• 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.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.9
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• pp.1399-1407
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• 2004

Structural optimization has been carried out in continuous design space or in discrete design space. Generally, available designs are discrete in design practice. However, the methods for discrete variables are extremely expensive in computational cost. An iterative optimization algorithm is proposed for design in a discrete space, which is called a sequential algorithm using orthogonal arrays (SOA). We demonstrate verifying the fact that a local optimum solution can be obtained from the process with this algorithm. The local optimum solution is defined in a discrete design space. Then the search space, which is a set of candidate values of each design variables formed by the neighborhood of a current design point, is defined. It is verified that a local optimum solution can be found by sequentially moving the search space. The SOA algorithm has been applied to problems such as truss type structures. Then it is confirmed that a local solution can be obtained by using the SOA algorithm

• Proceedings of the KSME Conference
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• 2004.04a
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• pp.1005-1010
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• 2004

The structural optimization has been carried out in the continuous design space or in the discrete design space. Generally, available designs are discrete in design practice. But methods for discrete variables are extremely expensive in computational cost. In order to overcome this weakness, an iterative optimization algorithm was proposed for design in the discrete space, which is called as a sequential algorithm using orthogonal arrays (SOA). We focus to verify the fact that the local solution can be obtained throughout the optimization with this algorithm. The local solution is defined in discrete design space. Then the search space, which is the set of candidate values of each design variables formed by the neighborhood of current design point, is defined. It is verified that a local solution can be founded by moving sequentially the search space. The SOA algorithm has been applied to problems such as truss type structures. Then it is confirmed that a local solution can be obtained using the SOA algorithm

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.12
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• pp.1191-1196
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• 2006

In this work the kinetics of volume changes of fluid spaces associated with infusion of Ringer's solution are analyzed using the body fluid space model. During infusion of Ringer's solution, the human body is assumed to be characterized by the fluid space model into which fluid is fed and from which fluid is left. Various infusion types were tested to accommodate different medical situations. Volunteers were given Ringer's solution and the changes in blood hemoglobin were detected. From the comparison with experimental data, the single- and two-fluid space models were found to represent adequately the kinetics of human volume expansion during infusion of Ringer's solution.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.5
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• pp.83-83
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• 2004

The analysis of relative pose(position and rotation) between stereo cameras is very important to determine the solution that provides three-dimensional information for an arbitrary moving target with respect to robot-end. In the space of free camera-model, the rotational parameters act on non-linear factors acquiring a kinematical solution. In this paper the general solution of active stereo that gives a three-dimensional pose of moving object is presented. The focus is to achieve a derivation of linear equation between a robot′s end and active stereo cameras. The equation is consistently derived from the vector of quaternion space. The calibration of cameras is also derived in this space. Computer simulation and the results of error-sensitivity demonstrate the successful operation of the solution. The suggested solution can also be applied to the more complex real time tracking and quite general and are applicable in various stereo fields.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.5
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• pp.89-90
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• 2004

The analysis of relative pose(position and rotation) between stereo cameras is very important to determine the solution that provides three-dimensional information for an arbitrary moving target with respect to robot-end. In the space of free camera-model, the rotational parameters act on non-linear factors acquiring a kinematical solution. In this paper the general solution of active stereo that gives a three-dimensional pose of moving object is presented. The focus is to achieve a derivation of linear equation between a robot's end and active stereo cameras. The equation is consistently derived from the vector of quaternion space. The calibration of cameras is also derived in this space. Computer simulation and the results of error-sensitivity demonstrate the successful operation of the solution. The suggested solution can also be applied to the more complex real time tracking and quite general and are applicable in various stereo fields.

• The Journal of Korea Robotics Society
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• v.3 no.1
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• pp.1-8
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• 2008

Automatic parking assist system is one of the key technologies of the future automobiles. Control problem of a car-like vehicle is not easy due to the nonholonomic constraints. In this paper, a practical solution for planning a car-parking path is proposed according to the proposed motion space (M-space) approach. The M-space is the extension of the conventional configuration space (C-space). A collision-free, nonholonomic feasible path can be directly computed by the M-space conversion and a back-propagation of reachable regions from the goal. The proposed planning scheme provide not a single solution, but also a candidate solution set, therefore, optimization of the parking path can be easily carried out with respect to performance criteria such as safety, maneuvering, and so on. Presented simulation results clearly show that the proposed scheme provides various practical solutions.

• Communications of the Korean Mathematical Society
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• v.20 no.2
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• pp.381-393
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• 2005

We consider a type of large deviation principle obtained by Freidlin and Wentzell for the solution of Stochastic differential equations in a conuclear space. We are using exponential tail estimates and exit probability of a Ito process. The nuclear structure of the state space is also used.

• Bulletin of the Korean Mathematical Society
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• v.36 no.3
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• pp.565-578
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• 1999

In this paper some common fixed point theorems for pairs of condensing mappings in a Banach space are proved and applications are given to a pair of nonlinear first order ordinary differential equations in Banach spaces for proving the existence of common solution under suitable conditions.

• Journal of the Korean Mathematical Society
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• v.37 no.6
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• pp.1007-1019
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• 2000

In this paper, we discuss a uniqueness problem for the Cauchy problem of the Euler equation. W give a sufficient condition on the vorticity to show the uniqueness of a class of generalized solution in terms of the generalized solution in terms o the generalized Besov space. The condition allows the iterated logarithmic singularity to the vorticity of the solution. We also discuss the break down (or blow up) condition for a smooth solution to the Euler equation under the related assumption.