• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.433-437
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• 2003

Quantitative Feedback Theory (QFT) is one of effective methods of robust controller design. In QFT design we can considers the phase information of the perturbed plant so it is less conservative than $H_{\infty}$ and ${\mu}$-synthesis methods and as be shown, it is more transparent than the sensitivity reduction methods mentioned . In this paper we want to overcome the major drawback of QFT method which is lack of an automatic method for loop-shaping step of the method so we focus on the following problem: Given a nominal plant and QFT bounds, synthesize a controller that achieves closed-loop stability and satisfies the QFT boundaries. The usual approach to this problem involves loop-shaping in the frequency domain by manipulating the poles and zeros of the nominal loop transfer function. This process now aided by recently developed computer aided design tools proceeds by trial and error and its success often depends heavily on the experience of the loop-shaper. Thus for the novice and First time QFT user, there is a genuine need for an automatic loop-shaping tool to generate a first-cut solution. Clearly such an automatic process must involve some sort of optimization, and while recent results on convex optimization have found fruitful applications in other areas of control theory we have tried to use LMI theory for automating the loop-shaping step of QFT design.

• International Journal of CAD/CAM
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• 제8권1호
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• pp.29-36
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• 2009

Domain mapping is a bijective transformation of one domain to another, usually from a complicated general domain to a chosen convex domain. This is directly useful in many application problems like shape modeling, morphing, texture mapping, shape matching, remeshing, path planning etc. A new approach considering the domain as made up of structural elements, like membranes or trusses, is developed and implemented using the nonlinear finite element formulation. The mapping is performed in two stages, boundary mapping and inside mapping. The boundary of the 3-D domain is mapped to the surface of a convex domain (in this case, a sphere) in the first stage and then the displacement/distortion of this boundary is used as boundary conditions for mapping the interior of the domain in the second stage. This is a general method and it develops a bijective mapping in all cases with judicious choice of material properties and finite element analysis. The consistent global parameterization produced by this method for an arbitrary genus zero closed surface is useful in shape modeling. Results are convincing to accept this finite element structural approach for domain mapping as a good method for many purposes.

• East Asian mathematical journal
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• 제24권1호
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• pp.35-43
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• 2008

Let E be a uniformly convex Banach space and K be a nonempty closed convex subset of E. Let ${\{T_i\}}^N_{i=1}$ be N nonexpansive self-mappings of K with $F\;=\;{\cap}^N_{i=1}F(T_i)\;{\neq}\;{\theta}$ (here $F(T_i)$ denotes the set of fixed points of $T_i$). Suppose that one of the mappings in ${\{T_i\}}^N_{i=1}$ is semi-compact. Let $\{{\alpha}_n\}\;{\subset}\;[{\delta},\;1-{\delta}]$ for some ${\delta}\;{\in}\;(0,\;1)$ and $\{{\beta}_n\}\;{\subset}\;[\tau,\;1]$ for some ${\tau}\;{\in}\;(0,\;1]$. For arbitrary $x_0\;{\in}\;K$, let the sequence {$x_n$} be defined iteratively by $\{{x_n\;=\;{\alpha}_nx_{n-1}\;+\;(1-{\alpha}_n)T_ny_n,\;\;\;\;\;\;\;\;\; \atop {y_n\;=\;{\beta}nx_{n-1}\;+\;(1-{\beta}_n)T_nx_n},\;{\forall}_n{\geq}1,}$, where $T_n\;=\;T_{n(modN)}$. Then {$x_n$} convergence strongly to a common fixed point of the mappings family ${\{T_i\}}^N_{i=1}$. The result presented in this paper generalized and improve the corresponding results of Chidume and Shahzad [C. E. Chidume, N. Shahzad, Strong convergence of an implicit iteration process for a finite family of nonexpansive mappings, Nonlinear Anal. 62(2005), 1149-1156] even in the case of ${\beta}_n\;{\equiv}\;1$ or N=1 are also new.

• Korean Journal of Mathematics
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• 제19권3호
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• pp.279-289
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• 2011

Let E be a uniformly convex Banach space with a uniformly Gateaux differentiable norm, C be a nonempty closed convex subset of E and f : $C{\rightarrow}C$ be a fixed bounded continuous strong pseudocontraction with the coefficient ${\alpha}{\in}(0,1)$. Let $\{{\lambda}_t\}_{0<t<1}$ be a net of positive real numbers such that ${\lim}_{t{\rightarrow}0}{\lambda}_t={\infty}$ and S = {$T(s)$ : $0{\leq}s$ < ${\infty}$} be a nonexpansive semigroup on C such that $F(S){\neq}{\emptyset}$, where F(S) denotes the set of fixed points of the semigroup. Then sequence {$x_t$} defined by $x_t=tf(x_t)+(1-t)\frac{1}{{\lambda}_t}{\int_{0}}^{{\lambda}_t}T(s)x{_t}ds$ converges strongly as $t{\rightarrow}0$ to $\bar{x}{\in}F(S)$, which solves the following variational inequality ${\langle}(f-I)\bar{x},\;p-\bar{x}{\rangle}{\leq}0$ for all $p{\in}F(S)$.

• 대한수학회보
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• 제26권2호
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• pp.139-149
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• 1989

pp.Hartman and G. Stampacchia [6] proved the following theorem in 1966: If f:X.rarw. $R^{n}$ is a continuous map on a compact convex subset X of $R^{n}$ , then there exists $x_{0}$ ..mem.X such that $x_{0}$ , $x_{0}$ -x>.geq.0 for all x.mem.X. This remarkable result has been investigated and generalized by F.E. Browder [1], [2], W. Takahashi [9], S. Park [8] and others. For example, Browder extended this theorem to a map f defined on a compact convex subser X of a topological vector space E into the dual space $E^{*}$; see [2, Theorem 2]. And Takahashi extended Browder's theorem to closed convex sets in topological vector space; see [9, Theorem 3]. In Section 2, we obtain some variational inequalities, especially, generalizations of Browder's and Takahashi's theorems. The generalization of Browder's is an earlier result of the first author [8]. In Section 3, using Theorem 1, we improve and extend some known fixed pint theorems. Theorems 4 and 8 improve Takahashi's results [9, Theorems 5 and 9], respectively. Theorem 4 extends the first author's fixed point theorem [8, Theorem 8] (Theorem 5 in this paper) which is a generalization of Browder [1, Theroem 1]. Theorem 8 extends Theorem 9 which is a generalization of Browder [2, Theorem 3]. Finally, in Section 4, we obtain variational inequalities for multivalued maps by using Theorem 1. We improve Takahashi's results [9, Theorems 21 and 22] which are generalization of Browder [2, Theorem 6] and the Kakutani fixed point theorem [7], respectively.ani fixed point theorem [7], respectively.

• East Asian mathematical journal
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• 제25권2호
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• pp.179-196
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• 2009

Let E be a uniformly convex Banach space and K a nonempty closed convex subset which is also a nonexpansive retract of E. For i = 1, 2, 3, let $T_i:K{\rightarrow}E$ be an asymptotically nonexpansive mappings with sequence ${\{k_n^{(i)}\}\subset[1,{\infty})$ such that $\sum_{n-1}^{\infty}(k_n^{(i)}-1)$ < ${\infty},\;k_{n}^{(i)}{\rightarrow}1$, as $n{\rightarrow}\infty$ and F(T)=$\bigcap_{i=3}^3F(T_i){\neq}{\phi}$ (the set of all common xed points of $T_i$, i = 1, 2, 3). Let {$a_n$},{$b_n$} and {$c_n$} are three real sequences in [0, 1] such that $\in{\leq}\;a_n,\;b_n,\;c_n\;{\leq}\;1-\in$ for $n{\in}N$ and some ${\in}{\geq}0$. Starting with arbitrary $x_1{\in}K$, define sequence {$x_n$} by setting {$$x_{n+1}=P((1-a_n)x_n+a_nT_1(PT_1)^{n-1}y_n)$$ $$y_n=P((1-b_n)x_n+a_nT_2(PT_2)^{n-1}z_n)$$ $$z_n=P((1-c_n)x_n+c_nT_3(PT_3)^{n-1}x_n)$$. Assume that one of the following conditions holds: (1) E satises the Opial property, (2) E has Frechet dierentiable norm, (3) $E^*$ has Kedec -Klee property, where $E^*$ is dual of E. Then sequence {$x_n$} converges weakly to some p${\in}$F(T).

• 한국해양공학회지
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• 제33권6호
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• pp.535-546
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• 2019

The paper presents a closed-form analytical solution for the ultimate strength of sandwich panels with metal faces and an elastic isotropic core during combined in-plane compression and lateral pressure under clamped boundary condition. By using the principle of minimum potential energy, the stress distribution in the faces during uni-axial edge compression and constant lateral pressure was obtained. Then, the ultimate edge compression was derived on the basis that collapse occurs when yield has spread from the mid-length of the sides of the face plates to the center of the convex face plates. The results were validated by nonlinear finite element analysis. Because the solution is analytical and closed-form, it is rapid and efficient and is well-suited for use in practical structural design methods, including repetitive use in structural optimization. The solution applies for any elastic isotropic core material, but the application that stimulated this study was an elastomer-cored steel sandwich panel that had excellent energy absorbing and protective properties against fire, collisions, ballistic projectiles, and explosions.

• 한국기계가공학회지
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• 제14권4호
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• pp.8-13
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• 2015

In this study, we fabricated and characterized a nanostructured surface based on a plastic injection molding with a local mold heating (LMH) system. A metal mold core with a closed packed nano convex array (CVA) was achieved by integrated engineering procedures: (1) master template fabrication by anodic aluminum oxidation (AAO), (2) nickel electroforming (NE) process, and (3) post-processing by precision machining. The nickel mold core was utilized to replicate a surface with a closed packed nano concave-array (CCA) based on injection molding using cyclic olefin copolymer (COC) as a plastic material. In particular, an LMH system was introduced to enhance transcription quality of the nano structures by delaying solidification of molten polymer near the surface of the mold core.

• International Journal of Control, Automation, and Systems
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• 제5권1호
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• pp.8-14
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• 2007

This paper describes a robust and non-fragile $H_{\infty}$ controller design method for descriptor systems with parameter uncertainties and time delay, as well as a static state feedback controller with multiplicative uncertainty. The controller existence condition, as well as its design method, and the measure of non-fragility in the controller are proposed using linear matrix inequality(LMI) technique, which can be solved efficiently by convex optimization. Therefore, the presented robust and non-fragile $H_{\infty}$ controller guarantees the asymptotic stability and disturbance attenuation of the closed loop systems within a prescribed degree in spite of parameter uncertainties, time delay, disturbance input and controller fragility.

• Journal of Mechanical Science and Technology
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• 제17권4호
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• pp.528-537
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• 2003

This paper proposes a 3-PPR planar parallel manipulator, which consists of three active prismatic Joints, three passive prismatic joints, and three passive rotational joints. The analysis of the kinematics and the optimal design of the manipulator are also discussed. The proposed manipulator has the advantages of the closed type of direct kinematics and a void-free workspace with a convex type of borderline. For the kinematic analysis of the proposed manipulator, the direct kinematics, the inverse kinematics, and the inverse Jacobian of the manipulator are derived. After the rotational limits and the workspaces of the manipulator are investigated, the workspace of the manipulator is simulated. In addition, for the optimal design of the manipulator, the performance indices of the manipulator are investigated, and then an optimal design procedure Is carried out using Min-Max theory. Finally. one example using the optimal design is presented.