• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.621-626
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• 1989

An efficient algorithm for planning near-optimum trajectory of manipulators is proposed. The algorithm is divided into two stages. The first one is the optimization of time trajectory with given spatial path. And the second one is the optimization of the spatial path itself. To consider the second problem, the manipulator dynamics is represented using the path parameter "s", then a differential equation corresponding to the dynamics is solved as two point boundary value problem. In this procedure, the gradient method is used to calculate improved input torques.t torques.

• Proceedings of the KIEE Conference
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• 1997.07b
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• pp.584-586
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• 1997

The orthogonal polynomials have been widely employed to solve control problems, but the LQG(linear quadratic gaussian) problem remains unsolved. In this paper, we obtained the solutions of Riccati equation and covariance matrix Riccati equation by two point boundary problem and matrix fraction method using BPF(Block Pulse Function), respectively. This solutions are solved the problem of the LQG controller design.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.3
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• pp.111-116
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• 2000

In this paper, we presented a new algebraic iterative algorithm for the optimal control of the nonlinear systems. The algorithm is based on tow steps. The first step transforms optimal control problem into a sequence of linear optimal control problem using the quasilinearization method. In the second step, TPB(two point boundary condition problem) is solved by algebraic equations instead of differential equations using BPF(block pulse functions). The proposed algorithm is simple and efficient in computation for the optimal control of nonlinear systems. In computer simulation, the algorithm was verified through the optimal control design of Van del pole system and Volterra Predatory-prey system.

• Kyungpook Mathematical Journal
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• v.55 no.4
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• pp.997-1030
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• 2015

This paper is concerned with integral type boundary value problems of second order singular differential equations with quasi-Laplacian on whole lines. Sufficient conditions to guarantee the existence and non-existence of positive solutions are established. The emphasis is put on the non-linear term $[{\Phi}({\rho}(t)x^{\prime}(t))]^{\prime}$ involved with the nonnegative singular function and the singular nonlinearity term f in differential equations. Two examples are given to illustrate the main results.

• The Journal of Engineering Geology
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• v.6 no.3
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• pp.119-130
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• 1996

The theory and numerical technique using boundary elements method (BEM) are given to solve 2-dimensional resistivity problems. Potential distributions from homogeneous resistivity model and layered model are calculated by using BEM for a point source of current injection. The potential distributions of BEM are compared with those of finite difference method (FDM) and finite elements method (FEM). Among the three numerical methods to solve 2-dimensional resistivity problem, it is proved that BEM is more efficient tool than FDM and FEM in consideration of computing storage and time as weU as the accuracy of solutions.

• Computational Structural Engineering
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• v.10 no.3
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• pp.185-193
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• 1997

The order of the stress singularity that occurs at the termination of an interface between materials exhibiting bilinear stress-strain response under plane strain conditions has been calculated, The governing equation of elasticity together with traction-free boundary condition and interface continuity condition defines a two-point boundary value problem. The stress components near the free edge are assumed to be proportional to r/sup s-1/, with solutions existing only for certain values of s. Finding these values entails the solution of an eigenvalue problem. Because it has been impossible to integrate the differential equations analytically, the integration has been performed numerically with a shooting method coupled with a Newton improvement scheme.

• The KIPS Transactions:PartA
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• v.14A no.3 s.107
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• pp.133-140
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• 2007

The SWBF(shrink-wrapped boundary face) algorithm is a recent mesh reconstruction method for constructing a surface model from a set of unorganized 3D points. In this paper, we point out the surface duplication problem of SWBF and propose an improved mesh reconstruction scheme. Our method tries to classify the non-boundary cells as the inner cell or the outer cell, and makes an initial mesh without surface duplication by adopting the improved boundary face definition. To handle the directional unbalance of surface sampling density arise in typical 3D scanners, two dimensional connectivity in the cell image is introduced and utilized. According to experiments, our method is proved to be very useful to overcome the surface duplication problem of the SWBF algorithm.

• Korean Journal of Mathematics
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• v.19 no.4
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• pp.423-436
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• 2011

We obtain a theorem that shows the existence of multiple solutions for the mixed type nonlinear elliptic equation with Dirichlet boundary condition. Here the nonlinear part contain the jumping nonlinearity and the subcritical growth nonlinearity. We first show the existence of a positive solution and next find the second nontrivial solution by applying the variational method and the mountain pass method in the critical point theory. By investigating that the functional I satisfies the mountain pass geometry we show the existence of at least two nontrivial solutions for the equation.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.1
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• pp.21-25
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• 1996

In this paper we suggest a general purpose RNN training algorithm which is derived on the optimal control concepts and variational methods. First, learning is regared as an optimal control problem, then using the variational methods we obtain optimal weights which are given by a two-point boundary-value problem. Finally, the modified gradient descent algorithm is applied to RNN for on-line training. This algorithm is intended to be used on learning complex dynamic mappings between time varing I/O data. It is useful for nonlinear control, identification, and signal processing application of RNN because its storage requirement is not high and on-line learning is possible. Simulation results for a nonlinear plant identification are illustrated.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.4 no.2
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• pp.41-57
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• 2000

In this paper, we consider first order generalized difference scheme for the two-point boundary value problem and one-dimensional second order parabolic type problem. The optimal error estimates in $L_p$ and $W^{1,p}$ ($2{\leq}p{\leq}{\infty}$) as well as some superconvergence estimates in $W^{1,p}$ ($2{\leq}p{\leq}{\infty}$) are obtained. The main results in this paper perfect the theory of GDM.