• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1780-1783
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• 2005

In this paper ZMP was considered in order to get a walking stability, so the gait in the stable domain was realized through putting the stability margin in the sole domain of a foot. It is assumed that the robot's legs have 12 joints to operate a open-loop drive and there was no external disturbance under walking phases, additionally, the robot is walking on the flat plane. It was observed that the robot's walking trajectory, locus of COM and ZMP after imposing the motion to each joint. For realizing the simulation considering ZMP and movement of mass center, it was checked if it is stable for the constraint robot model to walk in stability and the feasibility was estimated about its dynamic gait. Eventually it was shown that a constraint gait algorithm is able to realize. To verify the proper walking process, ZMP(Zero Moment Point) theory is applied and the simulation has been done by ADAMS.

• 한국정보과학회논문지:시스템및이론
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• 제31권10호
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• pp.543-552
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• 2004

이 논문은 지연 시간 및 화질 제약이 있는 비디오 응용을 위한 에너지 최적화 기법을 제안한다. 이는 두 가지 핵심 기법 - 프레임 생략 기법 및 버퍼링 기법 - 으로 구성되어있다. 버퍼링은 운영 체제 수준에서 유휴 시간 이용률을 증가시키고, 프레임 생략은 응용 수준에서 유휴 시간 자체를 증가시키며, 양쪽 모두 동적 전압 조절 기법의 효과를 향상시킨다. 이 논문에서는 제안한 기법을 적용하기 위해 H.263 부호기 응용을 사용한다. 실험에서는 제안한 기법이 주어진 지연 시간 및 화질 제약을 만족하면서 괄목할 만한 에너지 절감을 얻을 수 있음을 보인다.

• Structural Engineering and Mechanics
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• 제50권2호
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• pp.215-229
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• 2014

Due to the lack of effective longitudinal constraint for center tower, structural stiffness of three-tower suspension bridge becomes less than that of two-tower suspension bridge, and therefore it becomes more susceptible to the seismic action. By taking a three-tower suspension bridge-the Taizhou Highway Bridge over the Yangtze River with two main spans of 1080 m as example, structural dynamic characteristics and seismic performance of the bridge is investigated, and the effects of cable's sag to span ratio, structural stiffness of the center tower, and longitudinal constraint of the girder on seismic response of the bridge are also investigated, and the favorable structural system is discussed with respect to seismic performance. The results show that structural response under lateral seismic action is more remarkable, especially for the side towers, and therefore more attentions should be paid to the lateral seismic performance and also the side towers. Large cable's sag, flexible center tower and the longitudinal elastic cable between the center tower and the girder are favorable to improve structural seismic performance of long-span three-tower suspension bridges.

• Journal of Information Processing Systems
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• 제19권2호
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• pp.149-163
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• 2023

Affected by external factors, errors in time series data collected by sensors are common. Using the traditional method of constraining the speed change rate to clean the errors can get good performance. However, they are only limited to the data of stable changing speed because of fixed constraint rules. Actually, data with uneven changing speed is common in practice. To solve this problem, an online cleaning algorithm for time series data based on dynamic speed change rate constraints is proposed in this paper. Since time series data usually changes periodically, we use the extreme learning machine to learn the law of speed changes from past data and predict the speed ranges that change over time to detect the data. In order to realize online data repair, a dual-window mechanism is proposed to transform the global optimal into the local optimal, and the traditional minimum change principle and median theorem are applied in the selection of the repair strategy. Aiming at the problem that the repair method based on the minimum change principle cannot correct consecutive abnormal points, through quantitative analysis, it is believed that the repair strategy should be the boundary of the repair candidate set. The experimental results obtained on the dataset show that the method proposed in this paper can get a better repair effect.

• 한국생산제조학회지
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• 제8권1호
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• pp.67-73
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• 1999

This paper presents resizing design optimization method by utilizing genetic algorithm(GA), which consists of three basic operators : reproduction, crossover and mutation. The fitness and penalty function for resizing optimization problem are defined, and the flowchart of the developed computer program along with the descriptions of each modules is presented. Also, modelling for flexible-body dynamic analysis is presented. The model is composed of bodies, joints, and force elements such as translational spring-damper-actuator. The design objects si to determine the wall thickness for minimum weight under dynamic displacement constraint.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.85-90
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• 1997

In the stroke sensitive shock absorber, the oil path is formed along the internal cylinder surface to make the eli flow during piston's upper-lower reciprocation movement. With constraint to the conventional shock absorbers which show one dynamic characteristic curve, stroke sensitive shock absorber shows two kins of dynamic characteristic according to the stroke, In the study, analysis on the damping force generation process and dynamic behaviour characteristics of stroke sensitive shock absorber is performed, the valve characteristics being considered more precise information about design and damping performance analysis.

• 대한기계학회논문집A
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• 제27권6호
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• pp.1014-1019
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• 2003

A dynamic modeling method for beams undergoing overall rigid body motion is presented in this paper. Two special deformation variables are introduced to represent the stretching and the curvature and are approximated by the assumed mode method. Geometric constraint equations that relate the two special deformation variables and the cartesian deformation variables are incorporated into the modeling method. By using the special deformation variables, all natural as well as geometric boundary conditions can be satisfied. It is shown that the geometric nonlinear effects of stretching and curvature play important roles to accurately predict the dynamic response when overall rigid body motion is involved.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1561-1564
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• 2003

In the dynamic analysis model of full vehicles, the ball joint is usually modeled as an ideal joint. Searching a ball joint, the engineering plastic covers metal and the plastic has little compliance. It is expected that the compliance will physically have an influence on load transfer. This thesis presents a dynamic model considering the compliance of a ball joint, and studies an influence related to load transfer. It models the compliance of a ball joint to 3 directional spring. Likewise, it researches the load of a ball joint via a four-post simulation of a full vehicle, comparing with a model considered compliant and the model of an ideal joint. As a result, the difference between the compliance and the ideal joint model was determined. For this reasons, to conduct precision load prediction for durability analysis, dynamic analysis considering the compliance of bali joint should be required.

• 제어로봇시스템학회논문지
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• 제10권10호
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• pp.930-939
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• 2004

In this paper, both dynamic constraints and kinematic constraints are considered for the analysis of manipulability of robotic systems comprised of multiple cooperating arms. Given bounds on the torques of each Joint actuator for every robot, the purpose of this study is to drive the bounds of task-space acceleration of object carried by the system. Bounds on each joint torque, described as a polytope, is transformed to the task-space acceleration through matrices related with robot dynamics, robot kinematics, object dynamics, grasp conditions, and contact conditions. A series of mathematical manipulations including the procedure calculating minimum infinite-norm solution of linear equation is applied to get the reachable acceleration bounds from given actuator dynamic constrains. Several examples including two robot systems as well as three robot system are shown with the assumptions of complete-constraint contact model(or' very soft contact') and insufficient or proper degree of freedom robot.

• Journal of Mechanical Science and Technology
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• 제14권10호
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• pp.1122-1130
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• 2000

Based on the value of the Lagrange multiplier and the degree of constraint activeness, a new update rule is proposed for penalty parameters of the ALM method. The theoretical exposition of this suggested update rule is presented by using the algorithmic interpretation and the geometric interpretation of the augmented Lagrangian. This interpretation shows that the penalty parameters can effect the performance of the ALM method. Also, it offers a lower limit on the penalty parameters that makes the augmented Lagrangian to be bounded. This lower limit forms the backbone of the proposed update rule. To investigate the numerical performance of the update rule, it is embedded in our ALM based dynamic response optimizer, and the optimizer is applied to solve six typical dynamic response optimization problems. Our optimization results are compared with those obtained by employing three conventional update rules used in the literature, which shows that the suggested update rule is more efficient and more stable than the conventional ones.