• Journal of the Institute of Electronics Engineers of Korea SP
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• v.47 no.6
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• pp.39-47
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• 2010

A research of image-based articulated pose estimation has some problems such as detection of human feature, precise pose estimation, and real-time performance. In particular, various methods are currently presented for recovering many joints of human body. We propose the novel numerical inverse kinematics improved with the UKF(unscented Kalman filter) in order to estimate the human pose in real-time. An existing numerical inverse kinematics is required many iterations for solving the optimal estimation and has some problems such as the singularity of jacobian matrix and a local minima. To solve these problems, we combine the UKF as a tool for optimal state estimation with the numerical inverse kinematics. Combining the solution of the numerical inverse kinematics with the sampling based UKF provides the stability and rapid convergence to optimal estimate. In order to estimate the human pose, we extract the interesting human body using both background subtraction and skin color detection algorithm. We localize its 3D position with the camera geometry. Next, through we use the UKF based numerical inverse kinematics, we generate the intermediate joints that are not detect from the images. Proposed method complements the defect of numerical inverse kinematics such as a computational complexity and an accuracy of estimation.

• Journal of Korean Association for Spatial Structures
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• v.4 no.2 s.12
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• pp.73-80
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• 2004

In this paper, a study of damage detection for 2-Dimensional Truss Structures using the parametric projection filter theorr is presented. Many researchers are interested in inverse problem and one of solution procedures for inverse problems that are very effective is the approach using the filtering algorithm in conjunction with numerical solution methods. In filtering algorithm, the Kalman filtering algorithm is well known and have been applied to many kind of inverse problems. In this paper, the Parametric projection filtering in conjunction with structural analysis is applied to the identification of damages in 2-D truss structures. The natural frequency and modes of damaged truss model are adopted as the measurement data. The effectiveness of proposed method is verified through the numerical examples.

• The Journal of Korea Robotics Society
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• v.6 no.1
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• pp.27-33
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• 2011

Control and trajectory generation of a 7 DOF anthropomorphic robot arm suffer from computational complexity and singularity problem because of numerical inverse kinematics. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of inverse kinematics. In this research, we propose an analytical inverse kinematics algorithm for a 7 DOF anthropomorphic robot arm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regard to the end-effector pose. Performance of the proposed algorithm was verified by various simulations. It is shown that the trajectory planning using this algorithm provides correct results near the singular points and can utilize redundancy intuitively.

• Journal of Mechanical Science and Technology
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• v.20 no.7
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• pp.917-928
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• 2006

In recent decades, Artificial Neural Networks (ANNs) have become the focus of considerable attention in many disciplines, including robot control, where they can be used to solve nonlinear control problems. One of these ANNs applications is that of the inverse kinematic problem, which is important in robot path planning. In this paper, a neural network is employed to analyse of inverse kinematics of PUMA 560 type robot. The neural network is designed to find exact kinematics of the robot. The neural network is a feedforward neural network (FNN). The FNN is trained with different types of learning algorithm for designing exact inverse model of the robot. The Unimation PUMA 560 is a robot with six degrees of freedom and rotational joints. Inverse neural network model of the robot is trained with different learning algorithms for finding exact model of the robot. From the simulation results, the proposed neural network has superior performance for modelling complex robot's kinematics.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.597-602
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• 2008

Most of structural analyses are concerned with the deformation and stress in a body subjected to external loads. In many fields, however, the interpretation of inverse problems is needed to determine surface tractions or internal stresses. In this study, the inverse processes by using the finite elements and the boundary elements are formulated for the evaluation of internal residual stresses from displacements measured on a remote surface. Small errors in the measured displacements often result in a substantial loss of accuracy of an inverse system. We use the Tikhonov regularization techniques to regularize the ill-conditioned system. Advantages and disadvantages are discussed through numerical examples.

• Communications of the Korean Mathematical Society
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• v.23 no.1
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• pp.29-40
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• 2008

Here, some classes of regular order semigroups are discussed. We shall consider that the problems of the existences of (multiplicative) inverse $^{\delta}po$-transversals for such classes of po-semigroups and obtain the following main results: (1) Giving the equivalent conditions of the existence of inverse $^{\delta}po$-transversals for regular order semigroups (2) showing the order orthodox semigroups with biggest inverses have necessarily a weakly multiplicative inverse $^{\delta}po$-transversal. (3) If the Green's relation $\cal{R}$ and $\cal{L}$ are strongly regular (see. sec.1), then any principally ordered regular semigroup (resp. ordered regular semigroup with biggest inverses) has necessarily a multiplicative inverse $^{\delta}po$-transversal. (4) Giving the structure theorem of principally ordered semigroups (resp. ordered regular semigroups with biggest inverses) on which $\cal{R}$ and $\cal{L}$ are strongly regular.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.23 no.2
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• pp.69-74
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• 2015

We propose a rigorous and practical methodology to evaluate the performance of symbolic manipulation program such as Mathematica, Maple, and Maxima. First, we demonstrate an inverse method to construct the benchmark problems of an initial value problems. The benchmark problems associated with the discrete version of the Chebyshev polynomials provide a rigorous and objective measure to evaluate the performance of symbolic manipulation programs. We compare three symbolic manipulation programs, which are Mathematica, Maple and Maxima, using this methodology. The computation time, the used memory and the perturbation terms are chosen for comparison parameters.

• Structural Engineering and Mechanics
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• v.64 no.2
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• pp.271-278
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• 2017

In this paper, we propose a new conjugate gradient method which possesses the global convergence and apply it to solve inverse problems of the dynamic loads identification. Moreover, we strictly prove the stability and convergence of the proposed method. Two engineering numerical examples are presented to demonstrate the effectiveness and speediness of the present method which is superior to the Landweber iteration method. The results of numerical simulations indicate that the proposed method is stable and effective in solving the multi-source dynamic loads identification problems of practical engineering.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.22 no.3
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• pp.223-229
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• 2009

Most of structural analyses are concerned with the deformation and stress in a body subjected to external loads. In many fields, however, the interpretation of inverse problems is needed to determine surface tractions or internal stresses from measured displacements. In this study, the inverse processes by using the boundary element method are formulated for the evaluation of boundary tractions from displacements measured on a remote surface. Small errors in measured displacements often result in a substantial loss of accuracy of an inverse system. Numerical results show that the error in reconstructed tractions by using the inverse boundary element methods is sensitive to measurement location and noise.

• Korean Journal of Optics and Photonics
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• v.28 no.6
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• pp.263-272
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• 2017

To design a wide-field optical system, the inverted telephoto configuration, which has a negative front group and a positive rear group, is popular. For a two-mirror system, the inverse Cassegrain system has the inverted telephoto configuration, but the inverse Cassegrain system with the conventional, axially symmetric configuration shows severe field screening and ray obstruction. To avoid these problems, we put the aperture stop on the secondary mirror of an inverse Cassegrain system to increase field of view, and designed a wide-field off-axis two-mirror system which only uses the off-axis field, without ray obstruction.