• 지구물리와물리탐사
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• 제17권2호
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• pp.95-103
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• 2014

MT 자료에서 3차원 전기비저항 구조와 정적효과를 동시에 구하기 위한 실용적인 역산법을 소개한다. 이 방법은 감도행렬이 필요한 Gauss-Newton법을 기반으로 하고 반복과정에서 Broyden의 방식으로 감도를 수정하는 것을 기본으로 하고 있다. 이 논문에서는 합성 MT 자료에 대한 역산실험을 통해 근사역산법의 성능과 정적효과에 대한 가중치에 대해 검토하였다. 해석적으로 구해지는 초기감도를 Broyden의 방식으로 수정하는 역산법은 초기감도를 끝까지 쓰는 역산법보다 자료오차를 줄이는데 효과적이었다. 그리고 완전한 감도행렬을 반복 중간에서 단 한번만 사용하는 근사역산법으로서는 반복 전반부에서 완전한 감도를 사용할 때 자료오차를 가장 많이 줄이는 것으로 나타났다. 정적효과에 대한 가중치는 어느 특정 한계값 이하로 선택하면 최종 자료오차에는 결정적인 영향을 주지 않는다. 합성 MT 자료에 대한 실험 결과 이 역산법은 정적효과가 포함된 MT 자료로부터 3차원 전기비저항 구조를 재현하는데 효과적임을 확인하였다.

• 동력기계공학회지
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• 제6권1호
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• pp.96-101
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• 2002

In this paper, we address the problem of controlling an end-effector to track and grab a moving target using the visual servoing technique. A visual servo mechanism based on the image-based servoing principle, is proposed by using visual feedback to control an end-effector without calibrated robot and camera models. Firstly, we consider the control problem as a nonlinear least squares optimization and update the joint angles through the Taylor Series Expansion. And to track a moving target in real time, the Jacobian estimation scheme(Dynamic Broyden's Method) is used to estimate the combined robot and image Jacobian. Using this algorithm, we can drive the objective function value to a neighborhood of zero. To show the effectiveness of the proposed algorithm, simulation results for a six degree of freedom robot are presented.

• Smart Structures and Systems
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• 제18권5호
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• pp.839-864
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• 2016

This paper presents an efficient method for updating the structural finite element model. Model updating is performed through minimizing the difference between the recorded acceleration of a real damaged structure and a hypothetical damaged one. This is performed by updating physical parameters (module of elasticity in this study) in each step using iterative process of modified nonlinear conjugate gradient (M-NCG) and modified Broyden-Fletcher-Goldfarb-Shanno algorithm (M-BFGS) separately. These algorithms are based on sensitivity analysis and provide a solution for nonlinear damage detection problem. Three illustrative test examples are considered to assess the performance of the proposed method. Finally, it is demonstrated that the proposed method is satisfactory for detecting the location and ratio of structural damage in presence of noise.

• 대한수학회논문집
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• 제9권2호
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• pp.491-502
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• 1994

Many problems arising in science and engineering require the numerical solution of a system of n nonlinear equations in n unknowns: (1) given F : $R^{n}$ $\rightarrow$ $R^{n}$ , find $x_{*}$ $\epsilon$ $R^{n}$ / such that F($x_{*}$) = 0. Nonlinear problems are generally solved by iteration. Davidson [3] and Broyden [1] introduced the methods which had led to a large amount of research and a class of algorithm. This work has been called by the quasi-Newton methods, secant updates, or modification methods. Newton's method is the classical method for the problem (1) and quasi-Newton methods have been proposed to circumvent computational disadvantages of Newton's method.(omitted)