• Journal of Institute of Control, Robotics and Systems
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• v.21 no.12
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• pp.1193-1200
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• 2015

An effective swing trajectory of legged robots is different from the swing trajectories of humans or animals because of different dynamic characteristics. Therefore, it is important to find optimal parameters through experiments. This paper proposes a real-time nonlinear programming (RTNLP) method for optimization of the swing trajectory of the legged robot. For parameterization of the trajectory, the swing trajectory is approximated to parabolic and cubic spline curves. The robotic leg is position-controlled by a high-gain controller, and a cost function is selected such that the sum of the motor inputs and tracking errors at each joint is minimized. A simplified dynamic model is used to simulate the dynamics of a robotic leg. The purpose of the simulation is to find the feasibility of the optimization problem before an actual experiment occurs. Finally, an experiment is carried out on a real robotic leg with two degrees of freedom. For both the simulation and the experiment, the design variables converge to a feasible point, reducing the cost value.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2023.05a
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• pp.223-224
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• 2023

Optimal fleet management in the planning stage is one of the most critical activities that guarantee successful construction projects. In South Korea, the construction standard production rate database (CSPRD) is normally employed. However, when it comes to a trade-off problem that involves decision-making on optimal sets of equipment to perform a certain task, the method will require the planners' in-depth knowledge and experience regarding the target process and a time consuming estimation of the performance of every possible scenario must be conducted for the deduction of the optimal fleet management. On this account, this research paper proposes a lightweight method of using mixed integer nonlinear programming (MINLP) in multi-objective problems based on CSPRD-based mathematical equations to assist planners in the preplanning stage of choosing the optimal sets of types and size machinery to efficiently arrange the construction scheduling and budgeting.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.8
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• pp.1898-1909
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• 1993

In this paper, a convenient scheme for solving multi-objective optimization problems including fuzzy information in both objective functions and constraints is presented. At first, a multi-objective problem is converted into single objective problem based on the norm method, and a merbership function is constructed by selecting its type and providing the parameters defined by the norm method. Finally, this fuzzy programming problem is converted into an ordinary optimization problem which can be solved by usual nonlinear programming techniques. With this scheme, a designer can conveniently obtain pareto optimal solutions of a fuzzy system only by providing some parameters corresponding to the importance of the objectiv functions. Proposed scheme is simple and efficient in treating multi-objective fuzzy systems compared with and method by with membership function value is provided interactively. To show the validity of the scheme, a simple 3-bar truss example and optimal cutting problem are solved, and the results show that the scheme is very useful and easy to treat multi-objective fuzzy systems.

• Journal of Electrical Engineering and Technology
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• v.12 no.1
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• pp.53-63
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• 2017

The increasing of wind power penetration level presents challenges in classical optimal reactive power dispatch (ORPD) which is usually formulated as a deterministic optimization problem. This paper proposes a two-stage stochastic programming model for ORPD by considering the uncertainties of wind speed and load in a specified time interval. To avoid the excessive operation, the schedule of compensators will be determined in the first-stage while accounting for the costs of adjusting the compensators (CACs). Under uncertainty effects, on-load tap changer (OLTC) and generator in the second-stage will compensate the mismatch caused by the first-stage decision. The objective of the proposed model is to minimize the sum of CACs and the expected energy loss. The stochastic behavior is formulated by three-point estimate method (TPEM) to convert the stochastic programming into equivalent deterministic problem. A hybrid Genetic Algorithm-Interior Point Method is utilized to solve this large-scale mixed-integer nonlinear stochastic problem. Two case studies on IEEE 14-bus and IEEE 118-bus system are provided to illustrate the effectiveness of the proposed method.

• Journal of Korean Institute of Industrial Engineers
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• v.6 no.2
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• pp.21-29
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• 1980

This paper deals with the capital budgeting problem of a firm where investments are risky and interrelated. The established models might be classified into two categories; One is the chance-constrained programming model and the other is the expected utility maximization model. The former has a rather limited objective function and does not consider the risk in direct manner. The latter, on the other hand, might lead to a wrong decision because it uses an approximate value of expected utility. This paper attempts to extend the applicability of the chance-constrained programming model by modifying its objective function into a more general form. The capital budgeting problem is formulated as a nonlinear 0-1 integer programming problem first, and is formulated into a linear 0-1 integer programming problem for finding a lower-bound solution of the original problem. The optimal solution of the original problem is then obtained by branch & bound algorithm.

• Korean Management Science Review
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• v.23 no.2
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• pp.161-174
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• 2006

In this paper, we consider a network optimization problem arising from the deployment of BcN access network. BcN convergence services requires that access networks satisfy QoS meausres. BcN services have two types of traffics : stream traffic and elastic traffic. Stream traffic uses blocking probability as a QoS measure, while elastic traffic uses delay factor as a QoS measure. Incorporating the QoS requirements, we formulate the problem as a nonlinear mixed-integer Programming model. The Proposed model seeks to find a minimum cost dimensioning solution, while satisfying the QoS requirement. We propose two local search heuristic algorithms for solving the problem, and develop a network design system that implements the developed heuristic algorithms. We demonstrate the computational efficacy of the proposed algorithm by solving a realistic network design problem.

• Interaction and multiscale mechanics
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• v.5 no.3
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• pp.211-228
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• 2012

This paper reports the development of a generalized inverse analysis formulation for the parameter estimation of four-parameter Burger model. The analysis is carried out by formulating the problem as a mathematical programming formulation in terms of identification of the design vector, the objective function and the design constraints. Thereafter, the formulated constrained nonlinear multivariable problem is solved with the aid of fmincon: an in-built constrained optimization solver module available in MatLab. In order to gain experience, a synthetic case-study is considered wherein key issues such as the determination and setting up of variable bounds, global optimality of the solution and minimum number of data-points required for prediction of parameters is addressed. The results reveal that the developed technique is quite efficient in predicting the model parameters. The best result is obtained when the design variables are subjected to a lower bound without any upper bound. Global optimality of the solution is achieved using the developed technique. A minimum of 4-5 randomly selected data-points are required to achieve the optimal solution. The above technique has also been adopted for real-time settlement of four oil refineries with encouraging results.

• Proceedings of the Korea Society of Information Technology Applications Conference
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• 2005.11a
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• pp.311-314
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• 2005

Supply chain optimization is one of the most important components in the optimization of a company's value chain. This paper considers the problem of designing the supply chain for a product that is represented as an assembly bill of material (BOM). In this problem we are required to identify the locations at which different components of the product arc are produced/assembled. The objective is to minimize the overall cost, which comprises production, inventory holding and transportation costs. We assume that production locations are known and that the inventory policy is a base stock policy. We first formulate the problem as a 0-1 nonlinear integer programming model and show that it can be reformulated as a 0-1 linear integer programming model with an exponential number of decision variables.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2006.11a
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• pp.403-406
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• 2006

This paper provides an M/G/1 queueing model for the operations management problem at the toll plaza. This queueing process is incorporated with two non-linear integer programming models - the user cost minimization model during the peak times and the operating cost minimization model during the off-peak hours.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.169.4-169
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• 2001

Conventional methods to solve the nonlinear programming problem range from augmented Lagrangian methods to sequential quadratic programming (SQP) methods. NPSOL, which is a SQP code, has been widely used to solve various optimization problems but is still subject to many numerical problems such as convergence to local optima, difficulties in initialization and in handling non-smooth cost functions. Recently, many evolutionary methods have been developed for constrained optimization. Among them, CEALM (Co-Evolutionary Augmented Lagrangian Method) shows excellent performance in the following aspects: global optimization capability, low sensitivity to the initial parameter guessing, and excellent constraint handling capability due to the benefit of the augmented Lagrangian function. This algorithm is ...