Abstract: Estimating the 6D pose of objects is a core step for robot bin-picking tasks. The problem is that various objects are usually randomly stacked with heavy occlusion in real applications. In this work, we propose a method to regress 6D poses by predicting three points for each object in the 3D point cloud through deep learning. To solve the ambiguity of symmetric pose, we propose a labeling method to help the network converge better. Based on the predicted pose, an iterative method is employed for pose optimization. In real-world experiments, our method outperforms the classical approach in both precision and recall.
Abstract: Harmonic functions are solutions to Laplace’s equation
that are known to have an advantage as a global approach in providing
the potential values for autonomous vehicle navigation. However,
the computation for obtaining harmonic functions is often too slow
particularly when it involves very large environment. This paper
presents a two-stage iterative method namely Modified Arithmetic
Mean (MAM) method for solving 2D Laplace’s equation. Once
the harmonic functions are obtained, the standard Gradient Descent
Search (GDS) is performed for path finding of an autonomous vehicle
from arbitrary initial position to the specified goal position. Details
of the MAM method are discussed. Several simulations of vehicle
navigation with path planning in a static known indoor environment
were conducted to verify the efficiency of the MAM method. The
generated paths obtained from the simulations are presented. The
performance of the MAM method in computing harmonic functions
in 2D environment to solve path planning problem for an autonomous
vehicle navigation is also provided.
Abstract: Based on the conjugate gradient (CG) algorithm, the constrained matrix equation AXB=C and the associate optimal approximation problem are considered for the symmetric arrowhead matrix solutions in the premise of consistency. The convergence results of the method are presented. At last, a numerical example is given to illustrate the efficiency of this method.
Abstract: In this paper, we study the semilocal convergence of
a fifth order iterative method using recurrence relation under the
assumption that first order Fréchet derivative satisfies the Hölder
condition. Also, we calculate the R-order of convergence and provide
some a priori error bounds. Based on this, we give existence and
uniqueness region of the solution for a nonlinear Hammerstein
integral equation of the second kind.
Abstract: This paper describes the Message Passing Interface
(MPI) implementation of ADETRAN language, and its evaluation
on SX-ACE supercomputers. ADETRAN language includes pdo
statement that specifies the data distribution and parallel computations
and pass statement that specifies the redistribution of arrays. Two
methods for implementation of pass statement are discussed and the
performance evaluation using Splitting-Up CG method is presented.
The effectiveness of the parallelization is evaluated and the advantage
of one dimensional distribution is empirically confirmed by using the
results of experiments.
Abstract: Model updating is an inverse eigenvalue problem which
concerns the modification of an existing but inaccurate model with
measured modal data. In this paper, an efficient gradient based
iterative method for updating the mass, damping and stiffness
matrices simultaneously using a few of complex measured modal
data is developed. Convergence analysis indicates that the iterative
solutions always converge to the unique minimum Frobenius norm
symmetric solution of the model updating problem by choosing a
special kind of initial matrices.
Abstract: In this paper, according to the classical algorithm
LSQR for solving the least-squares problem, an iterative method is
proposed for least-squares solution of constrained matrix equation. By
using the Kronecker product, the matrix-form LSQR is presented to
obtain the like-minimum norm and minimum norm solutions in a
constrained matrix set for the symmetric arrowhead matrices. Finally,
numerical examples are also given to investigate the performance.
Abstract: Analysis of real life problems often results in linear
systems of equations for which solutions are sought. The method to
employ depends, to some extent, on the properties of the coefficient
matrix. It is not always feasible to solve linear systems of equations
by direct methods, as such the need to use an iterative method
becomes imperative. Before an iterative method can be employed
to solve a linear system of equations there must be a guaranty that
the process of solution will converge. This guaranty, which must
be determined apriori, involve the use of some criterion expressible
in terms of the entries of the coefficient matrix. It is, therefore,
logical that the convergence criterion should depend implicitly on the
algebraic structure of such a method. However, in deference to this
view is the practice of conducting convergence analysis for Gauss-
Seidel iteration on a criterion formulated based on the algebraic
structure of Jacobi iteration. To remedy this anomaly, the Gauss-
Seidel iteration was studied for its algebraic structure and contrary
to the usual assumption, it was discovered that some property of the
iteration matrix of Gauss-Seidel method is only diagonally dominant
in its first row while the other rows do not satisfy diagonal dominance.
With the aid of this structure we herein fashion out an improved
version of Gauss-Seidel iteration with the prospect of enhancing
convergence and robustness of the method. A numerical section is
included to demonstrate the validity of the theoretical results obtained
for the improved Gauss-Seidel method.
Abstract: In this paper, the elasto-plastic and cyclic torsion of a shaft is studied using a finite element method. The Prager kinematic hardening theory of plasticity with the Ramberg and Osgood stress-strain equation is used to evaluate the cyclic loading behavior of the shaft under the torsional loading. The material of shaft is assumed to follow the non-linear strain hardening property based on the Prager model. The finite element method with C1 continuity is developed and used for solution of the governing equations of the problem. The successive substitution iterative method is used to calculate the distribution of stresses and plastic strains in the shaft due to cyclic loads. The shear stress, effective stress, residual stress and elastic and plastic shear strain distribution are presented in the numerical results.
Abstract: In this paper, we present new preconditioned generalized mixed-type splitting (GMTS) methods for solving weighted linear least square problems. We compare the spectral radii of the iteration matrices of the preconditioned and the original methods. The comparison results show that the preconditioned GMTS methods converge faster than the GMTS method whenever the GMTS method is convergent. Finally, we give a numerical example to confirm our theoretical results.
Abstract: By the real representation of the quaternionic matrix,
an iterative method for quaternionic linear equations Ax = b is
proposed. Then the convergence conditions are obtained. At last, a
numerical example is given to illustrate the efficiency of this method.
Abstract: In this paper, the nonlinear matrix equation is investigated. Based on the fixed-point theory, the boundary and the existence of the solution with the case r>-δi are discussed. An algorithm that avoids matrix inversion with the case -1
Abstract: We propose the numerical method defined by
xn+1 = xn − λ[f(xn − μh(xn))/]f'(xn) , n ∈ N,
and determine the control parameter λ and μ to converge cubically. In addition, we derive the asymptotic error constant. Applying this proposed scheme to various test functions, numerical results show a good agreement with the theory analyzed in this paper and are proven using Mathematica with its high-precision computability.
Abstract: We investigate the formulation and implementation of new explicit group iterative methods in solving the two-dimensional Poisson equation with Dirichlet boundary conditions. The methods are derived from a fourth order compact nine point finite difference discretization. The methods are compared with the existing second order standard five point formula to show the dramatic improvement in computed accuracy. Numerical experiments are presented to illustrate the effectiveness of the proposed methods.
Abstract: The effects of large vibration amplitudes on the first axisymetric mode shape of thin isotropic annular plates having both edges clamped are examined in this paper. The theoretical model based on Hamilton’s principle and spectral analysis by using a basis of Bessel’s functions is adapted اhere to the case of annular plates. The model effectively reduces the large amplitude free vibration problem to the solution of a set of non-linear algebraic equations.
The governing non-linear eigenvalue problem has been linearised in the neighborhood of each resonance and a new one-step iterative technique has been proposed as a simple alternative method of solution to determine the basic function contributions to the non-linear mode shape considered.
Numerical results are given for the first non-linear mode shape for a wide range of vibration amplitudes. For each value of the vibration amplitude considered, the corresponding contributions of the basic functions defining the non-linear transverse displacement function and the associated non-linear frequency, the membrane and bending stress distributions are given. By comparison with the iterative method of solution, it was found that the present procedure is efficient for a wide range of vibration amplitudes, up to at least 1.8 times the plate thickness,
Abstract: In this paper, by establishing a new comparison result, we investigate the existence of positive solutions for initial value problems of nonlinear systems of second order integro-differential equations in Banach space.We improve and generalize some results (see[5,6]), and the results is new even in finite dimensional spaces.
Abstract: In this paper, application of the complexity reduction approach based on half- and quarter-sweep iteration concepts with Jacobi iterative method for solving composite trapezoidal (CT) algebraic equations is discussed. The performances of the methods for CT algebraic equations are comparatively studied by their application in solving linear Fredholm integral equations of the second kind. Furthermore, computational complexity analysis and numerical results for three test problems are also included in order to verify performance of the methods.
Abstract: Linear systems are widely used in many fields of science and engineering. In many applications, at least some of the parameters of the system are represented by fuzzy rather than crisp numbers. Therefore it is important to perform numerical algorithms or procedures that would treat general fuzzy linear systems and solve them using iterative methods. This paper aims are to solve fuzzy linear systems using four types of Jacobi based iterative methods. Four iterative methods based on Jacobi are used for solving a general n × n fuzzy system of linear equations of the form Ax = b , where A is a crisp matrix and b an arbitrary fuzzy vector. The Jacobi, Jacobi Over-Relaxation, Refinement of Jacobi and Refinement of Jacobi Over-Relaxation methods was tested to a five by five fuzzy linear system. It is found that all the tested methods were iterated differently. Due to the effect of extrapolation parameters and the refinement, the Refinement of Jacobi Over-Relaxation method was outperformed the other three methods.
Abstract: In this paper, we discuss semiconvergence of the alternating iterative methods for solving singular systems. The semiconvergence theories for the alternating methods are established when the coefficient matrix is a singular matrix. Furthermore, the corresponding comparison theorems are obtained.
Abstract: In this paper we study numerical methods for solving Sylvester matrix equations of the form AX +XBT +CDT = 0. A new projection method is proposed. The union of Krylov subspaces in A and its inverse and the union of Krylov subspaces in B and its inverse are used as the right and left projection subspaces, respectively. The Arnoldi-like process for constructing the orthonormal basis of the projection subspaces is outlined. We show that the approximate solution is an exact solution of a perturbed Sylvester matrix equation. Moreover, exact expression for the norm of residual is derived and results on finite termination and convergence are presented. Some numerical examples are presented to illustrate the effectiveness of the proposed method.