• Proceedings of the Mineralogical Society of Korea Conference
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• 2002.05a
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• pp.4-8
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• 2002

• Proceedings of the KIEE Conference
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• 1989.11a
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• pp.445-449
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• 1989

Achievement of a straight line motion in the Cartesian space has a matter of great importance. Minimization of task execution time with linear interpolation in the joint space, accomplishing of a approximation of straight line motion in the Cartesian coordinate is considered as the prespecified task. Such determination yields minimum time joint-trajectory subject to input torque constraints. The applications of these results for joint-trajectory planning of a two-link manipulator with revolute joints are demonstrated by computer simulations.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.559-564
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• 1993

Nonlinear equation of motion of the flexible manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. The resulting equations of motion have a structure which is useful to reduce the number of terms calculated, to check correctness, or to extend the model to high order. A manipulator with a flexible 4 bar link mechanism is a constrained system whose equations are sensitive to numerical integration error. This constrained system is solved using the null space matrix of the constraint Jacobian matrix. Singular value decomposition is a stable algorithm to find the null space matrix.

• Proceedings of the Korea Association of Information Systems Conference
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• 2004.11a
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• pp.37-41
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• 2004

The existing network can be expanded with addition of new nodes and multiple choices of link type for each nossible link. In this paper, the design problem of network expansion is defined as finding the network topology minimizing cost subject to reliability constraint. To efficiently solve the problem, an genetic algorithm approach is suggested.

• Proceedings of the KIEE Conference
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• 1994.07a
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• pp.495-497
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• 1994

Given the constraint of the AC input power factor and the DC-link voltage and current ripple in voltage source inverter, minimizing the size and cost of the DC-link fitter components is very important. This paper presents a procedure for the selection of DC-link filler element values in a three-phase PWM voltage source inverter-fed induction motor drive system, which can not only satisfy the requirements for the system performance but also minimize the filter size.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.2983-2985
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• 1999

This paper presents the attitude control of the double inverted pendulum with compliant joint. The biped robot with compliant ankle joint instead of a motor have a good contact between it's sole and ground in the uneven ground. The compliant ankle joint proposed here is composed of springs and mechanical constraint. The lower link is hinged on the plate to free for rotation in the vertical plate. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The algorithm for controlling a proposed inverted pendulum is nonlinear feedback controller. Simulation with mathematical model are conducted to show the validity of the proposed controller.

• Journal of Mechanical Science and Technology
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• v.16 no.6
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• pp.810-818
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• 2002

When the contribution of lightweight components to the total energy of a system is small, tole inertia effects are sometimes ignored by replacing them to massless links. For example, a revolute-spherical massless link generates two kinematic constraint equations between adjacent bodies and allows four relative degrees of freedom. In this paper, to implement a massless link systematically in a computer program using the velocity transformation technique, the velocity transformation matrix of massless links is derived and numerically implemented. The velocity transformation matrix for a revolute-spherical massless link and a revolute-universal massless link are appeared as a 6$\times$4 matrix and a 6$\times$3 matrix, respectively. A massless link model in a suspension composite joint transmitting external forces is also developed and the numerical efficiency of the proposed model is compared to a conventional multibody model. For a massless link transmitting external forces, forces acting on links are resolved and transmitted to the attached points with a quasi-static assumption. Numerical examples are presented to verify the formulation.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.33 no.6
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• pp.419-426
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• 2020

The structural design of the steel eccentrically braced frame (EBF) was developed and analyzed in this study through multiobjective optimization (MOO). For the optimal design, NSGA-II which is one of the genetic algorithms was utilized. The amount of structure and interfloor displacement were selected as the objective functions of the MOO. The constraints include strength ratio and rotation angle of the link, which are required by structural standards and have forms of the penalty function such that the values of the objective functions increase drastically when a condition is violated. The regulations in the code provision for the EBF system are based on the concept of capacity design, that is, only the link members are allowed to yield, whereas the remaining members are intended to withstand the member forces within their elastic ranges. However, although the pareto front obtained from MOO satisfies the regulations in the code provision, the actual nonlinear behavior shows that the plastic deformation is concentrated in the link member of a certain story, resulting in the formation of a soft story, which violates the capacity design concept in the design code. To address this problem, another constraint based on the Eurocode was added to ensure that the maximum values of the shear overstrength factors of all links did not exceed 1.25 times the minimum values. When this constraint was added, it was observed that the resulting pareto front complied with both the design regulations and capacity design concept. Ratios of the link length to beam span ranged from 10% to 14%, which was within the category of shear links. The overall design is dominated by the constraint on the link's overstrength factor ratio. Design characteristics required by the design code, such as interstory drift and member strength ratios, were conservatively compared to the allowable values.

• Journal of Communications and Networks
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• v.8 no.1
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• pp.85-92
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• 2006

In this paper, we study a wireless cellular network design problem. It consists of selecting the location of the base station controllers and mobile service switching centres, selecting their types, designing the network into a tree-topology, and selecting the link types, while considering the location and the demand of base transceiver stations. We propose a constraint programming model and develop a heuristic combining local search and constraint programming techniques to find very good solutions in a reasonable amount of time for this category of problem. Numerical results show that our approach, on average, improves the results from the literature.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.5
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• pp.2346-2361
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• 2017

A major challenge in cloud infrastructure is the efficient allocation of virtual network elements on top of substrate network elements. Path algebra is a mathematical framework which allows the validation and convergence analysis of the mono-constraint or multi-constraint routing problems independently of the network topology or size. The present study proposes a new heuristic approach based on mathematical framework "paths algebra" to map virtual nodes and links to substrate nodes and paths in cloud. In this approach, we define a measure criterion to rank the substrate nodes, and map the virtual nodes to substrate nodes according to their ranks by using a greedy algorithm. In addition, considering multi-constraint routing in virtual link mapping stage, the used paths algebra framework allows a more flexible and extendable embedding. Obtained results of simulations show appropriate improvement in acceptance ratio of virtual networks and cost incurred by the infrastructure networks.