• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.557-562
• /
• 1991

In this paper, we present new methods for solving the inverse kinematics associated with 6 degree of freedoms manipulator by the numerical method. This method will be based on tracking stability of special nonlinear dynamical systems, and differs from the typical techniques based by the Newton-Gauss or Newton-Raphson method for solving nonlinear equations. This simulation results show that the new method is solving the inverse kinematics of PUMA 560 without the derivative of a given task space trajectories.

• Journal of the Korean Statistical Society
• /
• v.33 no.4
• /
• pp.401-410
• /
• 2004

We address the problem of parameter estimation in multivariate distributions under ignorable non-monotone missing data. The factoring likelihood method for monotone missing data, termed by Rubin (1974), is extended to a more general case of non-monotone missing data. The proposed method is algebraically equivalent to the Newton-Raphson method for the observed likelihood, but avoids the burden of computing the first and the second partial derivatives of the observed likelihood. Instead, the maximum likelihood estimates and their information matrices for each partition of the data set are computed separately and combined naturally using the generalized least squares method.

• Geophysics and Geophysical Exploration
• /
• v.7 no.3
• /
• pp.207-212
• /
• 2004

This article reviews recent developments in three-dimensional (3-D) magntotelluric (MT) imaging. The inversion of MT data is fundamentally ill-posed, and therefore the resultant solution is non-unique. A regularizing scheme must be involved to reduce the non-uniqueness while retaining certain a priori information in the solution. The standard approach to nonlinear inversion in geophysis has been the Gauss-Newton method, which solves a sequence of linearized inverse problems. When running to convergence, the algorithm minimizes an objective function over the space of models and in the sense produces an optimal solution of the inverse problem. The general usefulness of iterative, linearized inversion algorithms, however is greatly limited in 3-D MT applications by the requirement of computing the Jacobian(partial derivative, sensitivity) matrix of the forward problem. The difficulty may be relaxed using conjugate gradients(CG) methods. A linear CG technique is used to solve each step of Gauss-Newton iterations incompletely, while the method of nonlinear CG is applied directly to the minimization of the objective function. These CG techniques replace computation of jacobian matrix and solution of a large linear system with computations equivalent to only three forward problems per inversion iteration. Consequently, the algorithms are efficient in computational speed and memory requirement, making 3-D inversion feasible.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.60 no.12
• /
• pp.2281-2285
• /
• 2011

An algorithm for extracting SPICE MOS level 2 model parameters for the high voltage MOSFET DC model is proposed. The optimization method for analyzing the nonlinear data of the current-voltage curve using the Gauss-Newton algorithm is proposed and the pre-process step for calculating the threshold voltage and the mobility is proposed. The drain current obtained from the proposed method shows the maximum relative error of 5.6% compared with the drain current of 2-dimensional device simulation for the high voltage MOSFET.

• Proceedings of the IEEK Conference
• /
• 2009.05a
• /
• pp.216-218
• /
• 2009

This paper proposes an image processing algorithm to stabilize shaken scenes of UAV(Unmanned Aerial Vehicle) caused by vehicle self-vibration and aerodynamic disturbance. The proposed method stabilizes images by compensating estimated shake motion which is evaluated from global motion. The global motion between two continuous images modeled by 6 parameter warping model is estimated by non-linear square method based on Gauss-Newton algorithm with excluding outlier region. The shake motion is evaluated by subtracting the global motion from aerial vehicle motion obtained by averaging global motion. Experimental results show that the proposed method stabilize shaken scenes effectively.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.6 no.1
• /
• pp.47-51
• /
• 2006

Electrical resistance tomograpy (ERT) maps resistivity values of the soil subsurface and characterizes buried objects. The characterization includes location, size, and resistivity of buried objects. In this paper, truncated least squares (TLS) is presented for the solution of the ERT image reconstruction. Results of numerical experiments in ERT solved by the TLS approach is presented and compared to that obtained by the Gauss-Newton method.

• Journal of IKEEE
• /
• v.19 no.1
• /
• pp.33-40
• /
• 2015

Inverse problem in electrical impedance tomography (EIT) is highly ill-posed therefore prior information is used to mitigate the ill-posedness. Regularization methods are often adopted in solving EIT inverse problem to have satisfactory reconstruction performance. In solving the EIT inverse problem, iterative Gauss-Newton method is generally used due to its accuracy and fast convergence. However, its performance is still suboptimal and mainly depends on the selection of regularization parameter. Although, there are few methods available to determine the regularization parameter such as L-curve method they are sometimes not applicable for all cases. Moreover, regularization parameter is a scalar and it is fixed during iteration process. Therefore, in this paper, a novel method is used to determine the regularization parameter to improve reconstruction performance. Conductivity norm is calculated at each iteration step and it used to obtain the regularization parameter which is a diagonal matrix in this case. The proposed method is applied to human thorax imaging and the reconstruction performance is compared with traditional methods. From numerical results, improved performance of proposed method is seen as compared to conventional methods.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.12 no.4
• /
• pp.642-651
• /
• 1988

The present paper develops finite element procedures to calculate displacements, strains and stresses in initially stressed elastic solids subjected to static or time-dependent loading conditions. As a point of departure, we employ Hamilton's principle to obtain nonlinear equations of motion characterizing the displacement in a solid. The equations of motion reduce to linear equations of motion if incremental stresses are assumed to be infinitesimal. In the case of linear problem, finite element solutions are obtained by Newmark's direct integration method and by modal analysis. An analytic solution is referred to compare with the linear finite element solution. In the case of nonlinear problem, finite element solutions are obtained by Newton-Raphson iteration method and compared with the linear solution. Finally, the effect of the order of Gauss-Legendre numerical integration on the nonlinear finite element solution, has been investigated.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.44 no.4 s.316
• /
• pp.1-7
• /
• 2007

When the sensor geometry is poor, the user position estimate obtained by of GN (Gauss-Newton) method is often diverged in radio navigation. In other to avoid divergence problem QCLS (Quadratic Correction Least Square) method using TDOA (Time Difference of Arrival) measurements is introduced, but the estimation error is somewhat large. This paper presents the modified QCLS method using weighted least square. Since the weighting matrix is influenced by the unknown user position, two-step approach is employed in the proposed method. The weighting matrix is estimated in the first step using least square, and then find user position is obtained using weighted least square. Simulation results show that the performance of the proposed method is superior to the conventional QCLS all over the workspace.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.54 no.2
• /
• pp.106-114
• /
• 2017

In this paper, we propose the method of designing an extended kalman filter in order to accurately measure the position of the spatial-phase system using sensor fusion. We use the quaternion as a state variable in expressing the attitude of an object. Then, the attitude of rigid body can be calculated from the accelerometer and magnetometer by applying the Gauss-Newton method. We estimate the changes of state by using the measurements obtained from the gyroscope, the quaternion, and the vision informations by ARVR_SDK. To increase the accuracy of estimation, we designed and implemented the extended kalman filter, which showed excellent ability to adjust and compensate the sensor error. As a result, we could experimentally demonstrate that the reliability of the attitude estimation value can be significantly increased.