• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.7
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• pp.651-657
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• 2008

A new approach for maximizing torque capability of low efficient reaction wheel assembly is addressed in this paper. At first, to find out a solution in constrainted field, weighted pseudo-inverse and momentum minimized allocation are suggested instead of a general control allocation called pseudo-inverse. The second method is a structural manner to enlarge torque capability of specific axis by changing installed skew angle of wheels. Two proposed methods are applied to large angle maneuvers of satellite. Improvement of control performance and feasibility for applying to commercial satellite attitude control are demonstrated by numeric simulations.

• The KIPS Transactions:PartA
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• v.12A no.4 s.94
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• pp.321-326
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• 2005

We present an interactive cloth simulation method based on the mass-spring model, which is the most widely used one in the field of cloth animation. We focus especially on the case where relatively strong forces are applied on relatively small number of mass-points. Through distributing the forces on some specific points to the overall mass-points, our method simulates the cloth in pseudo-real time. Given a deformed cloth, we start from resolving the super-elasticity effect using Provot's dynamic inverse method [9]. In the next stage, we adjust the angles between neighboring mass-points, to finally remove the unexpected zigzags due to the previous super-elasticity resolving stage.

• Journal of the Korean Data and Information Science Society
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• v.27 no.2
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• pp.381-394
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• 2016

Graphical model represents conditional dependencies between variables as a graph with nodes and edges. It is widely used in various fields including physics, economics, and biology to describe complex association. Conditional dependencies can be estimated from a inverse covariance matrix, where zero off-diagonal elements denote conditional independence of corresponding variables. This paper proposes a efficient BCDR (block coordinate descent with random permutation) algorithm using graphics processing units and random permutation for the CONCORD (convex correlation selection method) based on the BCD (block coordinate descent) algorithm, which estimates a inverse covariance matrix based on pseudo-likelihood. We conduct numerical studies for two network structures to demonstrate the efficiency of the proposed algorithm for the CONCORD in terms of computation times.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.7
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• pp.899-903
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• 2013

A self-bearing is an electric machine that achieves both rotational actuation and magnetic levitation using a single magnetic structure. To be able to stably levitate the rotor in a self-bearing, one needs to have an inverse of the force-current model. However, the force-current model in a self-bearing motor is typically not square. Furthermore, the elements of the matrix vary with respect to the rotational angle, resulting in singularities of the pseudo-inverse at various angles. In this paper, we propose a new force-current model that eliminates the singularities by adding a constraint in coil currents. This constraint eliminates the flux density in the stator core so that the saturation problem in the previous study is avoided. By implementing this force-current model, we are able to implement a levitation controller for a toroidally-wound self-bearing BLDC motor. The model inversion and levitation are validated experimentally.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.3
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• pp.259-259
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• 2003

Genetic algorithms using a Process of genetic evolution of an organism are appropriate for hard problems that have not been solved by any deterministic method. Up to now, the controller design method has been made with the frequency dependent specification but the design method with the time specification has gotten little progress. In this paper, we study the controller design to satisfy the performance of a plant using the generalized Manabe standard form. When dealing with a controller design in the case of two parameter configurations, there are some situations that neither a known pseudo inverse technique nor the inverse method can be applicable. In this case, we propose two methods of designing a controller by the gradient algorithm and the new pseudo inverse method so that the desired closed polynomials are either equalized to or approximated to the designed polynomial. Design methods of the proposed controller are implemented in Java.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.2
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• pp.75-80
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• 2004

Vehicle structures are composed of many substructure connected to one another by various types of mechanical joints. In vehicle engineering it is important to study these connected structures under various dynamic forces for the evaluations of fatigue life and stress concentration exactly. It is difficult to obtain the accurate load history of specified positions because of the errors such as modeling, measurement and etc. In the beginning of design exact load data are actually necessary for the fatigue strength and life analysis to minimize the cost and time of designing. In this paper, the procedure of practical dynamic force determination is developed by the combination of the principal stresses of F. E. Analysis and experiment. Least square pseudo inverse matrix is adopted to obtain in inverse matrix of analyzed stresses matrix. The error minimization method utilizes the inaccurate measured error and the shifting error that the whole data is stiffed over real data. The least square criterion is adopted to avoid these non. Finally, to verify the proposed procedure, a bus is analyzed. This measurement and prediction technology can be extended to the structural modification of any geometric shape in complex structure.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.4
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• pp.487-493
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• 2010

Most structural analyses are concerned with the deformations and stresses in a body subjected to external loads. However, in many fields, inverse problems have to be interpreted to determine surface tractions or internal stresses from displacements measured on a remote surface. In this study, the inverse processes are studied by using the finite element method for the evaluation of internal stresses. Small errors in the measured displacements often result in a substantial loss of stability of an inverse system. In order to improve the stability of the inverse system, the displacements on a section near the region of the unknown tractions are predicted by using orthogonal basis functions. We use the Gram-Schmidt orthogonal technique to determine two bases for the displacements on a section near the region of the unknown tractions. Advantages over previous methods are discussed by using numerical examples.

• Journal of applied mathematics & informatics
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• v.33 no.1_2
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• pp.13-31
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• 2015

In this paper, we introduce a general iterative algorithm for finding a common element of the common fixed point set of an infinite family of ${\lambda}_i$-strict pseudo-contractions and the solution set of a general system of variational inclusions for two inverse strongly accretive operators in q-uniformly smooth Banach spaces. Then, we analyze the strong convergence of the iterative sequence generated by the proposed iterative algorithm under mild conditions.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.3
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• pp.233-242
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• 2002

A kinematic modeling method is proposed which models the sliding and skidding at the wheels as pseudo joints and utilizes those pseudo joint variables as augmented variables. Kinematic models of various type of wheels are derived based on this modeling method. Then, the transfer method of augmented generalized coordinates is applied to obtain inverse and forward kinematic models of mobile robots. The kinematic models of five different types of planar mobile robots are derided to show the effectiveness of the proposed modeling method.

• Structural Engineering and Mechanics
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• v.10 no.4
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• pp.359-369
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• 2000

Random loading identification has long been a difficult problem for Multi-Input-Multi-Output (MIMO) structure. In this paper, the Pseudo Excitation Method (PEM), which is an exact and efficient method for computing the structural random response, is extended inversely to identify the excitation power spectral densities (PSD). This identified method, named the Inverse Pseudo Excitation Method (IPEM), resembles the general dynamic loading identification in the frequency domain, and can be used to identify the definite or random excitations of complex structures in a similar way. Numerical simulations are used to reveal the the difficulties in such problems, and the results of some numerical analysis are discussed, which may be very useful in the setting up and processing of experimental data so as to obtain reasonable predictions of the input loading from the selected structural responses.