• International Journal of Precision Engineering and Manufacturing
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• 제2권4호
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• pp.61-68
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• 2001

A new approach for motion control of constrained mechanical systems is proposed in this paper. The approach uses a new equations of motion which is proposed by Udwadia and Kalaba and named Udwadia-Kalaba's equations of motion in this paper. This paper reveals that the Udwadia-Kalaba's equations of motion is more adequate to model constrained mechanical systems rather than the famous Lagrange's equations of motion at least for control purpose. The proposed approach coverts most of constraints including holonomic and nonholonomic constraints. Comparison of simulation results of two systems which are well-known in the literature show the superiority of the proposed approach. Furthermore, a special constrained mechanical system which includes nonlinear generalized velocities in its constraint equations, which has been considered to be difficult to control, can be controlled easily. It shows the possibility of the proposed approach to being a general framework for motion control of constrained mechanical systems with various kinds of constraints.

• 한국공작기계학회논문집
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• 제15권3호
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• pp.91-96
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• 2006

The aim of this paper is to clarify the structural compliance of the constrained spatial flexible manipulator and to develop the force control by using the compliance of the links. Using the dependency of elastic deflections of links on contact force, vibrations for constrained vertical motion have been suppressed successfully by controlling the position of end-effector. However, for constrained horizontal motion, the vibrations cannot be suppressed by only controlling position of end-effector. We present the experimental results for constrained vertical motion, and constrained horizontal motion. Finally, a comparison between these results is presented to show the validity of link compliance.

• 한국생산제조학회지
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• 제19권4호
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• pp.449-454
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• 2010

The force control of a constrained flexible manipulators has been one of the major research topics. However, a little effort has been devoted for the relation between friction force and elastic deflection of end-effector for a constrained flexible manipulator. So, the aim of this paper is to clarify the friction mechanism of a constrained spatial multi-link flexible manipulator by changing the material and connected method of end-effector. In this study, a concise hybrid position/force control scheme is applied to the control of a flexible manipulator, and the experimental results for the constrained vertical motion and constrained horizontal motion is presented. Finally a comparison between these results are presented to show the reduction of vibration of link and friction force.

• 응용통계연구
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• 제27권6호
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• pp.1017-1028
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• 2014

잘 알려져 있는 것처럼 일반적인 베이즈 추정량(Bayes estimator)과 경험적 베이즈 추정량(empirical Bayes estimator)은 모수를 추정하는데 있어서 오차를 과다축소하는 단점을 가지고 있다. 따라서 이러한 단점을 극복하기 위하여 constrained 베이즈 추정량이 일차 적률과 이차 적률을 일치시키는 성질을 만족시키며 제안되었다. 또한 평균 제곱오차 함수와 같은 전통적인 손실함수에서는 추정의 정확성만을 고려하는 특징을 가지고 있기 때문에, 추정의 정확성과 정합성을 동시에 고려하는 균형 손실함수가 제안되었다. 이러한 이유로 인하여 균형손실 함수하에서의 제한적 베이즈 추정량의 활용이 손해 보험의 가격 산출에 제안되는 것은 타당하다. 그러나 대부분의 연구는 추정의 문제에만 집중하는 경향이 있으며. 이는 새롭게 제안되는 특정 손실함수하에서의 constrained 베이즈 추정량과 constrained empirical 베이즈 추정량의 베이즈 위험의 계산이 어렵다는 점에서 기인한다. 본 연구에서는 다양한 베이즈 추정량들에 대한 베이즈 위험을 서로 다른 두 손실함수하에서 비교하였으며, 그 대상은 자동차 보험 산업에서의 위험도 추정 분야이다. 또한 자동차 보험 산업의 실제 사고 데이터를 이용하여 새롭게 제안된 베이즈 추정량의 베이즈 위험을 비교함으로써 그 효용성을 입증하였다.

• 품질경영학회지
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• 제43권1호
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• pp.57-66
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• 2015

Purpose: The purpose of this study is to apply the constrained Bayesian estimation methodology for product quality control process and prove the effectiveness of the product management by comparing with the well-known Bayes estimator through data performance result. Methods: The Bayes and constrained Bayes estimators were produced based on the theoretical background and for confirming the effectiveness of suggested application, the deviation index was defined and calculated for the comparison. Results: The statistical analysis result shows that applying the suggested estimation methodology, that is, constrained Bayes estimator improves the effectiveness of the index with regard to reduce the error by matching the first two empirical moments. Conclusion: Considering the advanced Bayesian approaches such as constrained Bayes estimation for the product quality control process, the newly defined deviation index reduces the error for estimating the parameter histogram which is reflected both location and deviation parameters and furthermore various Bayesian perspective approaches seems to be meaningful for managing the product quality control process.

• Communications for Statistical Applications and Methods
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• 제16권2호
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• pp.299-308
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• 2009

실험을 시행하는 경우 모형과 수반하는 가정들이 가지고 있는 불확실성 때문에 하나의 목적만 가지고 실험을 수행하는 경우는 거의 없다. 문헌에서는 이러한 문제를 해결하기 위한 3가지 방법이 존재한다. 최대-최소법, 복합실험법 그리고 제약실험법이 그것이다. 복합실험법과 제약실험법의 동격성이 Cook과 Wong(1994)의 논문에 의해 증명된 이래로 많은 수많은 제약실험법의 방법들이 제안되었지만 모두 복합실험법의 근사알고리즘에 기초하였다. 따라서 본 논문에서는 제약실험법하에서의 정확알고리즘을 제안하여 실제적인 실험환경하에서 도움을 주고자 하였다. 이러한 과정에서 본 논문에서는 다른 형태의 제약실험법의 형태를 제안하였으며 부산물로 비 타당성의 문제를 볼 수 있는 그림을 첨부하였다.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• 제9권2호
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• pp.99-106
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• 2005

We present a relation between the orthogonality of the constrained Legendre polynomials over the triangular domain and the BB ($B{\acute{e}zier}\;-Bernstein$) coefficients of the polynomials using the equivalence of orthogonal complements. Using it we also show that the best constrained degree reduction of polynomials in BB form equals the best approximation of weighted Euclidean norm of coefficients of given polynomial in BB form from the coefficients of polynomials of lower degree in BB form.

• Journal of the Korean Data and Information Science Society
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• 제17권2호
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• pp.291-300
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• 2006

In this research, the performance of widely used Bayesian estimators such as Bayes estimator, empirical Bayes estimator, constrained Bayes estimator and constrained empirical Bayes estimator are compared by means of a measurement under balanced loss function for the typical normal-normal situation. The proposed measurement is a weighted sum of the precisions of first and second moments. As a result, one can gets the criterion according to the size of prior variance against the population variance.

• Communications for Statistical Applications and Methods
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• 제16권3호
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• pp.495-500
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• 2009

Two diagnostic plots, added variable plot and partial residual plot, are proposed when a new explanatory variable is linearly added to constrained regressions. They are useful for investigating the effect of adding an explanatory variable to the constrained regression. They visually give an overall impression of the strength of linear relationship between response variable and added variable. A numerical example is provided for illustration.

• Journal of the Korean Data and Information Science Society
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• 제16권2호
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• pp.371-382
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• 2005

The paper compares the performance of some widely used Bayesian estimators such as Bayes estimator, empirical Bayes estimator, constrained Bayes estimator and constrained Bayes estimator by means of a new measurement under squared error loss function for the typical normal-normal situation. The proposed measurement is a weighted sum of the precisions of first and second moments. As a result, one can gets the criterion according to the size of prior variance against the population variance.