• Proceedings of the KSME Conference
• /
• 2000.11a
• /
• pp.541-547
• /
• 2000

This paper presents the closed-form forward kinematics of the 6-6 Stewart platform of planar base and moving platform. Based on algebraic elimination method and with one extra linear sensor, it first derives an 8th-degree univariate equation and then finds tentative solution sets out of which the actual solution is to be selected. In order to provide more exact solution despite the error between measured sensor value and the theoretical one, a correction method is also used. The overall procedure requires so little computation time that it can be efficiently used for realtime applications. In addition, unlike the iterative schemes e.g. Newton-Raphson, the algorithm does not require initial estimates of solution and is free of the problems that it does not converge to actual solution within limited time. The presented method has been implemented in C language and a numerical example is given to confirm the effectiveness and accuracy of the developed algorithm.

• 한국생물공학회:학술대회논문집
• /
• 2002.04a
• /
• pp.515-518
• /
• 2002

The method of foam fractionation can be applied to enrich proteins from a dilute protein solution if the proteins are hydrophobic and foam. If a protein, such as invertase, is hydrophilic, a dilute solution containing this protein may not foam. In that case, a batch foam fractionation process may not be appropriate for recovering a concentrated solution of that protein. In this paper, various concentrations of invertase were added to a dilute solution containing bromelain (a hydrophobic protein), in order to determine how the presence of a hydrophilic protein can affect the recovery of the desired hydrophobic protein. The effect of invertase on bromelain recovery was studied here at an initial bulk solution pH of 5 and an air superficial velocity of 4.6 cm/s.

• Structural Engineering and Mechanics
• /
• v.58 no.4
• /
• pp.641-659
• /
• 2016

This paper deals with the pure bending of incompressible elastic perfectly plastic two-layer sheets under plane strain conditions at large strains. Each layer is classified by its yield stress, shear modulus of elasticity and its initial percentage thickness in relation to the whole sheet. The solution found is semi-analytic. In particular, a numerical technique is only necessary to solve transcendental equations. The general solution is cumbersome because different analytic expressions for the radial and circumferential stresses should be adopted in different regions of the whole sheet. In particular, there are several alternative ways a plastic region (or plastic regions) can propagate. However, for any given set of material and process parameters the solution to the problem consists of a sequence of rather simple analytic expressions connected by transcendental equations. The general solution is illustrated by a simple example.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• v.1
• /
• pp.485-489
• /
• 2006

In last decades, several linearization methods for the AOA measurements have been proposed, for example, Gauss-Newton method and closed-form solution. Gauss-Newton method can achieve high accuracy, but the convergence of the iterative process is not always ensured if the initial guess is not accurate enough. Closed-form solution provides a non-iterative solution and it is less computational. It does not suffer from convergence problem, but estimation error is somewhat larger. This paper proposes a self-tuning weighted least square AOA algorithm that is a modified version of the conventional closed-form solution. In order to estimate the error covariance matrix as a weight, two-step estimation technique is used. Simulation results show that the proposed method has smaller positioning error compared to the existing methods.

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.27 no.4
• /
• pp.42-48
• /
• 2004

This paper concerns on a multiprocessor task scheduling problem with precedence relation, in which each task requires several processors simultaneously. Meta-heuristic generally finds a good solution if it starts from a good solution. In this paper, a tabu search is presented to find a schedule of minimal time to complete all tasks. A modified tabu search is also presented which uses a new initial solution based on the best solution during the previous run as the new starting solution for the next iteration. Numerical results show that a tabu search and a modified tabu search yield a better performance than the previous studies.

• Journal of the Korean Society for Industrial and Applied Mathematics
• /
• v.3 no.1
• /
• pp.1-15
• /
• 1999

Gradient recovery techniques for the second order elliptic boundary value problem are well known. In particular, the Midpoint and the Vertex Recovery Operator have been studied by various authors and under suitable assumptions on the regularity of the unknown solution superconvergence property of these recovered gradients have been proved. In this paper we extend these results to the recovered gradient of the finite element approximation to a model initial-boundary value problem, and go on to prove superconvergence result for this recovered gradient in a discrete (in time) error norm.

• Journal of the Korean Operations Research and Management Science Society
• /
• v.18 no.1
• /
• pp.1-18
• /
• 1993

The family disaggregation model of hierarchical production planning (HPP) is the problem of (0 -1) mixed integer programming that minimizes the total sum of setup costs and inventory holding costs over the planning horizon. This problem is hard in a practical sense since optimal solution algorithms have failed to solve it within reasonable computation times. Thus effective familoy disaggregation algorithm should be developed for HPP. The family disaggregation algorithm developed in this paper consists of the first stage of finding initial solutions and the second stage of improving initial solutions. Some experimental results are given to verify the effectiveness of developed disaggregation algorithm.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.476-481
• /
• 1988

In this paper a pH process of a weak acid with a strong base is modeled into a bilinear form, and a self-tuning pH control algorithm which is robust against initial values of solution and disturbances is presented. The control algorithm employs the recursive least square method for the parameter estimation and the generalised minimum variance criterion as the objective function. The computer simulation shows that the tracking of desired pH values is obtained in satisfactory manner regardless of the initial values chosen for the process.

• Proceedings of the Korean Society of Marine Engineers Conference
• /
• 2006.06a
• /
• pp.51-52
• /
• 2006

This study was progressed on the freezing behavior of waste water in relation to freeze concentration method useful to waste water treatment system of small and middle size and which can re-use purified water. The object of this experiment is comparing a pollutant contain of the frozen layer and of an aqueous solution by cooling wall temperature, a flow field effect and a initial thickness of frozen layer.

• Journal of applied mathematics & informatics
• /
• v.5 no.1
• /
• pp.223-233
• /
• 1998

This paper is concerned with the problem of existence of solutions to the initial value problem u'(t) = A(t, u(t)), u(a) = z in a probabilistic normed space where $A : [a,b)\;{\times}\;D->E$ is continuous, D is a closed subset of a probabilistic normed space E, and $z\;{\in}\;D$. With a dissipative type condition on A, we estabilish sufficient conditions for this initial value problem to have a solution.