• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.953-958
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• 1992

This paper deals with the solution of inverse kinematics of the industrial FANUC robot with IBM PC386. The inverse kinematics of FANUC robot cannot be solved by the algebraical method, because arm matirix T$_{6}$ is very complex and 6-joint angles are associated with the position and the approach of end-effector. Instead we fuund otehr 5-joint angle by and algebraical method after finding .THETA.$_{1}$ value by a numerical method.d.

• Journal of applied mathematics & informatics
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• v.28 no.3_4
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• pp.651-661
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• 2010

We consider the inverse problem of the identification of a piecewise-constant conductivity in a bar given the extra information of the heat flux through one end of the bar. Our theoretical results show that such an identification is unique. This approach utilizes a "layer peeling" argument. A computational algorithm based on this method is proposed and implemented. The advantage of this algorithm is that it requires only 3D minimizations irrespective of the number of the unknown discontinuities. Its numerical effectiveness is investigated for several conductivities.

• Proceedings of the Optical Society of Korea Conference
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• 1989.02a
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• pp.59-64
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• 1989

Raman vibrational Q0branch spectra of pure CO are measured by using the technique of quasicw inverse Raman spectroscopy utilizing a pulsed single-frequency laser source. This approach gives enhanced sensitivity compared to earlier work which employed CW lasers, allowing extension of that work to higher accuracy, higher J states, and higher pressure. Fitting laws with pertubation theory and modified energy gap(MEG) theory are described, and the line broadening and shifting coefficients of J=0 to 24 are determined with both fitting laws.

• Journal of applied mathematics & informatics
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• v.42 no.4
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• pp.819-829
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• 2024

This paper delves into an examination of both non-Bayesian and Bayesian estimation techniques for determining the Topp-leone inverse Weibull distribution parameters based on progressive Type-II censoring. The first approach employs expectation maximization (EM) algorithms to derive maximum likelihood estimates for these variables. Subsequently, Bayesian estimators are obtained by utilizing symmetric and asymmetric loss functions such as Squared error and Linex loss functions. The Markov chain Monte Carlo method is invoked to obtain these Bayesian estimates, solidifying their reliability in this framework.

• Structural Engineering and Mechanics
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• v.56 no.4
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• pp.625-648
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• 2015

Modern super-tall buildings are more sensitive to strong winds. The evaluation of wind loads for the design of these buildings is of primary importance. A direct monitoring of wind forces acting on super-tall structures is quite difficult to be realized. Indirect measurements interpreted by inverse techniques are therefore favourable since dynamic response measurements are easier to be carried out. To this end, a Kalman filtering based inverse approach is developed in this study so as to estimate the wind loads on super-tall buildings based on limited structural responses. The optimum solution of Kalman filter gain by solving the Riccati equation is used to update the identification accuracy of external loads. The feasibility of the developed estimation method is investigated through the wind tunnel test of a typical super-tall building by using a Synchronous Multi-Pressure Scanning System. The effects of crucial factors such as the type of wind-induced response, the covariance matrix of noise, errors of structural modal parameters and levels of noise involved in the measurements on the wind load estimations are examined through detailed parametric study. The effects of the number of vibration modes on the identification quality are studied and discussed in detail. The made observations indicate that the proposed inverse approach is an effective tool for predicting the wind loads on super-tall buildings.

• Geophysics and Geophysical Exploration
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• v.2 no.2
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• pp.112-121
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• 1999

This article reviews the development of geophysical inverse theory. In a series of articles published in 1967, 1968, and 1979, G. Backus and F. Gilbert a trade-off between model resolution and estimation errors in geophysical inverse problems, and gave a criterion to compromise the reciprocal relation. Although the criterion was not clear in the physical point of view, it had been extensively used in the interpretation of geophysical date in the 1970s. This was the starting point of the fruitful development of inverse theory in geophysics. A reasonable criterion to compromise the reciprocal relation was derived to solve linear problems by D. D. jackson in 1979, introducing the concept of a priori information about unknown model parameters. This Jackson's approach was extended to solve nonlinear problems on the basis o probabilistic approach to the inverse problems formulated by A. Tarantola and B. Vallete in 1982. At the end of 1980s ABIC (Akaike Bayesian Information Criterion) was introduced for selecting a more reasonable model in geophysics. Now the date inversion is regarded as the process of extracting new information from observed data, combining in with a priori information about model parameters, and constructing a more clear image of model.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.7
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• pp.144-153
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• 1997

The inverse kinematics problem of a reclaimer which excavates and transports raw materials in a raw yard is investigated. Because of the geometric feature of the equipment in which scooping buckets are attached around the rotating disk, kinematic redundancy occurs in determining joint variable. Link coordinates are introduced following the Denavit-Hartenbery representation. For a given excavation point the forward kinematics yields 3 equations, however the number of involved joint variables in the equations is four. It is shown that the rotating disk at the end of the boom provides an extra passive degree of freedom. Two approaches are investigated in obtaining inverse kinematics solutions. The first method pre-assigns the height of excavation point which can be determined through path planning. A closed form solution is obtained for the first approach. The second method exploits the orthogonality between the normal vector at the excavation point and the z axis of the end-effector coordinate system. The geometry near the reclaiming point has been approximated as a plane, and the plane equation has been obtained by the least square method considering 8 adjacent points near the point. A closed form solution is not found for the second approach, however a linear approximate solution is provided.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.7 no.1
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• pp.104-111
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• 1998

This study solves the inverse kinematics problem of industrial FANUC robot. Because every joint angle of FANUC robot is dependent on the position of end-effector and the direction of approach vector, arm metrix T6 is very complicated and each joint angle is a function of other joint angles. Therefore, the inverse kinematics problem can not be solved by conventional methods. Noticing the fact that if one joint angle is known, the other joint angles are calculated by the algebraic methods. $ heta$1 is calculated using neumerical analysis method, and solves inverse kinematics problem. This proposed method, in this study, is more simpler and faster than conventional methods and is very useful in the real-time control of the manipulator.

• Transactions of Materials Processing
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• v.9 no.3
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• pp.304-312
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• 2000

An inverse finite element approach is employed to efficiently design the optimum blank shape and intermediate shapes from the desired final shape in multi-stage elliptic cup drawing processes. The multi-stage deep-drawing process is difficult to design with the conventional finite element analysis since the process is very complicate with the conventional finite element analysis since the process is very complicated with intermediate shapes and the numerical analysis undergoes the convergence problem even with tremendous computing time. The elliptic cup drawing process needs much effort to design sine it requires full three-dimensional analysis. The inverse analysis is able to omit all complicated and tedious analysis procedures for the optimum process design. In this paper, the finite element inverse analysis provides the thickness strain distribution of each intermediate shape through the multi-stage analysis. The multi-stage analysis deals with the convergence among intermediate shapes and the corresponding sliding constraint surfaces that are described by the analytic function of merged-arc type surfaces.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.12
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• pp.1093-1098
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• 2000

This paper presents an efficient algorithm for including the kinematic calibration data into the motion controller to improve the positioning accuracy of the manipulators. Rather than spending several iterations for finding the inverse solution of the calibrated kinematics, our approach requires only the nominal inverse solution and the calibrated forward kinematics for providing a better position command promptly. Thus, real-time application is guaranteed whenever the manipulators nominal inverse solution can be expressed in a closed form. Experimental results show that the line tracking performances can be remarkably improved by employing our algorithm.