A=B, J. Comput. Appl. Math. 200(2007), 701-704].

CONDENSED CRAMER RULE FOR COMPUTING A KIND OF RESTRICTED MATRIX EQUATION

  • Gu, Chao;Xu, Zhaoliang
    • Journal of applied mathematics & informatics
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    • v.26 no.5_6
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    • pp.1011-1020
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    • 2008
  • The problem of finding Cramer rule for solutions of some restricted linear equation Ax = b has been widely discussed. Recently Wang and Qiao consider the following more general problem AXB = D, $R(X){\subset}T$, $N(X){\supset}\tilde{S}$. They present the solution of above general restricted matrix equation by using generalized inverses and give an explicit expression for the elements of the solution matrix for the matrix equation. In this paper we re-consider the restricted matrix equation and give an equivalent matrix equation to it. Through the equivalent matrix equation, we derive condensed Cramer rule for above restricted matrix equation. As an application, condensed determinantal expressions for $A_{T,S}^{(2)}$ A and $AA_{T,S}^{(2)}$ are established. Based on above results, we present a method for computing the solution of a kind of restricted matrix equation.

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A Numerical Analysis Approach for Design of Cable Dome Structures (케이블 돔 구조물 설계를 위한 수치해석 방법)

  • Kim, Jae-Yeol;Jang, Dong-Woo
    • Proceeding of KASS Symposium
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    • pp.89-94
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    • 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.

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Analytical Method for Constrained Mechanical and Structural Systems

  • Eun, Hee-Chang;Park, Sang-Yeol;Lee, Eun-Taik;Chung, Heon-Soo
    • Journal of Mechanical Science and Technology
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    • v.18 no.10
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    • pp.1691-1699
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    • 2004
  • The objective of this study is to present an accurate and simple method to describe the motion of constrained mechanical or structural systems. The proposed method is an elimination method to require less effort in computing Moore-Penrose inverse matrix than the generalized inverse method provided by Udwadia and Kalaba. Considering that the results by numerical integration of the derived second-order differential equation to describe constrained motion veer away the constrained trajectories, this study presents a numerical integration scheme to obtain more accurate results. Applications of holonomically or nonholonomically constrained systems illustrate the validity and effectiveness of the proposed method.

A Study on the Shape Analysis of the Truss Structures under the Prescribed Displacement Mode (변위제약모드를 갖는 트러스구조물의 형태해석에 관한 연구)

  • 문창훈;김진기;최옥훈;한상을
    • Proceedings of the Computational Structural Engineering Institute Conference
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    • pp.262-269
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    • 1997
  • The purpose of this study is to survey the shape finding of the plane truss structures under the prescribed displacement mode by the shape analysis. The shape analysis is peformed by the existence condition of a solution and Moore-Penrose generalized inverse matrix, and the prescribed displacement mode is the homologous deformation of structures. The shape analysis of structures is a kind of inverse problem and become the problem of a nonlinear equation. Newton-Raphson method is used to improve the accuracy of approximated solution. To prove the accuracy and the effectiveness of this method, four different shape examples are analyzed.

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Modeling of Magentic Levitation Logistics Transport System Using Extreme Learning Machine (Extreme Learning Machine을 이용한 자기부상 물류이송시스템 모델링)

  • Lee, Bo-Hoon;Cho, Jae-Hoon;Kim, Yong-Tae
    • Journal of the Institute of Electronics and Information Engineers
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    • v.50 no.1
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    • pp.269-275
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    • 2013
  • In this paper, a new modeling method of a magnetic levitation(Maglev) system using extreme learning machine(ELM) is proposed. The linearized methods using Taylor Series expansion has been used for modeling of a Maglev system. However, the numerical method has some drawbacks when dealing with the components with high nonlinearity of a Maglev system. To overcome this problem, we propose a new modeling method of the Maglev system with electro magnetic suspension, which is based on ELM with fast learning time than conventional neural networks. In the proposed method, the initial input weights and hidden biases of the method are usually randomly chosen, and the output weights are analytically determined by using Moore-Penrose generalized inverse. matrix Experimental results show that the proposed method can achieve better performance for modeling of Maglev system than the previous numerical method.

3D motion estimation using multisensor data fusion (센서융합을 이용한 3차원 물체의 동작 예측)

  • 양우석;장종환
    • 제어로봇시스템학회:학술대회논문집
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    • pp.679-684
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    • 1993
  • This article presents an approach to estimate the general 3D motion of a polyhedral object using multiple, sensory data some of which may not provide sufficient information for the estimation of object motion. Motion can be estimated continuously from each sensor through the analysis of the instantaneous state of an object. We have introduced a method based on Moore-Penrose pseudo-inverse theory to estimate the instantaneous state of an object. A linear feedback estimation algorithm is discussed to estimate the object 3D motion. Then, the motion estimated from each sensor is fused to provide more accurate and reliable information about the motion of an unknown object. The techniques of multisensor data fusion can be categorized into three methods: averaging, decision, and guiding. We present a fusion algorithm which combines averaging and decision.

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