Methods of computing weighted pseudoinverse matrices with singular weights

Three iterative processes are constructed and investigated for computing weighted pseudoinverse matrices with singular weights and ML-weighted pseudoinverse matrices. Two of them are based on the decompositions of the weighted pseudoinverse matrix with singular weights into matrix power series, and the third is a generalization of the Schulz method to nonsingular square matrices. Translated from Kibernetika i Sistemnyi Analiz, No. 5, pp. 150–169, September–October, 1999.     

Series expansion of weighted pseudoinverse matrices and iterative methods for calculating weighted pseudoinverse matrices and weighted normal pseudosolutions

Weighted pseudoinverse matrices are expanded into matrix power series with negative exponents and arbitrary positive parameters. Based on this expansion, iterative methods for evaluating weighted pseudoinverse matrices and weighted normal pseudosolutions are designed and analyzed. The iterative methods for weighted normal pseudosolutions are extended to solving constrained least-squares problems. __________ Translated from Kibernetika i Sistemnyi Analiz, No. 1, pp. 32–62, January–February 2006.     

Expansion of weighted pseudoinverse matrices with positive definite weights into matrix power products. Iterative methods

Weighted pseudoinverse matrices with positive definite weights are expanded into matrix power products with negative exponents and arbitrary positive parameters. These expansions are used to develop and analyze iterative methods for evaluating weighted pseudoinverse matrices and weighted normal pseudosolutions and solving constrained least-squares problems. __________ Translated from Kibernetika i Sistemnyi Analiz, No. 1, pp. 45–64, January–February 2007.     

Limiting Representations of Weighted Pseudoinverse Matrices with Positive Definite Weights. Problem Regularization

Limiting representations for weighted pseudoinverse matrices with positive definite weights are derived. It is shown that regularized problems can be constructed based on such limiting representations intended for evaluation of weighted pseudoinverse matrices and weighted normal pseudosolutions with positive definite weights. The results obtained, concerning regularization of problems on evaluation of weighted normal pseudosolutions, are employed for regularization of least-squares problems with constraints.     

Representations and expansions of weighted pseudoinverse matrices, iterative methods, and problem regularization. I. Positive definite weights

The paper reviews studies on the representations and expansions of weighted pseudoinverse matrices with positive definite weights and on iterative methods and regularized problems for calculation of weighted pseudoinverse matrices and weighted normal pseudosolutions. The use of these methods to solve constrained least-squares problems is examined. __________ Translated from Kibernetika i Sistemnyi Analiz, No. 1, pp. 47–73, January–February 2008.     

On the convergence of variable-metric methods

In this paper the convergence of variablemetric methods is considered. The minimum of a quadratic function is attained with a number of iterations equal to the rank of the Hessian matrix of the function. Under certain conditions the sequence of variable-metric matrices tends to the pseudoinverse of the Hessian matrix.     

Representations and expansions of weighted pseudoinverse matrices, iterative methods, and problem regularization. II. Singular weights

The paper reviews studies on the representations and expansions of weighted pseudoinverse matrices with positive semidefinite weights and on the construction of iterative methods and regularized problems for the calculation of weighted pseudoinverses and weighted normal pseudosolutions based on these representations and expansions. The use of these methods to solve constrained least squares problems is examined. Continued from Cybernetics and Systems Analysis, 44, No. 1, 36–55 (2008). __________ Translated from Kibernetika i Sistemnyi Analiz, No. 3, pp. 75–102, May–June 2008.     

Iterative methods with different rates of convergence for calculating weighted pseudoinverse matrices and weighted normal pseudosolutions with positive definite weights

The authors develop and analyze iterative methods with different (linear, quadratic, or of p (p2) order) rates of convergence. The methods are used to calculate weighted pseudoinverse matrices with positive defined weights. To find weighted normal pseudosolutions with positive defined weights, iterative methods with a quadratic rate of convergence are developed and analyzed. The iterative methods for calculation of weighted normal pseudosolutions are used to solve least-square problems with constraints.Translated from Kibernetika i Sistemnyi Analiz, No. 5, pp. 20–44, September–October 2004.     

图的赋权路径矩阵与所有点对最短路径问题

给出了二维元素矩阵的概念,对于赋权图对应的赋权矩阵,定义了二维元素初始赋权路径矩阵和二维元素一般赋权路径矩阵,在通常赋权矩阵“乘法”运算基础上定义了路径“乘法”运算,从而得到了二维元素一般赋权路径矩阵的“乘法”运算,通过其“乘法”运算来求出所有点对的最短距离与对应路径,在得到最短距离的同时也得到对应的路径,结果显示在最终的一般赋权路径矩阵上。该算法易于通过计算机编程实现,对于大规模有向图或无向图,更有优势。     

Application of Pseudoinverse and Projective Matrices to Studying Control, Observation, and Identification Problems

The method of perturbation of pseudoinverse matrices, developed earlier by the authors based on splitting matrices, is extended to projective matrices for their further application to identification, nonlinear regressive analysis, function approximation, and prediction problems.     

Random-Walk Computation of Similarities between Nodes of a Graph with Application to Collaborative Recommendation

This work presents a new perspective on characterizing the similarity between elements of a database or, more generally, nodes of a weighted and undirected graph. It is based on a Markov-chain model of random walk through the database. More precisely, we compute quantities (the average commute time, the pseudoinverse of the Laplacian matrix of the graph, etc.) that provide similarities between any pair of nodes, having the nice property of increasing when the number of paths connecting those elements increases and when the "length" of paths decreases. It turns out that the square root of the average commute time is a Euclidean distance and that the pseudoinverse of the Laplacian matrix is a kernel matrix (its elements are inner products closely related to commute times). A principal component analysis (PCA) of the graph is introduced for computing the subspace projection of the node vectors in a manner that preserves as much variance as possible in terms of the Euclidean commute-time distance. This graph PCA provides a nice interpretation to the "Fiedler vector," widely used for graph partitioning. The model is evaluated on a collaborative-recommendation task where suggestions are made about which movies people should watch based upon what they watched in the past. Experimental results on the MovieLens database show that the Laplacian-based similarities perform well in comparison with other methods. The model, which nicely fits into the so-called "statistical relational learning" framework, could also be used to compute document or word similarities, and, more generally, it could be applied to machine-learning and pattern-recognition tasks involving a relational database     

基于Moore-Penrose 逆的加权距离函数研究

"距离"是科学研究与工程技术领域中使用非常广泛的一种度量.在分析各种距离优、缺点的基础上,根据马氏距离不受量纲影响,能描述和处理相关性数据的性能优势,利用加权Moore-Penrose(WMP)广义逆定义了WMP马氏距离,并通过奇异值分解及矩阵的谱分解理论构造其数学形式和计算方法.理论分析和仿真实验表明,所提出的方法不仅保持了马氏距离和MP马氏距离的优点,而且克服了它们的缺点,同时又具有更好的独特性能.     

Order-recursive factorization of the pseudoinverse of a covariancematrix

A numerically reliable algorithm is developed to recursively update the square root of a pseudoinverse matrix using the square root of a lower dimension pseudoinverse matrix. The numerical computations are based on a generalized singular value decomposition which is used to do a canonical correlation analysis. An operation count is given for sequential and parallel implementation of a partitioned order-recursive algorithm. These methods are useful for covariance analysis to determine the contributions due to various modeling errors in the design of a Kalman filter     

A dynamical systems approach to weighted graph matching

Graph matching is a fundamental problem that arises frequently in the areas of distributed control, computer vision, and facility allocation. In this paper, we consider the optimal graph matching problem for weighted graphs, which is computationally challenging due the combinatorial nature of the set of permutations. Contrary to optimization-based relaxations to this problem, in this paper we develop a novel relaxation by constructing dynamical systems on the manifold of orthogonal matrices. In particular, since permutation matrices are orthogonal matrices with nonnegative elements, we define two gradient flows in the space of orthogonal matrices. The first minimizes the cost of weighted graph matching over orthogonal matrices, whereas the second minimizes the distance of an orthogonal matrix from the finite set of all permutations. The combination of the two dynamical systems converges to a permutation matrix, which provides a suboptimal solution to the weighted graph matching problem. Finally, our approach is shown to be promising by illustrating it on nontrivial problems.     

Acceleration and torque redistribution for a dual-manipulator system

Recent research has considered robotic machining as an alternative to traditional computer numerical control machining, particularly for prototyping applications. However, unlike traditional machine tools, robots are subject to relatively larger dynamic disturbances and operate closer to their torque limits. These factors, combined with inaccurate manipulator and machining process models, can cause joint actuator saturation during operation. This paper presents a trajectory planner that will reduce torques that are near saturation by generating trajectories with a weighted pseudoinverse. Using a relative Jacobian, the tool path is resolved into joint trajectories at the acceleration level. This paper presents a new method for selecting the weighting matrix based on the proximity of the joint torques to saturation limits. This weighting reduces the joint accelerations contributing the most to the torques near saturation, thereby reducing the joint torques. The accelerations of other joints increase to satisfy the increased demand. The effectiveness of the acceleration and torque redistribution algorithm has been demonstrated via extensive simulations.     

基于最小二乘回归的分块加权子空间聚类*

传统子空间聚类算法向量化时忽略样本的自然结构信息,并且容易造成高维度小样本问题,从而导致聚类信息损失.为了弥补该缺陷,文中提出基于最小二乘回归的分块加权子空间聚类(WB-LSR).首先,将样本按维度分成若干块,并求得各个块对应的仿射矩阵.然后,通过相互投票方式对各仿射矩阵设置权重,将加权和作为最终的仿射矩阵.在图像数据和视频数据上的实验表明,文中方法能有效提升聚类准确率.     

Methods for Computing Weighted Pseudoinverses and Weighted Normal Pseudosolutions with Singular Weights

The paper surveys articles that construct and investigate direct and iterative methods for computing weighted pseudoinverses and weighted normal pseudosolutions with singular weights. The methods considered in the paper are mainly constructed based on the authors’ articles devoted to the development of the theory of weighted pseudoinversion aimed at investigating the characteristics of both weighted pseudoinverses and weighted normal pseudosolutions with singular weights. The paper uses the following results obtained and investigated by the authors: expansions of weighted pseudoinverses into matrix power series and products, limit representations of such matrices, and determination of decompositions of weighted pseudoinverses based on weighted singular value decompositions of matrices with singular weights.     

Relation between global velocity and local torque optimization of redundant manipulators

In this article, the relation between the global optimization of joint velocity and local optimization of joint torque is investigated. The local minimization of the weighted joint torques can be matched to the global optimization of the corresponding weighted joint velocities when the weighted matrices satisfy certain sufficient conditions. A straightforward matching is obtained using the local optimization of the inertia inverse weighted dynamic torque and the global minimization of the kinetic energy. Another easy solution can be found, as will be shown later, if the inertia matrix is a constant and gravity is neglected. Based on that, it can be seen why a Cartesian robot, which has a constant inertia matrix, is always stable. © 1994 John Wiley & Sons, Inc.     

数据合并的结构粒化方法与矩阵计算

为了研究数据合并问题,并使合并数据保持合并前的数据之间的关联关系,对各类数据信息给予了结构化的表示,对应产生了由数据集和加权关系组合构成的加权关联结构;进而通过数据集的合并粒化集,完成了加权关联结构向加权粒化结构的转换,使数据集中的数据依据粒化信息得到了合并,并保持或汇集了合并前的数据之间的关联信息,由此形成了数据合并的结构粒化方法。在此基础上,构建了加权关联矩阵和加权粒化矩阵,分别作为加权关联结构和加权粒化结构的矩阵表示。经中间变换和目标变换的矩阵计算,实现了加权关联矩阵向加权粒化矩阵的变换,产生了与结构粒化等价的矩阵变换方法,形成了程序设计的算法基础。     

Procedure for manipulator inverse kinematics computation and proper pseudoinverse perturbation

In this article, an efficient procedure for the proper pseudoinverse perturbation and the numerical inverse kinematics computation of robot manipulators is presented. The approach is based on solving a linear system of equations and using an original scheme for the appropriate perturbation of the pseudoinverse matrix in the next iteration. The resultant algorithm is tested on the simulation of an industrial robot manipulator. From the results obtained, it is observed that the proposed approach compares favorably with the approaches using a Gaussian elimination procedure and with pseudoinverse robustness based on a manipulability measure.