• Journal of KSNVE
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• v.8 no.4
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• pp.663-669
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• 1998

In this paper, a beam design method is presented for the planar array with unequal transducer sensitivities. Basically the proposed method consists of two steps. At first, the optimum weightings are designed with the assumption that all array elements have an uniform sensitivity. Next, the compesnated weightings for the unequal transducer sensitivities can reversely be determined from an inverse problem utilizing the design beam pattern evaluated by the predetermined optimal weightings. A numerical example is inculded to illustrate the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.69-72
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• 1996

This paper considers a global resolution of kinematic redundancy under inequality constraints as a constrained optimal control. In this formulation, joint limits and obstacles are regarded as state variable inequality constraints, and joint velocity limits as control variable inequality constraints. Necessary and sufficient conditions are derived by using Pontryagin's minimum principle and penalty function method. These conditions leads to a two-point boundary-value problem (TPBVP) with natural, periodic and inequality boundary conditions. In order to solve the TPBVP and to find a global minimum, a numerical algorithm, named two-stage algorithm, is presented. Given initial joint pose, the first stage finds the optimal joint trajectory and its corresponding minimum performance cost. The second stage searches for the optimal initial joint pose with globally minimum cost in the self-motion manifold. The effectiveness of the proposed algorithm is demonstrated through a simulation with a 3-dof planar redundant manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.175-178
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• 1997

This study was carried out to obtain an analytical expression for the specifications of the Stewart Platform that minimize the maximum force acting on the hydraulic cylinder. The position and orientation of the platform were calculated by means of the inverse kinematic analysis. The maximum force to be exerted on a cylinder was calculated using the Newton's second law for the case when the platform is moved along a horizontal axis with 0.6 g, the maximum translational acceleration possible. This paper suggests a mathematical model to minimize the maximum actuating force using radius and angle ratios as design variables. Finally, a fuzzy set for the minimum actuating force is proposed for this dynamic optimal design problem.

• Steel and Composite Structures
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• v.42 no.4
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• pp.489-499
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• 2022

This paper proposes a numerical optimization method to design the mesoscale architecture of textile composite for simultaneously enhancing mechanical and thermal properties, which compete with each other making it difficult to design intuitively. The base cell of the periodic warp and fill yarn system is served as the design space, and optimal fibre yarn geometries are found by solving the optimization problem through the proposed method. With the help of homogenization method, analytical formulae for the effective material properties as functions of the geometry parameters of plain-woven textile composites were derived, and they are used to form the inverse homogenization method to establish the design problem. These modules are then put together to form a multiobjective optimization problem, which is formulated in such a way that the optimal design depends on the weight factors predetermined by the user based on the stiffness and thermal terms in the objective function. Numerical examples illustrate that the developed method can achieve reasonable designs in terms of fibre yarn paths and geometries.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.12
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• pp.1911-1919
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• 2012

In this paper, we focus on a robotic sealing process in which three robots are used. Each robot can be considered as a 7 axis redundant robot of which the first joint is prismatic and the last 6 joints are revolute. In the factory floor, robot path planning is not a simple problem and is not automated. They need experienced operators who can operate robots by teaching and playing back fashion. However, the robotic sealing process is well organized so the relative positions and orientations of the objects in the floor and robot paths are all pre-determined. Therefore by adopting robotic theory, we can optimally plan robot pathes without using teaching. In this paper, we analyze the sealing robot by using redundant manipulator theory and propose three different methods for path planning. For sealing paths outside of a car body, we propose two methods. The first one is resolving redundancy by using pseudo-inverse of Jacobian and the second one is by using weighted pseudo-inverse of Jacobian. The former is optimal in the sense of energy and the latter is optimal in the sense of manipulability. For sealing paths inside of a car body, we must consider collision avoidance so we propose a performance index for that purpose and a method for optimizing that performance index. We show by simulation that the proposed method can avoid collision with faithfully following the given end effector path.

• Proceedings of the KIEE Conference
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• 1999.07c
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• pp.1506-1509
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• 1999

This paper presents a new economic dispatch algorithm to improve the unit commitment solution while guaranteeing the near optimal solution without reducing calculation speed. The conventional economic dispatch algorithms have the problem that it is not applicable to the unit commitment formulation due to the frequent on/off state changes of units during the unit commitment calculation. Therefore, piecewise linear iterative method have generally been used for economic dispatch algorithm for unit commitment. In that method, the approximation of the generator cost function makes it hard to obtain the optimal economic dispatch solution. In this case, the solution can be improved by introducing a inverse of the incremental cost function. The proposed method is tested with sample system. The results are compared with the conventional piecewise linear iterative method. It is shown that the proposed algorithm yields more accurate and economical solution without calculation speed reduction.

• Industrial Engineering and Management Systems
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• v.11 no.1
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• pp.87-93
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• 2012

This paper discusses a new weighting method for text analyzing from the view point of supervised learning. The term frequency and inverse term frequency measure (tf-idf measure) is famous weighting method for information retrieval, and this method can be used for text analyzing either. However, it is an experimental weighting method for information retrieval whose effectiveness is not clarified from the theoretical viewpoints. Therefore, other effective weighting measure may be obtained for document classification problems. In this study, we propose the optimal weighting method for document classification problems from the view point of supervised learning. The proposed measure is more suitable for the text classification problem as used training data than the tf-idf measure. The effectiveness of our proposal is clarified by simulation experiments for the text classification problems of newspaper article and the customer review which is posted on the web site.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.31 no.8
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• pp.50-57
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• 2003

Controlling rotorcraft to fly precisely through multiple, irregularly, and closely spaced waypoints is a common and practical mission. However, finding an optimal trajectory for this kind of mission is quite challenging. Usability of traditional approaches such as inverse control or direct methods to this kind of problem is limited because of either limitation on the specification of the constraints or requirement of extensive computation time. This paper proposes a method that can easily compute the full trajectory and control history for rotorcraft to pass through waypoints while satisfying other general constraints of states such as velocities and attitudes on each waypoint. The proposed method is applied to rotorcraft guidance problems of slalom and linear trajectory in the middle of general curved trajectory. The algorithm is test for various situations and demonstrates its usability.

• Smart Structures and Systems
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• v.26 no.5
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• pp.591-603
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• 2020

Dynamic deflection monitoring is an essential and critical part of structural health monitoring for high-speed railway bridges. Two critical problems need to be addressed when using inclinometer sensors for such applications. These include constructing a general representation model of inclination-deflection and addressing the ill-posed inverse problem to obtain the accurate dynamic deflection. This paper provides a dynamic deflection monitoring method with the placement of optimal inclinometer sensors for high-speed railway bridges. The deflection shapes are reconstructed using the inclination-deflection transformation model based on the differential relationship between the inclination and displacement mode shape matrix. The proposed optimal sensor configuration can be used to select inclination-deflection transformation models that meet the required accuracy and stability from all possible sensor locations. In this study, the condition number and information entropy are employed to measure the ill-condition of the selected mode shape matrix and evaluate the prediction performance of different sensor configurations. The particle swarm optimization algorithm, genetic algorithm, and artificial fish swarm algorithm are used to optimize the sensor position placement. Numerical simulation and experimental validation results of a 5-span high-speed railway bridge show that the reconstructed deflection shapes agree well with those of the real bridge.

• Microbiology and Biotechnology Letters
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• v.18 no.4
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• pp.394-400
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• 1990

Maximization of productivity of recombinant cell fermentations requires consideration of the inverse relationship between the host cell growth rate and product formation rate. The problem of maximizing a weighted performance index was solved by using optimal control theory for recombinant E. coli fermentation. Concentration of a growth inhibitor was used as a control variable to manipulate the specific growth rate, and consequently the cloned-gene expression rate. Using a simple unstructured model to describe the main characteristics of this system, theoretical analysis showed that the optimal control profile results in an initial high growth rate phase followed by a low growth rate and high product formation rate phase. Numerical calculations were done to determine optimal switching times from the growth to the production stage for two representative cases corresponding to different dependency of the product formation rate on the growth rate. For the case when product formation rate is sensitive to the specific growth rate, the optimized operation yields about 60% increase in the final product concentration compared with a simple batch fermentation.