• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.82-87
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• 1994

In this study, dynamic optimal design far a two degree-of-freedom anthropomorphic robot module is performed. Several dynamic design indices associated with the inertia matrix and the inertia power array are introduced. Analysis for the relationship between the dynamic parameters and the design indices shows that trade-offs exist between the isotropy and the dynamic design indices related to the actuator size. A composite design index is employed to deal with multi-criteria based design with different weighting factors, in a systematic manner. We demonstrate the fact that dynamic optimization is another significant step to enhance the system performances, followed by kinematic optimization.

• Structural Engineering and Mechanics
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• v.68 no.5
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• pp.633-638
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• 2018

One of the important problems in the vehicle design is vehicle handling and stability. Effective parameters which should be considered in the vehicle handling and stability are roll angle, camber angle and scrub radius. In this paper, a planar vehicle model is considered that two right and left suspensions are double wishbone suspension system. For a better analysis of the suspension geometry, a kinestatic model of vehicle is considered which instantaneous kinematic and statics relations are analyzed simultaneously. In this model, suspension geometry is considered completely. In order to optimum design of double wishbones suspension system, a multi-objective genetic algorithm is applied. Three important parameters of suspension including roll angle, camber angle and scrub radius are taken into account as objective functions. Coordinates of suspension hard points are design variables of optimization which optimum values of them, corresponding to each optimum point, are obtained in the optimization process. Pareto solutions for three objective functions are derived. There are important optimum points in these Pareto solutions which each point represents an optimum status in the model. In other words, corresponding to any optimal point, a specific geometric position is determined for the suspension hard points. Each of the obtained points in the Pareto optimization can be selected for a special design purpose by designer to create an optimum condition in the vehicle handling and stability.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.1
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• pp.66-72
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• 2000

As the demand for the design of modular manipulators or special purpose manipulators has increased, task based design to design an optimal manipulator for a given task become more and more important. However, the complexity with a large number of design parameters, and highly nonlinear and implicit functions are characteristics of a general manipulator design. To achieve the goal of task based design, it is necessary to develop a methodology to solve the complexity. This paper addresses how to determine the kinematic parameters of a two-degrees of freedom manipulator with parallelogram five-bar link mechanism from a given task, namely, how to map a given task into the kinematic parameters. With simplified example of designing a manipulator with five-bar link mechanism, the methodology for task based design is presented. And it introduces formulations of a given task and manipulator specifications, and presents a new dexterity measure for manipulator design. Also the optimization problem with constraints is solved by using a genetic algorithm that provides robust search in complex spaces.

• Steel and Composite Structures
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• v.42 no.5
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• pp.657-669
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• 2022

Structural materials can experience large plastic deformation under extreme cyclic loading that is caused by events like earthquakes. To evaluate the seismic safety of a structure, accurate numerical material models should be used. For a steel structure, the cyclic strain hardening behavior of structural steel should be correctly modeled. In this study, a combined hardening model, consisting of one isotropic hardening model and three nonlinear kinematic hardening models, was used. To determine the values of the combined hardening model parameters efficiently and accurately, the improved opposition-based particle swarm optimization (iOPSO) model was adopted. Low-cycle fatigue tests were conducted for three steel grades commonly used in Korea and their modeling parameters were determined using iOPSO, which was first developed in Korea. To avoid expensive and complex low cycle fatigue (LCF) tests for determining the combined hardening model parameter values for structural steel, empirical equations were proposed for each of the combined hardening model parameters based on the LCF test data of 21 steel grades collected from this study. In these equations, only the properties obtained from the monotonic tensile tests are required as input variables.

• Journal of the Korean Society for Railway
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• v.12 no.2
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• pp.236-242
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• 2009

This paper presents a numerical analysis method to determine flange contact at variable wheel positions. The shapes of the wheel and rail surface functions with surface parameters. The Newton-Rhapson method for wheel-rail contact can provide fast solutions, but may not yield true values at optimization process with the condition that minimum distance is zero can time-consuming. A compound method, combining the Newton-Rhapson methods the optimization process method is proposed to provide exact solutions efficiently.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.23 no.1
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• pp.56-61
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• 2015

Because of kinematic complexities, nonlinear behavior, etc, the performance of oleo-pneumatic landing gear is predicted by qualified commercial softwares. While commercial softwares predict more exactly, it takes a long time to construct or modify a model. At initial design stage, design parameters can be determined quickly and exactly enough with simple 2 degree of freedom model of mass, spring and damping. 2 degree of freedom model can be easily applied to optimization and reliability analysis which takes repetitive computation. In this paper, oleo-pneumatic landing gear is modeled as a nonlinear 2 degree of freedom model. The analysis are compared with landing gear drop test. To determine design parameter, optimization problem is solved with genetic algorithm and 2 degree of freedom model.

• Journal of Mechanical Science and Technology
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• v.20 no.6
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• pp.828-839
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• 2006

In this paper, a 2-DOF planar parallel manipulator with two revolute actuators and one passive constraining leg. The kinematic analysis of the mechanism is analytically performed : the inverse and forward kinematics problems are solved in closed forms, the workspace is derived systematically, and the three kinds of singular configurations are round. The optimal design to determine the geometric parameters and the operating limits of the actuated legs is performed considering the kinematic manipulability and workspace size. These results of the paper show the effectiveness of the presented manipulator.

• Structural Engineering and Mechanics
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• v.90 no.1
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• pp.97-106
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• 2024

This paper presents a significant contribution to aided design by conducting an analytical examination of geometric links with the aim of establishing criteria for assessing an analogy measure of the extrinsic geometric and kinematic characteristics of the Variable Compression Ratio (VCR) engine with a Geared Mechanism (GBCM) in comparison to the existing Fixed Compression Ratio (FCR) engine with a Standard-Reciprocating Crankshaft configuration. Employing a mechanical approach grounded in projective computational methods, a parametric study has been conducted to analyze the kinematic behavior and geometric transformations of the moving links. The findings indicate that in order to ensure equivalent extrinsic behavior and maintain consistent input-output performance between both engine types, precise adjustments of intrinsic geometric parameters are necessary. Specifically, for a VCR configuration compared to an FCR configuration, regardless of compression ratio and gearwheel radius, for the same crankshaft ratios and stroke lengths, it is imperative to halve lengths of connecting rods, and crank radius. These insights underscore the importance of meticulous parameter adjustment in achieving comparable performance across different engine configurations, offering valuable implications for design optimization.

• Applied Chemistry for Engineering
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• v.31 no.2
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• pp.172-178
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• 2020

In this study, the optimization of the biodiesel production process from waste oil using microwave with response surface methodology (RSM) was conducted. The microwave irradiation time and power in addition to the alcohol/oil mole ratio were chosen as process parameters. Also the fatty acid methyl ester (FAME) content (over 96.5%) and kinematic viscosity (1.9~5.5 cSt) were selected as response values. From basic experiments, the range of quantitative factors were set as following; 4~6 min, 400~600 W, and 7~9 for the microwave irradiation time and power, and alcohol/oil molar ratio, respectively. The optimum conditions for the methanolysis were 5.0~5.1 min, 481.3~525.5 W, 7.9~8.4, and 2.0 or 3.0 mg KOH/g for the microwave irradiation time and power, methanol/oil molar ratio, and each acid value, respectively. The FAME content and kinematic viscosity were predicted as 97.49~96.34% and 4.01~4.12 cSt, respectively, under the condition above. Under the optimum experimental conditions, the results showed that the FAME content and kinematic viscosity of 97.82~96.42% and 4.07~4.16 cSt, respectively were measured and the mean error rates were 0.22% and 0.98%, respectively.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1993.10a
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• pp.284-290
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• 1993

In order to improve the adaptability of rice transplanter to seeding with different length when transplanting multicropping rice in south China. The seedling separating planting mechanism is resynthesized in the paper. According to the agronomy requirements of seedling's transplanting, optimum motional path of the tip point of planting needle is obtained. by applying the established kinematic model of the separating planting mechanism, the relevant software is compiled. On the basis of the features of the problem, the constrained optimization method is utilized to solve the problem with 24 restrictions. Thus, the optimum structure parameters are obtained to satisfy the path points accurately.