• 한국생산제조학회지
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• 제19권6호
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• pp.826-833
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• 2010

Electric-thermal-structural actuated compliant mechanisms are mechanisms onto which electric voltage drop is applied as input instead of force. This mechanism is based on thermal expansion of material while being heated. Compliant mechanisms are designed subjected to electric charge input using BESO(bi-directional evolutionary structural optimization) method. Reliability-based topology optimization (RBTO) is applied to the topology design of actuators. performance measure approach (PMA), which has probabilistic constraints that are formulated in terms of the reliability index, is adopted to evaluate the probabilistic constraints. In this study, BESO method is used to obtain optimal topology of compliant mechanisms from initial design domain. PMA approach is used to evaluate reliability index. The procedure has been tested in numerical applications and compared with the results obtained by other methods to validate these approaches.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.502-502
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• 2000

An input constrained receding horizon predictive control algorithm for uncertain systems with nonzero set points is proposed. For constant nonzero set points, models with uncertainty can be converted into an augmented incremental system through the use of integrators and the problem is transformed into a zero-state regulation problem for the incremental system. But the original constraints on inputs are converted into constraints on the sum of control inputs at each time Instants, which have not been dealt in earlier constrained robust receding horizon control problems. Recursive state bounding technique and worst case minimizing strategy developed in earlier works are applied to the augmented incremental system to yield an of set error free controller. The resulting algorithm is formulated so that it can be solved using LP.

• Industrial Engineering and Management Systems
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• 제3권1호
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• pp.1-11
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• 2004

This paper proposes a new algorithm for determining an optimal control input for production systems. In many production systems, completion time should be planned within the due dates by taking into account precedence constraints and processing times. To solve this problem, the max-plus algebra is an effective approach. The max-plus algebra is an algebraic system in which the max operation is addition and the plus operation is multiplication, and similar operation rules to conventional algebra are followed. Utilizing the max-plus algebra, constraints of the system are expressed in an analogous way to the state-space description in modern control theory. Nevertheless, the formulation of a system is currently performed manually, which is very inefficient when applied to practical systems. Hence, in this paper, we propose a new algorithm for deriving a state-space description and determining an optimal control input with several constraint matrices and parameter vectors. Furthermore, the effectiveness of this proposed algorithm is verified through execution examples.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.1196-1198
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• 1996

It is well known that the controller output limits have a significant effect on the closed loop system performance. GPC has many tuning-knobs which can he used to minimize actuator activity. Especially, increasing the control weighting $\lambda$ cuts down the controller output variance. Using this property, we propose the GPC with Input constraints(GPCIC) which is based on the relation between control weighting $\lambda$ and optimal solution of the unconstrained GPC. The GPCIC algorithm is the calculation of the optimal $\lambda$ such that the output of the unconstrained GPC is satisfied with the rate Ind the level constraint.

• 한국정보통신학회논문지
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• 제22권4호
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• pp.602-610
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• 2018

모델예측제어는 기준 궤적이 알려져 있을 경우 제어시스템의 예측모델을 이용하여 현재 제어상태 및 미래오차 등을 예측하여 현재 제어입력을 최적화시킬 수 있는 효과적인 방법이다. 모바일로봇의 제어입력이 물리적으로 무한히 큰 값을 가질 수 없으므로 제한조건을 갖는 예측제어기 설계가 고려되어야 한다. 또한 예측제어기의 제어성능을 결정하는 기준모델행렬 $A_r$과 가중치행렬 Q, R들이 임의로 설정됨에 따라 성능이 최적화되지 못한 부분도 설계에 고려되어야 한다. 본 연구에서는 제한조건을 갖는 quadratic programming 문제로 변형하여 모바일로봇의 예측제어기를 구성하고, 모바일 로봇의 제어성능을 결정하는 예측제어기의 제어파라미터인 기준모델행렬 $A_r$과 가중치행렬 Q, R에 대하여 유전알고리즘을 적용하여 제어파라미터들을 최적화함으로써 제어성능을 높일 수 있었다. 컴퓨터 모의실험을 통하여 본 연구에서 제안한 제어방법이 기존의 예측제어기의 추종성능보다 뛰어남을 확인하고자한다.

• 한국컴퓨터정보학회논문지
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• 제27권11호
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• pp.67-80
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• 2022

본 논문에서는 RML 매핑 방식으로 생성된 RDF 지식 그래프의 구조를 묘사하고 검증할 용도의 ShEx 스키마를 자동으로 생성하는 시스템을 제안한다. ShEx 스키마는 제약 조건들로 구성된다. 제안된 시스템은 대부분의 제약 조건을 RML 매핑 규칙을 변환하여 생성한다. 매핑 규칙에서 유도된 제약 조건만으로 구성한 스키마는 사용자가 RML 매핑으로 생성한 그래프의 구조를 파악하는 데 도움을 주는 용도로는 부족함이 없지만 정교한 검증 용도로 사용하기에는 충분치 않다. 검증 용도에 부합하는 스키마가 요구될 경우, 제안된 시스템은 RML 매핑의 입력 데이터 소스에서 추출한 메타데이터를 사용해 만든 제약 조건이 추가된 스키마를 생성할 수 있다. 제안된 시스템이 지원하는 입력 데이터 소스 유형은 CSV, XML, JSON, RDBMS다. 297개의 테스트 케이스로 구성된 실험에서 보인 결과는 제안된 시스템이 RML 매핑으로 생성된 RDF 그래프 검증을 위해 범용적으로 사용될 수 있음을 보여준다.

• 전기전자학회논문지
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• 제11권1호통권20호
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• pp.46-53
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• 2007

Design characteristics of PMLSM(Permanent Magnet Linear Synchronous Motor) considering the dynamic running condition under the limited input voltage and current for short reciprocating trajectory are presented. Particularly, the dynamic constraints resulted from the dynamic capability of PMLSM and the required motional performance of the repeated short stroke are applied to determine the design specification of PMLSM. In addition, optimal design flow based on the dynamic constraints is specified with the design parameters, such as coil resistances, the EMF constants, inductances, pole-pitch. Furthermore, proposed methods and results are validated by the experimental ones measured with the purpose-built prototype.

• Transactions on Control, Automation and Systems Engineering
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• 제3권4호
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• pp.289-292
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• 2001

This paper concerns with a receding horizon estimator (RHE) for discrete-time linear systems subject to constraints on the estimate. In solving the optimization for every horizons, the past all measurement data outside the horizon is discarded and thus the arrival cost is not considered. The RHE in the current work is a finite impulse response (FIR) structure which has some good inherent properties. The proposed RHE can be represented in the simple matrix form for the unconstrained case. Various numerical examples demonstrate how including constraints in the RHE can improve estimation performance. Especially, in the application to the unknown input estimation, it will be shown how the FIR structure in the RHE can improve the estimation speed.

• Journal of Advanced Marine Engineering and Technology
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• 제6권2호
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• pp.42-50
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• 1982

The controller, generally, is to be designed to optimize the system in somesence subject to some constraints. In this paper the method to determine the optimal parameters of the PI controller in the unity feed back control system is proposed. Here the sence of the optimal is to minimize the integral of the squared error under the constraints that the maximum absolute value of control input, maximum overshoot, rise time, etc., should be smaller than the pre-given values. In the analysis the traditional method and the state variable method are combined in order to reduce the computational procedures required in the design of PI controller. Therefore, the procedure proposed in the paper is usefully applicable to the controller system with a general second-order plant. Finally, the indicial response curves generated at the optimal state are compared with those of non-optimal state and the effectiveness of this method is assertained.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 추계학술대회논문집 - 한국공작기계학회
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• pp.398-403
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• 2000

The design of multi-stage gear drives is a time-consuming process that includes additional design problems, which are not considered in the design of single-stage gear drives. In the previous research works, the authors have proposed a new algorithm to design multi-stage gear drives at the preliminary design phase. The proposed design algorithm automates the design process by integrating the dimensional design and the configuration design process. In the configuration design process, the positions of gears and shafts are determined by minimizing the geometrical volume (size) of a gearbox. However, various types of spatial constraints should be satisfied in practical design situation. To locate input and output shaft in specified positions is the typical example of such problems. In this paper, the authors show the formulations of spatial constraints applied to the design of four-stage gear drives. The design solution shows considerably good results, and the design system is confirmed to be readily applicable to practical design situation.