• Journal of the Korea Institute of Military Science and Technology
• /
• v.14 no.3
• /
• pp.327-334
• /
• 2011

It is necessary that UGV(Unmanned Ground Vehicle) should generate a real-time travesability index map by analyzing raw terrain information to travel autonomously tough terrain which has various slope and roughness values. In this paper, we propose a local path planning method, $MA^*$(Modified $A^*$) algorithm, using DVGM (Directional Velocity Grid Map) for unmanned ground vehicle. We also present a path optimization algorithm and a path smoothing algorithm which regenerate a pre-planned local path by $MA^*$ algorithm into the reasonable local path considering the mobility of UGV. Field test is conducted with UGV in order to verify the performance of local path planning method using DVGM. The local path planned by $MA^*$ is compared with the result of $A^*$ to verify the safety and optimality of proposed algorithm.

• Journal of Ocean Engineering and Technology
• /
• v.18 no.5
• /
• pp.29-35
• /
• 2004

A new approach, referred to as a successive zooming genetic algorithm (SZGA), is proposed for identifying a global solution, using continuous zooming factors for optimization problems. In order to improve the local fine-tuning of the GA, we introduced a new method whereby the search space is zoomed around the design variable with the best fitness per 100 generation, resulting in an improvement of the convergence. Furthermore, the reliability of the optimized solution is determined based on the theory of probability, and the parameter used for the successive zooming method is optimized. With parameter optimization, we can eliminate the time allocated for deciding parameters used in SZGA. To demonstrate the superiority of the proposed theory, we tested for the minimization of a multiple function, as well as simple functions. After testing, we applied the parameter optimization to a truss problem and wicket gate servomotor optimization. Then, the proposed algorithm identifies a more exact optimum value than the standard genetic algorithm.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.902-907
• /
• 1993

An efficient dynamic control algorithm that outperforms existing local torque optimization techniques for redundant manipulators is presented. The method resolves redundancy at the acceleration level. In this method, a systematic switching technique as a trade-off means between local torque optimization and global stability is proposed based on the stability condition proposed by Maciejewski [1]. Comparative simulations on a three-link planar arm show the effectiveness of the proposed method.

• Journal of Power System Engineering
• /
• v.21 no.6
• /
• pp.56-61
• /
• 2017

The check valves are mechanical valves that permit fluids to flow in only one direction, preventing flow from reversing. It is classified as one way directional valves. There are various types of check valves that used in a marine application. A lift type check valve uses the disc to open and close the passage of fluid. The disc lift up from seat as pressure below the disc increases, while drop in pressure on the inlet side or a build up of pressure on the outlet side causes the valve to close. An important concept in check valves is the cracking pressure which is the minimum upstream pressure at which the valve will operate. On the other hand, optimization is a process of finding the best set of parameters to reach a goal while not violating certain constraints. The AMESim software provides NLPQL(Nonlinear Programming by Quadratic Lagrangian) and genetic algorithm(GA) for optimization. NLPQL is the implementation of a SQP(sequential quadratic programming) algorithm. SQP is a standard method, based on the use of a gradient of objective functions and constraints to solve a non-linear optimization problem. A characteristic of the NLPQL is that it stops as soon as it finds a local minimum. Thus, the simulation results may be highly dependent on the starting point which user give to the algorithm. In this paper, we carried out optimization design of the check valve with NLPQL algorithm.

• Journal of Electrical Engineering and Technology
• /
• v.9 no.3
• /
• pp.859-865
• /
• 2014

Optimization of an electric machine is mainly a nonlinear multi-modal problem. For the optimization of the multi-modal problem, many function calls are required with much consumption of time. To address this problem, this paper proposes a novel hybrid algorithm in which function calls are less than conventional methods. Specifically, the proposed method uses the kriging metamodel and the fill-blank technique to find an approximated solution in a whole problem region. To increase the convergence speed in local peaks, a parallel gradient assisted simplex method is proposed and combined with the kriging meta-model. The correctness and usefulness of the proposed hybrid algorithm is verified through a mathematical test function and applied into the practical optimization as the cogging torque minimization for an interior permanent magnet synchronous machine.

• Journal of Power Electronics
• /
• v.19 no.5
• /
• pp.1248-1258
• /
• 2019

This paper presents a moth-flame optimization (MFO)-based maximum power point tracking (MPPT) method for photovoltaic (PV) systems. The MFO algorithm is a new optimization method that exhibits satisfactory performance in terms of exploration, exploitation, local optima avoidance, and convergence. Therefore, the MFO algorithm is quite suitable for solving multiple peaks of PV systems under partial shading conditions (PSCs). The proposed MFO-MPPT is compared with four MPPT algorithms, namely the perturb and observe (P&O)-MPPT, incremental conductance (INC)-MPPT, particle swarm optimization (PSO)-MPPT and whale optimization algorithm (WOA)-MPPT. Simulation and experiment results demonstrate that the proposed algorithm can extract the global maximum power point (MPP) with greater tracking speed and accuracy under various conditions.

• Proceedings of the KSME Conference
• /
• 2001.06c
• /
• pp.537-542
• /
• 2001

In recent engineering, the designer has become more and more dependent on computer simulation. But defining exact model using computer simulation is too expensive and time consuming in the complicate systems. Thus, designers often use approximation models, which express the relation between design variables and response variables. These models are called metamodel. In this paper, we introduce one of the metamodel, named Kriging. This model employs an interpolation scheme and is developed in the fields of spatial statistics and geostatistics. This class of interpolating model has flexibility to model response data with multiple local extreme. By reason of this multi modality, we can't use any gradient-based optimization algorithm to find global extreme value of this model. Thus we have to introduce global optimization algorithm. To do this, we introduce DE(Differential Evolution). DE algorithm is developed by Ken Price and Rainer Storn, and it has recently proven to be an efficient method for optimizing real-valued multi-modal objective functions. This algorithm is similar to GA(Genetic Algorithm) in populating points, crossing over, and mutating. But it introduces vector concept in populating process. So it is very simple and easy to use. Finally, we show how we determine Kriging metamodel and find global extreme value through two mathematical examples.

• International Journal of Control, Automation, and Systems
• /
• v.1 no.3
• /
• pp.289-300
• /
• 2003

In this paper, we introduce an identification method in Fuzzy Relation-based Fuzzy Neural Networks (FRFNN) through a hybrid identification algorithm. The proposed FRFNN modeling implement system structure and parameter identification in the efficient form of "If...., then... " statements, and exploit the theory of system optimization and fuzzy rules. The FRFNN modeling and identification environment realizes parameter identification through a synergistic usage of genetic optimization and complex search method. The hybrid identification algorithm is carried out by combining both genetic optimization and the improved complex method in order to guarantee both global optimization and local convergence. An aggregate objective function with a weighting factor is introduced to achieve a sound balance between approximation and generalization of the model. The proposed model is experimented with using two nonlinear data. The obtained experimental results reveal that the proposed networks exhibit high accuracy and generalization capabilities in comparison to other models.er models.

• Structural Engineering and Mechanics
• /
• v.70 no.3
• /
• pp.367-380
• /
• 2019

The paper concerns topology and geometry optimization of statically determinate beams with arbitrary number of supports. The optimization problem is treated as a bi-criteria one, with the objectives of minimizing the absolute maximum bending moment and the maximum deflection for a uniform gravity load. The problem is formulated and solved using the Pareto optimality concept and the lexicographic ordering of the objectives. The non-dominated sorting genetic algorithm NSGA-II and the local search method are used for the optimization in the Pareto sense, whereas the genetic algorithm and the exhaustive search method for the lexicographic optimization. Trade-offs between objectives are examined and sets of Pareto-optimal solutions are provided for different topologies. Lexicographically optimal beams are found assuming that the maximum moment is a more important criterion. Exact formulas for locations and values of the maximum deflection are given for all lexicographically optimal beams of any topology and any number of supports. Topologies with lexicographically optimal geometries are classified into equivalence classes, and specific features of these classes are discussed. A qualitative principle of the division of topologies equivalent in terms of the maximum moment into topologies better and worse in terms of the maximum deflection is found.

• International Journal of Computer Science & Network Security
• /
• v.24 no.8
• /
• pp.72-84
• /
• 2024

Plant leaf classification is an imperative task when their use in real world is considered either for medicinal purposes or in agricultural sector. Accurate identification of plants is, therefore, quite important, since there are numerous poisonous plants which if by mistake consumed or used by humans can prove fatal to their lives. Furthermore, in agriculture, detection of certain kinds of weeds can prove to be quite significant for saving crops against such unwanted plants. In general, Artificial Neural Networks (ANN) are a suitable candidate for classification of images when small datasets are available. However, these suffer from local minima problems which can be effectively resolved using some global optimization techniques. Considering this issue, the present research paper presents an automated plant leaf classification system using optimized soft computing models in which ANNs are optimized using Grasshopper Optimization algorithm (GOA). In addition, the proposed model outperformed the state-of-the-art techniques when compared with simple ANN and particle swarm optimization based ANN. Results show that proposed GOA-ANN based plant leaf classification system is a promising technique for small image datasets.