• Journal of Mechanical Science and Technology
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• 제14권6호
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• pp.655-665
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• 2000

We propose an efficient algorithm for the purpose of satisfying a wide range of design constraints represented with equality and inequality equations as well as production rules. The algorithm employs simulated-annealing and a production rule inference engine and works on design constraints represented with networks. The algorithm fulfills equality constraints through constraint satisfaction processes like variable elimination while taking into account inequality constraints and inferring production rules. It can also reduce the load of the optimization procedure if necessary. We demonstrate the implementation of the algorithm with the result on machine tool design.

• 한국소음진동공학회논문집
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• 제18권5호
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• pp.541-549
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• 2008

The dynamic contact between a high-speed wheel and an elastic beam is numerically analyzed by solving the whole equations of motion of the wheel and the beam subjected to the contact condition. For the stability of the numerical solution, the velocity and acceleration constraints as well as the displacement constraint are imposed on the contact point. Through the numerical examples, it is shown that the acceleration contact constraint including the Coriolis and centripetal accelerations are crucial for the numerical stability.

• 대한기계학회논문집A
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• 제24권11호
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• pp.2665-2671
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• 2000

Dimensional Synthesis, which is apart of kinematic synthesis, is to determine the dimensions of a mechanism of preconceived typer for a specified task and prescribed performance. In this paper, in an effort to provide designers with flexibility, a dimensional approximate synthesis method is presented for utilizing prescribed tolerance both the displacement and joint positions of a mechanism to be synthesized. For this, a constrained optimization problem is formulated with displacement parameters and joint positions as variables. The proposed method is applied to the synthesis of a 5-SS multi link suspension mechanism. The method discussed here, however, can be easily applied to any mechanism of which the kinematic constraint equations can be derived.

• 한국CDE학회논문집
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• 제3권2호
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• pp.87-102
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• 1998

Given a sequence of cross-sectional curves, the skinning method generates a freeform surface that interpolates the given curves in that sequence. This thesis presents a construction method of a B-spline skinning surface that is fair and satisfies volume constraints. The fairness metric is based on the parametric energy functional of a surface. The degrees of freedom in surface control are closely related lo control points in the skinning direction. The algorithm fur finding a skinning surface consists of two step. In the first step, an initial fair surface is generated without volume constraints and one coordinate of each control point is fixed. In the second step, a final surface that meets all constraints is constucted by rearranging the other coordinates of each control point that defines the initial surface A variational Lagrange optimization method produces a system of nonlinear equations, which can be solved numerically. Moreover, the reparametrization of given sectional curves is important for the construction of a reasonable skinning surface. This thesis also presents an intuitive metric for reparametrization and gives some examples that are optimized with respect to that metric.

• 대한기계학회논문집A
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• 제32권5호
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• pp.437-443
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• 2008

In this paper, analysis and control of the flexible multibody system using MATLAB is presented. The equations of motion of a flexible body are derived in terms of the modal coordinate. The rigid-flexible multibody dynamic solver is developed. Finite element information required to analyze motion of flexible bodies is imported from ANSYS. The modified finite element data, such as modal mass matrix, modal stiffness matrix and constraint mode shapes, is calculated in the solver. Since the solver is developed using MATLAB, it is very easy to connect with SIMULINK which is widely used to control motion of the multibody system. Several simulations are implemented to verify the developed solver. A control example is carried out and the usefulness of the developed solver is demonstrated.

• 대한기계학회논문집
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• 제17권1호
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• pp.223-235
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• 1993

본 연구에서는 첫째로 병진 캠 전용해석 및 설계 프로그램을 개발하였다. 이 개발된 프로그램들을 기구해석전용 프로그램에 접속시켜 VTR Deck에 대한 전반적인 해석 및 설계가 가능하도록 하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.188-188
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• 2000

The most important problem in target tracking can be said to be modeling the tracking system correctly. Although the simple linear dynamic equation for this model has used until now, the satisfactory performance could not be obtained owing to uncertainties of the real systems in the case of designing the filters baged on the dynamic equations. In this paper, we propose the extended robust Kalman filter (ERKF) which can be applied to the real target tracking system with the parameter uncertainties. A nonlinear dynamic equation with parameter uncertainties is used to express the uncertain system model mathematically, and a measurement equation is represented by a nonlinear equation to show data from the radar in a Cartesian coordinate frame. To solve the robust nonlinear filtering problem, we derive the extended robust Kalman filter equation using the Krein space approach and sum quadratic constraint. We show the proposed filter has better performance than the existing extended Kalman filter (EKF) via 3-dimensional target tracking example.

• 제어로봇시스템학회논문지
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• 제22권8호
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• pp.610-614
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• 2016

This paper proposes an inextensible wire-shaped deformation model to simulate catheter behavior. The wire-shaped model consists of serially-connected mass points and massless rigid links. Torsional springs and dampers are employed to accommodate bending. Deformation is computed by updating the rotation angles from the global coordinates while maintaining the fixed length condition. Equations of motion is derived from double pendulum motion. Spring constant is computed using strain energy and potential energy stored in a torsional spring to reflect material property. Simulation is conducted to show deformation of wire model while maintaining inextensibility condition and including material properties. The proposed method guarantees inextensible constraint in the catheter simulation.

• 대한조선학회논문집
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• 제51권5호
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• pp.362-368
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• 2014

Container vessel sizes have constantly increased over the past two decades. With increasing ship sizes and higher container loading capacities, the adoption of lashing bridges has also increased. Today's lashing bridge designs range from 1st tier to 3rd tier lashing bridges. Container securing program of the past which is based on two lashing rods and 1st tier lashing bridge has to be improved to be suitable for the present time. The equilibrium equations in this study are established to cover the application of 3~4 lashing rods and 2nd~3rd tier lashing bridges. In addition developed program is improved to be able to calculate the reaction forces and optimum arrangement under the external lashing. An optimization algorithm which is suitable for the container securing problems involved the equality constraint has been also adopted in this study.

• International Journal of Control, Automation, and Systems
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• 제6권2호
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• pp.160-170
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• 2008

Temperature control of an enclosed thermal system which has many applications including Rapid Thermal Processing (RTP) of semiconductor wafers showed an input-constraint violation for nonlinear controllers due to inherent strong coupling between the elements [1]. In this paper, a constrained nonlinear optimal control design is developed, which accommodates input constraints using the linear algebraic equivalence of the nonlinear controllers, for the temperature control of an enclosed thermal process. First, it will be shown that design of nonlinear controllers is equivalent to solving a set of linear algebraic equations-the linear algebraic equivalence of nonlinear controllers (LAENC). Then an input-constrained nonlinear optimal controller is designed based on that LAENC using the constrained linear least squares method. Through numerical simulations, it is demonstrated that the proposed controller achieves the equivalent performances to the classical nonlinear controllers with less total energy consumption. Moreover, it generates the practical control solution, in other words, control solutions do not violate the input-constraints.