• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.179-184
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• 1993

In this paper, an optimal motion control scheme is proposed for robot manipulators. A simple explicit solution to the Hamilton-Jacobi equation is presented. The optimization of motion control is based on the mininization of the torque term affecting the kinetic energy and the augmented error which has the first-order stable dynamics for the position and velocity tracking error. In the presence of parametric uncertainty, an adaptive control scheme using the optimal principle is proposed. The global stability of the closed-loop system is guaranteed by the Lyapunov stability approach, The effectiveness and feasibility of the proposed control schemes are shown by simulation results.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.3
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• pp.313-320
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• 1999

The Lane-Curvature Method(LCM) presented in this paper is a new local obstacle avoidance method for indoor mobile robots. The method combines Curvature-Velocith Method(CVM) with a new directional method called the Lane Method. The Lane Method divides the environment into lanes taking the information on obstacles and desired heading of the robot into account ; then it chooses the best lane to follow to optimize travel along a desired heading. A local heading is then calculated for entering and following the best lane, and CVM uses this heading to determine the optimal translational and rotational velocity space methods, LCM yields safe collision-free motion as well as smooth motion taking the dynamics of the robot Xavier, show the efficiency of the proposed method.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.12
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• pp.126-132
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• 1999

The paper presents the modeling and optimal control for the reduction of transverse vibration of simply supported beam under a moving mass. The equations of motion are derived by using assumed mode method. The coriolis and centripetal accelerations are accommodated in the equations of motion to account for the dynamic effect of the traveling mass. In order to reduce the transverse vibration of the beam, an optimal controller with full state feedback is designed based on the linearized equations of motion. The optimal actuator locations are determined with the evaluation of an optimal cost functional defined by the worst initial condition with the trade-off of controlled mode performance. Numerical simulations are performed with respect to various velocities and different traveling masses. Even if the velocity of the traveling mass reaches to the critical speed which can cause the resonance of the beam, the controller with two piezoelectric actuators shows the excellent performance under severe time-varying disturbances of the system.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2002.05a
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• pp.77-81
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• 2002

A new method of optimal blank shape design using the initial nodal velocity (INOV) has been proposed for the drawings of arbitrary shaped cups. With the given information of tool shape and the final product shape, corresponding initial blank shape has been found from the motion of boundary nodes. Although the sensitivity method, the past work of Hynbo Shim and Kichan Son, has been proved to be excellent method to find optimal blank shapes, the method has a problem that a couple of deformation analysis is required at each design step and it also exhibits an abnormal behaviors in the rigid body rotation prevailing region. In the present method INOV, only a single deformation analysis per each design stage is required. Drawings of practical products as well as oil-pan have been chosen as the examples. At every case the optimal blank shapes have been obtained only after a few times of modification without predetermined deformation path. The deformed shape with predicted optimal blank almost coincides with the target shape at every case. Through the investigation the INOV is found to be very effective in the arbitrary shaped drawing process design.

• Transactions of Materials Processing
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• v.11 no.6
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• pp.487-494
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• 2002

A new method of optimal blank shape design using the initial nodal velocity (INOV) has been proposed for the drawings of arbitrary shaped cups. With the given information of tool shape and the final product shape, corresponding initial blank shape has been found from the motion of boundary nodes. Although the sensitivity method, the past work of the present authors, has been proved to be excellent method to find optimal blank shapes, the method has a problem that a couple of deformation analysis is required at each design step and it also exhibits an abnormal behaviors in the rigid body rotation prevailing region. In the present method INOV, only a single deformation analysis per each design stage is required. Drawings of practical products as well as oil-pan, have been chosen as the examples. At every case the optimal blank shapes have been obtained only after a few times of modification without predetermined deformation path. The deformed shape with predicted optimal blank almost coincides with the target shape at every case. Through the investigation the INOV is found to be very effective in the arbitrary shaped drawing process design.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.154-159
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• 1989

This paper presents a motion planning algorithm for conveyor tracking. We formulate the problem as the linear quadratic tracking problem in optimal control theory and solve it through dynamic programming. In the proposed algorithm, the steady-state tracking error is eliminated completely, and the joint torque, velocity, acceleration, and jerks are considered as some constraints. Numerical examples are then presented to demonstrate the utility of the proposed motion planning algorithm.

• Korean Journal of Applied Biomechanics
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• v.25 no.1
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• pp.39-47
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• 2015

Objective : The purpose of this study was to investigate the velocity conversion coefficient and invariance for the optimal phase ratio on the performance of the women's triple jump. Methods : Three-dimensional kinematic data were obtained from the three finalists of the women's triple jumper competition at the 2011 Daegu IAAF World Championships. Computer simulations were performed using the biomechanical model of the triple jump to optimize the phase ratio for the longest actual distance for all athletes with altered velocity conversion coefficients. Results : Top elite triple jumpers showed better technical consistency at the phase ratio. Also, no consistent relationship was observed between the loss in horizontal velocity and the gain in vertical velocity across supporting the three phase. In addition, regardless of the magnitude A1, all athletes were optimized with jump-dominated technique. Finally, as the magnitude of A1 increased, the athletes showed better performance. The obtained overall distance jumped showed the longest actual distance when the optimal phase ratio was transferred from hop-dominated to jump-dominated(the step ratio was 30%~31%), and when the optimal phase ratio was transferred from balanced to jump-dominated(the step ratio was 27%~29%). Conclusion : Future studies need to be conducted in order to explore the active landing motion and the inclination angle of the body with the velocity conversion coefficient simultaneously at each supporting phase.

• Earthquakes and Structures
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• v.15 no.4
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• pp.443-452
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• 2018

In this paper the new intensity measures (IMs) for probabilistic seismic analysis of RC high-rise buildings with core wall structural system are proposed. The existing IMs are analysed and the new optimal ones are presented. The newly proposed IMs are based on the existing ones which: 1) comprise a wider range of frequency velocity spectrum content and 2) are defined as the integral along the velocity spectrum. In analysis characteristics of optimal IMs such as: efficiency, practicality, proficiency and sufficiency are considered. As prototype buildings, RC high-rise buildings with core wall structural system and with characteristic heights: 20-storey, 30-storey and 40-storey, are selected. The non-linear 3D models of the prototype buildings are constructed. 720 non-linear time-history analyses are conducted for 60 ground motion records with a wide range of magnitudes, distances to source and various soil types. Statistical processing of results and detailed regression analysis are performed and appropriate demand models which relate IMs to demand measures (DMs), are obtained. The conducted analysis has shown that the newly proposed IMs can efficiently predict the DMs with minimum dispersion and satisfactory practicality as compared to the other commonly used IMs (e.g., PGA and $S_a(T_1)$). The newly proposed IMs overcome difficulties in calculating of integral along the velocity spectrum and present adequate replacement for IMs which comprise a wider range of frequency velocity spectrum content.

• Nuclear Engineering and Technology
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• v.53 no.12
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• pp.4179-4188
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• 2021

This study identifies efficient earthquake intensity measures (IMs) for seismic performances and fragility evaluations of the reactor containment building (RCB) in the advanced power reactor 1400 (APR1400) nuclear power plant (NPP). The computational model of RCB is constructed using the beam-truss model (BTM) for nonlinear analyses. A total of 90 ground motion records and 20 different IMs are employed for numerical analyses. A series of nonlinear time-history analyses are performed to monitor maximum floor displacements and accelerations of RCB. Then, probabilistic seismic demand models of RCB are developed for each IM. Statistical parameters including coefficient of determination (R²), dispersion (i.e. standard deviation), practicality, and proficiency are calculated to recognize strongly correlated IMs with the seismic performance of the NPP structure. The numerical results show that the optimal IMs are spectral acceleration, spectral velocity, spectral displacement at the fundamental period, acceleration spectrum intensity, effective peak acceleration, peak ground acceleration, A95, and sustained maximum acceleration. Moreover, weakly related IMs to the seismic performance of RCB are peak ground displacement, root-mean-square of displacement, specific energy density, root-mean-square of velocity, peak ground velocity, Housner intensity, velocity spectrum intensity, and sustained maximum velocity. Finally, a set of fragility curves of RCB are developed for optimal IMs.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.604-609
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• 2005

This paper presents an experimental study for optimizing the acceleration of AC servomotor using finite jerk (the first derivative of acceleration). The acceleration optimization with finite jerk aims at generating the smooth velocity profile of AC servomotor by experimentally minimizing vibration resulted from the initial friction of servomotor. The stick-slip motion of AC servomotor induced by initial friction can result in the positional errors that are not good for high-precision devices such as the assembly robot arms to be used in a 300mm wafer or a LCD (Liquid Crystal Display) stocker system. In this paper, experiments were made by using a PM (Permanent Magnet) type AC servomotor with MMC(R) (Multi Motion Controller) programmed in Visual C++(R). The experiments have been performed for finding the optimal duration time of finite jerk in terms of the minimization of vibration displacements when both the magnitude of velocity and the allowable acceleration are given. We have compared the proposed control with the conventional control with trapezoidal velocity profile by measuring vibration displacements. The effectiveness of the proposed control has been verified in that the experimental results showed the decrease of vibration displacement by about 24%.