• Industrial Engineering and Management Systems
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• 제9권1호
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• pp.10-19
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• 2010

This paper presents an extended computing procedure for the global optimization of the triple response system (TRS) where the response functions are nonconvex (nonconcave) quadratics and the input factors satisfy a radial region of interest. The TRS arising from response surface modeling can be approximated using a nonlinear mathematical program involving one primary (objective) function and two secondary (constraints) functions. An optimization algorithm named triple response surface algorithm (TRSALG) is proposed to determine the global optimum for the nondegenerate TRS. In TRSALG, the Lagrange multipliers of target (secondary) functions are computed by using the Hooke-Jeeves search method, and the Lagrange multiplier of the radial constraint is located by using the trust region (TR) method at the same time. To ensure global optimality that can be attained by TRSALG, included is the means for detecting the degenerate case. In the field of numerical optimization, as the family of TR approach always exhibits excellent mathematical properties during optimization steps, thus the proposed algorithm can guarantee the global optimal solution where the optimality conditions are satisfied for the nondegenerate TRS. The computing procedure is illustrated in terms of examples found in the quality literature where the comparison results with a gradient-based method are used to calibrate TRSALG.

• 한국공작기계학회논문집
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• 제14권4호
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• pp.81-88
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• 2005

This paper attempts to derive the dynamic model of handling tasks in finger robot which grasps stable and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, the roblems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. The effect of geometric constraints of area-contacts between the link's end-effector and the object is analyzed and the model based on the differential-algebraic equations is presented. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation and the experiment that the control system gives the performance improvement in the dynamic stable grasping and nimble manipulating of the dual fingers robot with soft tips.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 추계학술대회 논문집
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• pp.219-224
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot finger which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed. Finally, it is shown that even in the simplest case of dual single D.O.F manipulators there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that the object is of rectangular shape and motion is confined to a horizontal plane.

• International Journal of Aeronautical and Space Sciences
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• 제16권2호
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• pp.177-189
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• 2015

This paper presents an all-direct domain decomposition approach for large-scale structural analysis. The proposed approach achieves computational robustness and efficiency by enforcing the compatibility of the displacement field across the sub-domain boundaries via local Lagrange multipliers and augmented Lagrangian formulation (ALF). The proposed domain decomposition approach was compared to the existing FETI approach in terms of the computational time and memory usage. The parallel implementation of the proposed algorithm was described in detail. Finally, a preliminary validation was attempted for the proposed approach, and the numerical results of two- and three-dimensional problems were compared to those obtained through a dual-primal FETI approach. The results indicate an improvement in the performance as a result of the implementing the proposed approach.

• Journal of information and communication convergence engineering
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• 제13권4호
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• pp.235-240
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• 2015

A decimation chain for multi-standard reconfigurable radios is presented for 900-MHz and 1,900-MHz dual-band cellular standards with a data interpolator based on the Lagrange method for adjusting the variable data rate to a fixed data rate appropriate for each standard. The two proposed configurations are analyzed and compared to provide insight into aliasing and the signal bandwidth by means of a newly introduced measure called interpolation error. The average interpolation error is reduced as the ratio of the sampling frequency to the signal BW is increased. The decimation chain and the multi-rate analog-to-digital converter are simulated to compute the interpolation error and the output signal-to-noise ratio. Further, a method to operate the above-mentioned chain under a compressed mode of operation is proposed in order to guarantee continuous packet connectivity for inter-radio-access technologies. The presented decimation chain can be applied to LTE, WCDMA, GSM multi-mode multi-band digital front-end which will ultimately lead to the software-defined radio.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.108.4-108
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot fingers which stably grasps and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for differential-algebraic equations of overall...

• Journal of Advanced Marine Engineering and Technology
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• 제30권3호
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• pp.428-437
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• 2006

This paper attempts to derive and analyze the dynamic system of grasping a rigid object by means of two multi-degrees-of-freedom robot flngers with soft and deformable tips. It is shown firstly that a set of differential equation describing dynamics system of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It is shown secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this paper. the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the dynamic stable grasping of the dual fingers robot with soft tips.

• 한국통신학회논문지
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• 제25권6A호
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• pp.855-861
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• 2000

본 논문은 시간 영역에서의 접근 방법에 기초하여 LQ-서보형 PI 제어기 설계 기법을 개발하였다. 이러한 연구의 동기가 된것은 주파수 영역에서 개발된 기존의 방법이 시간영역의 설계사양들을 잘 만족하지 않기 때문이다. 본 논문에서 개발된 기법은 라그랑지 곱셈기, 쌍대개념, 반한정 프로그래밍을 포함하는 볼록형최적화 기법에 기반을 둔다.

• 한국지능시스템학회논문지
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• 제13권3호
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• pp.266-274
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• 2003

본 논문은 비정상 상태 탐지 문제를 위한 점증적 서포트 벡터 학습을 다룬다. 비정상상태 탐지를 위한 서포트 벡터 학습 중 가장 잘 알려진 기법 중 하나는 SVDD(support vector data description)인데, 이 기법은 정상적인 데이터의 집합을 모든 가능한 비정상 개체로부터 구분하기 위하여 커널 특징공간(kernel feature space) 위에서 정의되는 볼(ball)을 이용하는 전략을 추구한다. 본 논문의 주된 관심사는 최적해와 점증적으로 주어지는 학습 데이터의 상관관계를 이용하는 방향으로 SVDD 기법을 수정하는 것이다. 본 논문에서는, 기존의 SVDD 기법을 상세히 복습한 후에, 라그랑제 쌍대 문제(Largrange dual problem)에 관한 관찰을 바탕으로 최적 해를 찾기 위한 점증적 풀이 기법을 제시한다. 그리고, 제시된 점증적 방법론의 적용 가능성이 예제를 통하여 보여진다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1060-1067
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• 2005

This paper attempts to derive and analyze the dynamic system of pinching a rigid object by means of two multi-degrees-of-freedom robot fingers with soft and deformable tips. It is shown firstly that a set of differential equation describing dynamics system of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It is shown secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the dynamic stable grasping of the dual fingers robot with soft tips.