• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.12
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• pp.3871-3882
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• 1996

In this paper, a closed-form formulation for inverse kinematics of robot manipulators with kinematic redundancy under the constrained environment has been derived using the Kuhn-Tucker condition, the extended Lagrange multiplier method and the working set method. The proposed algorithm satisfies the necessaryand sufficient conditions for optimization subject to equality and inequality constraints. In addition, computationally efficient kinematic control methods have been proposed using differential kinemetics and gradient projection mehtod. The effectiveness of the proposed methods has been demonstrated with a 4-dof planar robot, and then a 7-dof spatial robot as a practical application to the nozzle dam task in the Nuclear Power Plant.

• Journal of KIISE
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• v.44 no.12
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• pp.1296-1306
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• 2017

Recently, as the number of Internet of Things users has increased, IETF (Internet Engineering Task Force) has released the CoAP (Constrained Application Protocol). So Internet of Things have been researched actively. However, existing studies are difficult to adapt to streaming service due to low transmission rate that result from buffer underflow. In other words, one block is transmitted one block to client's one request according to the internet environment of limited resources. The proposed scheme adaptively adjusts the rate of CON(Confirmable) message among all messages for predicting the exact network condition. Based on this, the number of blocks is determined by using buffer occupancy rate and content download rate. Therefore it improves the quality of user experience by mitigating playback interruption. Experimental results show that the proposed scheme solves the buffer underflow problem in Internet of Things streaming environment by controlling transmission rate according to the network condition.

• Elastomers and Composites
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• v.34 no.4
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• pp.321-331
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• 1999

The curing process is the final step in tire manufacturing whereby a green tire built from layers of rubber compounds is formed to the desired shape and the compounds are converted to a strong, elastic materials to meet tire performance needs under elevated pressure and temperature in a press. A numerical optimization procedure was developed to improve product quality in a tire curing process. First, a dynamic constrained optimization problem was formulated to determine the optimal condition of the supplied cure media during a curing process. The objective function is subject to an equality constraint representing the process model that describes the heat transfer and cures kinetic phenomena in a cure press and is subject to inequality constraints representing temperature limits imposed on cure media. Then, the optimization problem was solved to determine optimal condition of the supplied cure media for a tire using the complex algorithm along with a finite element model solver.

• International conference on construction engineering and project management
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• 2024.07a
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• pp.799-806
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• 2024

Construction planners for hard rock tunnel projects often encounter practical challenges caused by inherent uncertainties in ground conditions and resource constraints. Therefore, planners cannot rapidly generate optimal excavation schedules for the shortest project durations with a given equipment fleet by considering the uncertainties in ground conditions. Although some schedule optimization methods exist, they are not tailored for resource-constrained hard rock tunnel projects. To overcome these limitations, the authors specified a formal Q-learning-based schedule optimization methodology for resource-constrained hard rock tunnel projects. States are defined according to the locations of tunnel faces under excavation. Actions consist of multiple and comprehensive heuristic-based rules, which are efficient methods for resource allocation. Rewards are the time intervals required between current states and next states. After that, the methodology is validated using a case study. The generated Q tables indicate (1) best actions under different states and (2) the shortest remaining durations when the project starts from specific (state, action) pairs. The results demonstrate that the optimal schedules can be obtained by applying the proposed methodology. Furthermore, it is beneficial for planners to rapidly assign optimal rules for each state under one ground condition scenario. The results further show the potential to consider the uncertainties in ground conditions using the information of possible ground condition scenarios provided.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.729-731
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• 2004

This paper deals with the design of a low order $H_{\infty}$ controller by using an iterative linear matrix inequality (LMI) method. The low order $H_{\infty}$ controller is represented in terms of LMIs with a rank condition. To solve the non-convex rank-constrained LMI problem, a linear penalty function is incorporated into the objective function so that minimizing the penalized objective function subject to LMIs amounts to a convex optimization problem. With an increasing sequence of the penalty parameter, the solution of the penalized optimization problem moves towards the feasible region of the original non-convex problem. The proposed algorithm is, therefore, convergent. Numerical experiments show the effectiveness of the proposed algorithm.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2008.11a
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• pp.253-253
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• 2008

The main purpose of this study is to identify the vibrational characteristics for the LP blades of Korean standard fossil power plants. Modal tests for the 6 stage blade with boundary condition in which the root of blades are constrained with the disk were conducted, and FE analysis was also did with the same boundary condition. The steady-stress and modal analyses for the coupled bladed-disk system of LP turbine stages were completed. The dynamic analysis and fatigue analysis were followed to diagnose the integrity of LP turbine blades.

• Magazine of the Korean Society of Agricultural Engineers
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• v.27 no.4
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• pp.61-67
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• 1985

This study is concerned with the optimum design of reinforced concrete frame structure with multi-stories and multi-bays by Limit State Design Method aimed to establish a synthetical optimal method that can simultaneously acomplish structural analysis and sectional desig. For optimum solution, the Successive Linear Programming known as effective to nonlinear optimization problem: including both multi-design variables and mulit-constrained condition was applied. The developed algorithm was applied to an actual structure and reached following results. 1)The developed algorithm was rvey effective converging to an optimal solution with 3 to 5 iteration. 2)An optimal solution was showed when bending moment redistribution factor a was 0.80. 3)The column was, regardless of story, controlled by the long column when unbraced, while in case of braced column, it is designed with 3 short column controlled by thrust and bending moment, and the supporting condition had little effect on the optimization results.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.53 no.12
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• pp.655-660
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• 2004

This paper deals with the design of a fixed-structure $H_\infty$ power system stabilizer (PSS) by using an iterative linear matrix inequality (LMI) method. The fixed-structure $H_\infty$ controller is represented in terms of LMIs with a rank condition. To solve the non-convex rank-constrained LMI problem, a linear penalty function is incorporated into the objective function so that minimizing the penalized objective function subject to LMIs amounts to a convex optimization problem. With an increasing sequence of the penalty parameter, the solution of the penalized optimization problem moves towards the feasible region of the original non-convex problem. The proposed algorithm is, therefore, convergent. Numerical experiments show the practical applicability of the proposed algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.4
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• pp.279-283
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• 2005

This paper deals with the design of a low-order H/sub ∞/ controller by using an iterative linear matrix inequality (LMI) method. The low-order H/sub ∞/ controller is represented in terms of LMIs with a rank condition. To solve the non-convex rank-constrained LMI problem, the recently developed penalty function method is applied. With an increasing sequence of the penalty parameter, the solution of the penalized optimization problem moves towards the feasible region of the original non-convex problem. Numerical experiments showed the effectiveness of the proposed algorithm.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.19 no.3
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• pp.289-303
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• 2015

In this paper, an optimal guidance law with terminal angle constraint considering the seeker's lock-on condition, in which the target is located within the field-of-view (FOV) and detection range limits at the end of the midcourse phase, is proposed. The optimal solution is obtained by solving an optimal control problem minimizing the energy cost function weighted by a power of range-to-go subject to the terminal constraints, which can shape the guidance commands and the missile trajectories adjusting guidance gains of the weighting function. The proposed guidance law can be applied to both of the midcourse and terminal phases by setting the desired relative range and look angle to the final interception conditions. The performance of the proposed guidance law is analyzed through nonlinear simulations for various engagement conditions.