• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.7
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• pp.1404-1409
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• 2011

The fundamental research for the mobile robot navigation using the numerical optimization method is presented. We define the mobile robot navigation problem as an unconstrained optimization problem to minimize the cost function with the pose error between the goal position and the position of a mobile robot. Using the nonlinear least squares optimization method, the optimal speeds of the left and right wheels can be found as the solution of the optimization problem. Especially, the rotational speed of wheels of a mobile robot can be directly related to the overall speed of a mobile robot using the Jacobian derived from the kinematic model. It will be very useful for applying to the mobile robot navigation. The performance was evaluated using the simulation.

• The Journal of Korea Robotics Society
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• v.2 no.4
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• pp.327-333
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• 2007

We propose a navigation algorithm using image-based visual servoing utilizing a fixed camera. We define the mobile robot navigation problem as an unconstrained optimization problem to minimize the image error between the goal position and the position of a mobile robot. The residual function which is the image error between the position of a mobile robot and the goal position is generally large for this navigation problem. So, this navigation problem can be considered as the nonlinear least squares problem for the large residual case. For large residual, we propose a method to find the second-order term using the secant approximation method. The performance was evaluated using the simulation.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.9
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• pp.1266-1272
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• 2014

We define the mobile robot navigation problem as an optimization problem to minimize the cost function with the pose error between the goal position and the position of a mobile robot. Using Gauss-Newton method for the optimization, the optimal speeds of the left and right wheels can be found as the solution of the optimization problem. Especially, the rotational speed of wheels of a mobile robot can be directly related to the overall speed of a mobile robot using the Jacobian derived from the kinematic model. When the robot detects the obstacle using sensors, the sub-goal switching method is adopted for the efficient obstacle avoidance during the navigation. The performance was evaluated using the simulation and the simulation results show the validity of the proposed method.

• Journal of applied mathematics & informatics
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• v.42 no.1
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• pp.149-158
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• 2024

A least squares problem without correspondences is expressed as the following optimization: Π∈P^min_{m, x∈ℝn} ║Ax-Πy║, where A ∈ ℝ^m×n and y ∈ ℝ^m are given. In general, solving such an optimization problem is highly challenging. In this paper we use the rearrangement inequalities to find the closed form of solutions for certain cases. Moreover, despite the stringent constraints, we successfully tackle the nonlinear least squares problem without correspondences by leveraging rearrangement inequalities.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.5
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• pp.438-447
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• 2008

This study is focused on reliability based design optimization (RBDO) using moving least squares. A response surface is used to derive a limit-state equation for reliability based design optimization. Response surface method (RSM) with least square method (LSM) or Kriging will be used as a response surface. RSM is fast to make the response surface. On the other hand, RSM has disadvantage to make the response surface of nonlinear equation. Kriging can make the response surface in nonlinear equation precisely but needs considerable amount of computations. The moving least square method (MLSM) is made of both methods (RSM with LSM+Kriging). Numerical results by MLSM are compared with those by LMS in Rosenbrock function and six-hump carmel back function. The RBDO of engine duct of smart UAV is pursued in this paper. It is proved that RBDO is useful tool for aerospace structural optimal design problems.

• Journal of Advanced Marine Engineering and Technology
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• v.31 no.1
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• pp.58-66
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• 2007

Genetic Algorithms (GA) have some difficulties in practical applications because of too many function evaluations. To overcome these limitations, an approximated modeling method such as Response Surface Modeling(RSM) is coupled to GAs. Original RSM method predicts linear or convex problems well but it is not good for highly nonlinear problems cause of the average effect of the least square method(LSM). So the locally approximated methods. so called as moving least squares method(MLSM) have been used to reduce the error of LSM. In this study, the efficient evolutionary GAs tightly coupled with RSM with MLSM are constructed and then a 2-dimensional inviscid airfoil shape optimization is performed to show its efficiency.

• Journal of the Korean Data and Information Science Society
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• v.17 no.3
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• pp.905-912
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• 2006

Support vector classification(SVC) provides more complete description of the linear and nonlinear relationships between input vectors and classifiers. In this paper we propose to solve the optimization problem of SVC with a modified hinge loss function, which enables to use an iterative reweighted least squares(IRWLS) procedure. We also introduce the approximate cross validation function to select the hyperparameters which affect the performance of SVC. Experimental results are then presented which illustrate the performance of the proposed procedure for classification.

• Structural Engineering and Mechanics
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• v.68 no.5
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• pp.563-573
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• 2018

Temperature-induced responses, such as strains and displacements, are related to the boundary conditions. Therefore, it is required to determine the boundary conditions to establish a reliable bridge model for temperature-induced responses analysis. Particularly, bridge bearings usually present nonlinear behavior with an increase in load, and the nonlinear boundary conditions cause significant effect on temperature-induced responses. In this paper, the bridge nonlinear boundary conditions were simulated as bilinear translational or rotational springs, and the boundary parameters of the bilinear springs were identified based on the measured temperature-induced responses. First of all, the temperature-induced responses of a simply support beam with nonlinear translational and rotational springs subjected to various temperature loads were analyzed. The simulated temperature-induced strains and displacements were assumed as measured data. To identify the nonlinear translational and rotational boundary parameters of the bridge, the objective function based on the temperature-induced responses is then created, and the nonlinear boundary parameters were further identified by using the nonlinear least squares optimization algorithm. Then, a beam structure with nonlinear translational and rotational springs was simulated as a numerical example, and the nonlinear boundary parameters were identified based on the proposed method. The numerical results show that the proposed method can effectively identify the parameters of the nonlinear boundary conditions. Finally, the boundary parameters of a real arch bridge were identified based on the measured strain data and the proposed method. Since the bearings of the real bridge do not perform nonlinear behavior, only the linear boundary parameters of the bridge model were identified. Based on the bridge model and the identified boundary conditions, the temperature-induced strains were recalculated to compare with the measured strain data. The recalculated temperature-induced strains are in a good agreement with the real measured data.

• Communications of the Korean Mathematical Society
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• v.11 no.4
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• pp.1147-1157
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• 1996

Nonlinear ill-posed problems arise in many application including parameter estimation and inverse scattering. We introduce a least squares regularization method to solve nonlinear ill-posed problems with constraints robustly and efficiently. The regularization method uses Trust-Region approach to handle the constraints on variables. The Generalized Cross Validation is used to choose the regularization parameter in computational tests. Numerical results are given to exhibit faster convergence of the method over other methods.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.8
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• pp.130-137
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• 1999

The criteria for determining the elements are the minimum zone method(MZM) and the least squares method(LSM). The LSM is deterministic and simple but is limited at the measurements whose errors are significant compared with form errors. For the precise condition, minimum zone method(MZM) has been selected to determine the elements. It is not deterministic and nonlinear so that a optimizing procedure is needed. The Straightness is the fundamental problem in the evaluating form error. In this paper, a new approach adapting the genius education concept is proposed to obtain an accurate results for the minimum zone problem of the straightness. Its computational algorithm is studied on a set of randomly generated data. To be of almost no account of the specification(the number and the standard devistion etc.) of the sample data, the results shows excellent reliability and high accuracy in estimating the straightness.