• Journal of the Korea Society of Computer and Information
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• v.26 no.12
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• pp.29-43
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• 2021

In this paper, a new approach to solve the constrained dynamic programming is proposed by using the constraint programming. While the conventional dynamic programming scheme has the state space augmented with states on constraints, this approach, without state augmentation, represents states of constraints as domains in a contraining programming solver. It has a hybrid computational mechanism in its computation by combining solving the Bellman equation in the dynamic programming framework and exploiting the propagation and inference methods of the constraint programming. In order to portray the differences of the two approaches, this paper solves a simple version of the long-term car rental financing problem. In the conventional scheme, data structures for state on constraints are designed, and a simple inference borrowed from the constraint programming is used to the reduction of violation of constraints because no inference risks failure of a solution. In the hybrid approach, the architecture of interface of the dynamic programming solution method and the constraint programming solution method is shown. It finally discusses the advantages of the proposed method with the conventional method.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.5
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• pp.412-418
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• 2007

An inverse optimal problem for homing guidance with angular constraint is addressed. The gains of BPN(Biased PN) are investigated by duality analysis related to the weighting matrices of the performance index in the LQ control problem. Moreover, the criteria for the existence of optimal gains are derived from the generalized Riccati equation. Based on the conditions we achieve the gain set of BPN to be optimal solution to the LQ problem with terminal constraints. To validate and demonstrate the proposed approach 3-DOF simulations are carried out.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.37 no.1
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• pp.50-59
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• 2014

In this paper, we develop an efficient approach to solve a multiple-item budget-constraint newsboy problem with a reservation policy. A conventional approach for solving such problem utilizes an approximation for the evaluation of an inverse of a Gaussian cumulative density function when the argument of the function is small, and a heuristic method for finding an optimal Lagrangian multiplier. In contrast to the conventional approach, this paper proposes more accurate method of evaluating the function by using the normalization and an effective numerical integration method. We also propose an efficient way to find an optimal Lagrangian multiplier by proving that the equation for the budget-constraint is in fact a monotonically increasing function in the Lagrangian multiplier. Numerical examples are tested to show the performance of the proposed approach with emphases on the behaviors of the inverse of a Gaussian cumulative density function and the Lagrangian multiplier. By using sensitivity analysis of different budget constraints, we show that the reservation policy indeed provides greater expected profit than the classical model of not having the reservation policy.

• Steel and Composite Structures
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• v.51 no.4
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• pp.363-375
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• 2024

Within the optimization field, addressing the intricate posed by fluidic pressure loads on functionally graded structures with frequency-related designs is a kind of complex design challenges. This paper thus introduces an innovative density-based topology optimization strategy for frequency-constraint functionally graded structures incorporating Darcy's law and a drainage term. It ensures consistent treatment of design-dependent fluidic pressure loads to frequency-related structures that dynamically adjust their direction and location throughout the design evolution. The porosity of each finite element, coupled with its drainage term, is intricately linked to its density variable through a Heaviside function, ensuring a seamless transition between solid and void phases. A design-specific pressure field is established by employing Darcy's law, and the associated partial differential equation is solved using finite element analysis. Subsequently, this pressure field is utilized to ascertain consistent nodal loads, enabling an efficient evaluation of load sensitivities through the adjoint-variable method. Moreover, this novel approach incorporates load-dependent structures, frequency constraints, functionally graded material models, and polygonal meshes, expanding its applicability and flexibility to a broader range of engineering scenarios. The proposed methodology's effectiveness and robustness are demonstrated through numerical examples, including fluidic pressure-loaded frequency-constraint structures undergoing small deformations, where compliance is minimized for structures optimized within specified resource constraints.

• Management & Information Systems Review
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• v.32 no.5
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• pp.135-155
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• 2013

Corporate primary goal has shifted from profit-orientation toward broader socially motivated perspectives, over the recent year. According to this phenomena, extensive research have been conducted to assess the empirical association between CSR and firm value. However, the results of previous studies are largely indeterminate which are attributed to the ignoring various indeterminate variables between CSR and firm value. Specifically, the purpose of this paper verifies the empirical association between CSR and firm value with considering capital constraint as core moderator variable by using structural equation modeling(SEM). Main results of this paper are as follows. We find that firms with better CSR performance face lower capital constraint and capital constraint is significantly related to firm value in negative direction, also. The result suggest that better CSR performance is associated with superior stakeholder engagement, in turn, CSR initiatives leads to firm value creation. Also, the capital constraint still remain positive to firm value even if capital constraint is considered moderator variables. Our findings implicated that CSR literatures should consider moderator variables, such as capital constraint, which could be affected firm value.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.81-84
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• 1996

We propose the robust nonlinear controller design methodology, the $H_{\infty}$ constrained quasi - linear quadratic Gaussian control (QLQG/ $H_{\infty}$), for the statistically-linearized multivariable system with hard nonlinearties such as Coulomb friction, deadzone, etc. The $H_{\infty}$ performance constraint is involved in the optimization process by replacing the covariance Lyapunov equation with the Riccati equation whose solution leads to an upper bound of the QLQG performance. Because of the system's nonlinearity, however, one equation among three Riccati equations contain the nonlinear correction terms that are very difficult to solve numerically. To treat this problem, we use simple algebraic techniques. With some analytic transformation for Riccati equations, the nonlinear correction terms can be so eliminated that the set of a linear controller to the different operating points are designed. Synthesizing these via inverse random input describing function (IRIDF) technique, the final nonlinear controller can be designed.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.364-370
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• 2005

A stable walking pattern generation method for a biped robot is presented in this paper. In general, the ZMP (zero moment point) equations, which are expressed as differential equations, are solved to obtain a stable walking pattern. However, the number of differential equations is less than that of unknown coordinates in the ZMP equations. It is impossible to integrate the ZMP equations directly since one or more constraint equations are involved in the ZMP equations. To overcome this difficulty, DAE (differential and algebraic equation) solution method is employed. The proposed method has enough flexibility for various kinematic structures. Walking simulation for a virtual biped robot is performed to demonstrate the effectiveness and validity of the proposed method. The method can be applied to the biped robot for stable walking pattern generation.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.53 no.1
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• pp.1-7
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• 2004

This paper presents a sensorless control strategy of a PMSM(Permanent Magnet Sycchoronous Motor). This method is very simple to compute the position angle of a rotor. A principle and a practical solution are described. A sensorless control algorithm is proposed to remove a mechanical position sensor. The theory is based on the superposition principle. The state equation of a motor is divided into two conditions: one is the state equation of exciting voltage and phase current in a constraint, the other is the state equation of back EMF(Electromotive Force) and phase current in a short circuit. Based on the analysis, short circuit current by back EMF is computed and then the information of position angle is calculated. The proposed method is verified by experimental results.

• Transactions of the Korean Society of Automotive Engineers
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• v.4 no.4
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• pp.9-17
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• 1996

This paper develops a sequential updating method of the Euler parameter generalized coordinates for the machine kinematics and dynamics, The Newton's method is slightly modified so as to utilize the Jacobian matrix with respect to the virtual rotation instead of this with repect to the Euler parameters. An intermediate variable is introduced and the modified Newton's method solves for the variable first. Relational equation of the intermediate variable is then solved for the Euler parameters. The solution process is carried out efficiently by symoblic inversion of the relational equation of the intermediate variable and the iteration equation of the Euler parameter normalization constraint. The proposed method is applied to a kinematic and dynamic analysis with the Generalized Coordinate Partitioning method. Covergence analysis is performed to guarantee the local convergence of the proposed method. To demonstrate the validity and practicalism of the proposed method, kinematic analysis of a motion base system and dynamic analysis of a vehicle are carried out.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.1
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• pp.12-23
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• 1994

This paper proposes an optimal design software for the open-chain dynamic systems whose governing equations are expressed as differential equation. In this software, an input module and an automatic creation module of the equation of motion are developed to contrive the user's convenience. To analyze the equation of motion of the dynamic systems, variable-order and variable-stepsize Adams-Bashforth-Moulton predictor-corrector method is used to improve the efficiency. For the optimization and the design sensitivity analysis, ALM(augmented lagrange multiplier)method and adjoint variable method are adopted respectively. An output module with which the user can compare and investigate the analysis and the optimization results through tables and graphs is also provided. The developed software is applied to three typical dynamic response optimization problems, and the results compare very well with those available in the literature, demonstrating its effectiveness.