• 제목/요약/키워드: null space

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RIEMANNIAN SUBMERSIONS OF SO0(2, 1)

  • Byun, Taechang
    • 대한수학회지
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    • 제58권6호
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    • pp.1407-1419
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    • 2021
  • The Iwasawa decomposition NAK of the Lie group G = SO0(2, 1) with a left invariant metric produces Riemannian submersions G → N\G, G → A\G, G → K\G, and G → NA\G. For each of these, we calculate the curvature of the base space and the lifting of a simple closed curve to the total space G. Especially in the first case, the base space has a constant curvature 0; the holonomy displacement along a (null-homotopic) simple closed curve in the base space is determined only by the Euclidean area of the region surrounded by the curve.

여유자유도 로보트 충격제어 (Control of Redundant Manipulators Using Null-Space Dynamics)

  • 김일환
    • 산업기술연구
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    • 제15권
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    • pp.63-70
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    • 1995
  • This paper presents an impact control algorithm for reducing the potentially damaging effects by interation of redundant manipulators with their environments. In the proposed control algorithm, the redundancy is resolved at the torque level by locally minimizing joint torque, subject to the operational space dynamic formulation which maps the joint torque set into the operational forces. For a given pre-impact velocity of the manipulator, the proposed approach is on generating joint space trajectories throughout the motion near the contact which instantaneously minimize the impulsive force which is a scalar function of manipulator's configurations. The comparative evaluation of the proposed algorithm with a local torque optimization algorithm with a local torque optimization algorithm without reducing impact is performed by computer simulation. The simulation results illustrate the effectiveness of the algorithm in reducing both the effects of impact and large torque requirements.

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외란 관측기에 의한 기구학적 여유자유도 매니퓰레이터의 강인한 임피던스 제어 (Robust Impedance Control of Kinematically Redundant Manipulator Based on Disturbance Observer)

  • 오용환;오상록;정완균
    • 제어로봇시스템학회논문지
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    • 제8권11호
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    • pp.963-969
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    • 2002
  • Design method of a robust impedance control is proposed for the kinematically redundant manipulators. To achieve this objective, we first use the momentum feedback disturbance observer(MFDOB) scheme which can handle the nonlinear dynamics of a manipulator in Joint space. An extended task space formulation to describe the behaviors of task and null spaces of redundant manipulator is employed. Using the extended task space formulation and disturbance observer scheme, a robust impedance control method is designed. The performance of the proposed extended impedance controller is verified through experiments with a planar three links direct-drive manipulator.

Memory Organization for a Fuzzy Controller.

  • Jee, K.D.S.;Poluzzi, R.;Russo, B.
    • 한국지능시스템학회:학술대회논문집
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    • 한국퍼지및지능시스템학회 1993년도 Fifth International Fuzzy Systems Association World Congress 93
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    • pp.1041-1043
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    • 1993
  • Fuzzy logic based Control Theory has gained much interest in the industrial world, thanks to its ability to formalize and solve in a very natural way many problems that are very difficult to quantify at an analytical level. This paper shows a solution for treating membership function inside hardware circuits. The proposed hardware structure optimizes the memoried size by using particular form of the vectorial representation. The process of memorizing fuzzy sets, i.e. their membership function, has always been one of the more problematic issues for the hardware implementation, due to the quite large memory space that is needed. To simplify such an implementation, it is commonly [1,2,8,9,10,11] used to limit the membership functions either to those having triangular or trapezoidal shape, or pre-definite shape. These kinds of functions are able to cover a large spectrum of applications with a limited usage of memory, since they can be memorized by specifying very few parameters ( ight, base, critical points, etc.). This however results in a loss of computational power due to computation on the medium points. A solution to this problem is obtained by discretizing the universe of discourse U, i.e. by fixing a finite number of points and memorizing the value of the membership functions on such points [3,10,14,15]. Such a solution provides a satisfying computational speed, a very high precision of definitions and gives the users the opportunity to choose membership functions of any shape. However, a significant memory waste can as well be registered. It is indeed possible that for each of the given fuzzy sets many elements of the universe of discourse have a membership value equal to zero. It has also been noticed that almost in all cases common points among fuzzy sets, i.e. points with non null membership values are very few. More specifically, in many applications, for each element u of U, there exists at most three fuzzy sets for which the membership value is ot null [3,5,6,7,12,13]. Our proposal is based on such hypotheses. Moreover, we use a technique that even though it does not restrict the shapes of membership functions, it reduces strongly the computational time for the membership values and optimizes the function memorization. In figure 1 it is represented a term set whose characteristics are common for fuzzy controllers and to which we will refer in the following. The above term set has a universe of discourse with 128 elements (so to have a good resolution), 8 fuzzy sets that describe the term set, 32 levels of discretization for the membership values. Clearly, the number of bits necessary for the given specifications are 5 for 32 truth levels, 3 for 8 membership functions and 7 for 128 levels of resolution. The memory depth is given by the dimension of the universe of the discourse (128 in our case) and it will be represented by the memory rows. The length of a world of memory is defined by: Length = nem (dm(m)+dm(fm) Where: fm is the maximum number of non null values in every element of the universe of the discourse, dm(m) is the dimension of the values of the membership function m, dm(fm) is the dimension of the word to represent the index of the highest membership function. In our case then Length=24. The memory dimension is therefore 128*24 bits. If we had chosen to memorize all values of the membership functions we would have needed to memorize on each memory row the membership value of each element. Fuzzy sets word dimension is 8*5 bits. Therefore, the dimension of the memory would have been 128*40 bits. Coherently with our hypothesis, in fig. 1 each element of universe of the discourse has a non null membership value on at most three fuzzy sets. Focusing on the elements 32,64,96 of the universe of discourse, they will be memorized as follows: The computation of the rule weights is done by comparing those bits that represent the index of the membership function, with the word of the program memor . The output bus of the Program Memory (μCOD), is given as input a comparator (Combinatory Net). If the index is equal to the bus value then one of the non null weight derives from the rule and it is produced as output, otherwise the output is zero (fig. 2). It is clear, that the memory dimension of the antecedent is in this way reduced since only non null values are memorized. Moreover, the time performance of the system is equivalent to the performance of a system using vectorial memorization of all weights. The dimensioning of the word is influenced by some parameters of the input variable. The most important parameter is the maximum number membership functions (nfm) having a non null value in each element of the universe of discourse. From our study in the field of fuzzy system, we see that typically nfm 3 and there are at most 16 membership function. At any rate, such a value can be increased up to the physical dimensional limit of the antecedent memory. A less important role n the optimization process of the word dimension is played by the number of membership functions defined for each linguistic term. The table below shows the request word dimension as a function of such parameters and compares our proposed method with the method of vectorial memorization[10]. Summing up, the characteristics of our method are: Users are not restricted to membership functions with specific shapes. The number of the fuzzy sets and the resolution of the vertical axis have a very small influence in increasing memory space. Weight computations are done by combinatorial network and therefore the time performance of the system is equivalent to the one of the vectorial method. The number of non null membership values on any element of the universe of discourse is limited. Such a constraint is usually non very restrictive since many controllers obtain a good precision with only three non null weights. The method here briefly described has been adopted by our group in the design of an optimized version of the coprocessor described in [10].

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THE GENERALIZED WEIGHTED MOORE-PENROSE INVERSE

  • Sheng, Xingping;Chen, Guoliang
    • Journal of applied mathematics & informatics
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    • 제25권1_2호
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    • pp.407-413
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    • 2007
  • In this paper, we definite a generalized weighted Moore-Penrose inverse $A^{+}_{M,N}$ of a given matrix A, and give the necessary and sufficient conditions for its existence. We also prove its uniqueness and give a representation of it. In the end we point out this generalized inverse is also a prescribed rang T and null space S of {2}-(or outer) inverse of A.

TRANSNORMAL SYSTEMS ON $R_{1}^{n+1}$

  • Kwang Sung Park;Koon Chan Kim;Young Soo Jo
    • 대한수학회논문집
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    • 제12권1호
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    • pp.109-112
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    • 1997
  • In this paper, we study on a classification of hypersurfaces given by tansnormal functions on $R^{n+1}_1$. If M is a level set of a transnormal function on $R^{n+1}_1$, then it is one of a hyperplane, a cylinder around k-plane, a pseudo-sphere and a pseudo-hyperbolic space.

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부분 구조물 합성으로 이루어진 고유치 문제 해석 (Partitioned structural eigenvalue analysis)

  • 정의일;나혜중;노석홍;전두환
    • 한국소음진동공학회:학술대회논문집
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    • 한국소음진동공학회 2005년도 춘계학술대회논문집
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    • pp.117-119
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    • 2005
  • For large structural eigen-analysis, the whole structure is divided into some partitioned structures and through synthesis of partitioned structural model the eigen-data of structure can be obtained. In that case, eigenvalue problem consists of semidefinite mass matrix form because of displacement constraint condition. In this work the eigenvalue problem is considered by means of several method, determinant search and null space reduction method.

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EXTREMAL CASES OF SN-MATRICES

  • Kim, Si-Ju;Choi, Tae-Young
    • 호남수학학술지
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    • 제30권4호
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    • pp.659-670
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    • 2008
  • We denote by $\mathcal{Q}$(A) the set of all real matrices with the same sign pattern as a real matrix A. A matrix A is an SN-matrix provided there exists a set S of sign pattern such that the set of sign patterns of vectors in the -space of $\tilde{A}$ is S, for each ${\tilde{A}}{\in}\mathcal{Q}(A)$. Some properties of SN-matrices arc investigated.

On the Ruled Surfaces with L1-Pointwise 1-Type Gauss Map

  • Kim, Young Ho;Turgay, Nurettin Cenk
    • Kyungpook Mathematical Journal
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    • 제57권1호
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    • pp.133-144
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    • 2017
  • In this paper, we study ruled surfaces in 3-dimensional Euclidean and Minkowski space in terms of their Gauss map. We obtain classification theorems for these type of surfaces whose Gauss map G satisfying ${\Box}G=f(G+C)$ for a constant vector $C{\in}{\mathbb{E}}^3$ and a smooth function f, where ${\Box}$ denotes the Cheng-Yau operator.

NEW BLOW-UP CRITERIA FOR A NONLOCAL REACTION-DIFFUSION SYSTEM

  • Kim, Eun-Seok
    • 호남수학학술지
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    • 제43권4호
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    • pp.667-678
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    • 2021
  • Blow-up phenomena for a nonlocal reaction-diffusion system with time-dependent coefficients are investigated under null Dirichlet boundary conditions. Using Kaplan's method with the comparison principle, we establish new blow-up criteria and obtain the upper bounds for the blow-up time of the solution under suitable measure sense in the whole-dimensional space.