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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2011.9
- 수록면
- 875 - 881 (7page)
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초록· 키워드
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This paper describes a new method of estimating the gradient of a function with perturbation and correlation. We impose a known periodic perturbation to the input variable and observe the output of the function in order to obtain much richer and more reliable information. By taking the correlation between the input perturbation and the resultant function outputs, we can determine the gradient of the function. The computation of the correlation does not require derivatives; therefore the gradient can be estimated reliably. Robust estimation of the gradient using perturbation/correlation, which is very effective when an analytical solution is not available, is described. To verify the effectiveness of perturbation/correlation based estimation, the results of gradient estimation are compared with the analytical solutions of an example function. The effects of amplitude of the perturbation and number of samplings in a period are investigated. A minimization of a function with the gradient estimation method is performed.
목차
Abstract
I. 서론
II. 섭동/상관관계
III. 센서 잡음 및 불확실성
IV. 최적화 적용 예 및 매개 변수 설정
V. 결론
참고문헌
참고문헌 (12)
참고문헌 신청
4. [단행본] - P. E. Gill / 1981 / Practical Optimization / Academic Press
5. [학술지(정기간행물)] - T. Goto / 1974 / Precise insert operation by tactile controlled robot / Industrial Robot: An International Journal 1 (5) : 225 ~ 228
6. [학위논문] - S.-H. Li / 1992 / Automated robotic assembly using a vibratory work table: Optimal tuning of vibrators based on the Taguchi method / 석사 / Massachusetts Institute of Technology
7. [학술지(정기간행물)] - S. Lee / 1999 / A perturbation/correlation method for force guided robot assembly / IEEE Transactions on Robotics and Automation 15 (4) : 764 ~ 773
8. [학술대회논문] - 이수용 / 2002 / Obstacle Avoidance with Perturbation/Correlation Method / IEEE : 2425 ~ 2430
5. [학술지(정기간행물)] - T. Goto / 1974 / Precise insert operation by tactile controlled robot / Industrial Robot: An International Journal 1 (5) : 225 ~ 228
6. [학위논문] - S.-H. Li / 1992 / Automated robotic assembly using a vibratory work table: Optimal tuning of vibrators based on the Taguchi method / 석사 / Massachusetts Institute of Technology
7. [학술지(정기간행물)] - S. Lee / 1999 / A perturbation/correlation method for force guided robot assembly / IEEE Transactions on Robotics and Automation 15 (4) : 764 ~ 773
8. [학술대회논문] - 이수용 / 2002 / Obstacle Avoidance with Perturbation/Correlation Method / IEEE : 2425 ~ 2430
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UCI(KEPA) : I410-ECN-0101-2013-569-003447553