• Journal of the Korean Institute of Intelligent Systems
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• v.6 no.2
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• pp.111-119
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• 1996

In this paper, we propose time-optimal trajectory planning algorithms for cooperative multi-robot manipulators system considering optimal load distribution. Internal forces essentially effect on time optimal trajectory planning and if they are comitted, the time optimal scheme is not no longer true. Therefore, we try to find the internal force factors of cooperative robot manipulators system in a time-optimal aspect. In this approach, a specific generalized inverse is used and is fuzzified for the purpose. In this optimal method, the fuzzy logic concept is used and selected for diminishing computation time, for finding the load distribution factors.

• Journal of Power Electronics
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• v.12 no.5
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• pp.769-777
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• 2012

In this paper, a new development in the time optimal control theory in sliding mode control systems for multi-quadrant buck converters with a variable load is presented. In general, the closed-loop time optimal control system is applied to multi-quadrant buck converters for output regulation, so that an optimal switching surface is obtained. Moreover, an adjusted optimal sliding mode controller is suggested which adjusts the controller parameters to give an optimal switching surface. In addition, a description of the transient response of the closed-loop system is proposed and used to damp any output or input disturbances in minimum time. Numerical simulations and experimental results are employed to demonstrate that the output regulation time and transient performances of dc/dc converters using the proposed technique are improved effectively when compared to the classical sliding mode control method.

• Journal of Industrial Technology
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• v.21 no.B
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• pp.85-89
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• 2001

In this paper, we analyze a time-based update method in location management and calculate the optimal time-interval. The probability that an MT is j rings away from the center cell is obtained by computer programming. And using these values, an exact analysis is made for the time-based location management cost. From the result, when the time-based method is applied to location update, we can get the optimal time-interval which minimizes the location management cost.

• 전기의세계
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• v.26 no.2
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• pp.84-88
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• 1977

In this paper we apply the maximum principle to design of time optimal nonlinear sampled-data control systems. We introduce the general design procedures and the mathematical formalas for time optimal processes and trajectories. Then we show the application of the technique to determine the optimal control signal, control sequence, switching time and sampling period to the given 4th order process.

• Journal of the Korea Computer Industry Society
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• v.2 no.9
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• pp.1155-1162
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• 2001

This paper proposes a method to determine the optimal utilizations of the UNIX systems. This method is developed using the definition-the optimal utilization is the maximum allowable utilization In other words, the optimal utilization is the maximum utilization that can be allowed by users while providing tolerable response time. As the tolerable response time increases, the optimal utilization increases. Therefore, the optimal utilization is obtained at the maximal value of tolerable response time. Our analysis shows tolerable response time is achieved when the average of the trivial response time is less than 0.24 seconds for a given service objective. It also shows the optimal utilization consists of three components-%wio, %sys, and %usr. By way of example, the optimal utilizations of a machine running under the UNIX operating system are computed using proposed method.

• Journal of Korean Society for Quality Management
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• v.48 no.1
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• pp.201-214
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• 2020

Purpose: The purpose of this paper is to determine an optimal number of cycle times for the replacement under the circumstance where the system is replaced at the periodic time and the multiple number of working cycles whichever occurs first and the system is minimally repaired between the replacements if it fails. Methods: The system is replaced at periodic time () or cycle time, whichever occurs first, and is repaired minimally when it fails between successive replacements. To determine the optimal number of cycle times, the expected total cost rate is optimized with respect to the number of cycle times, where the expected total cost rate is defined as the ratio of the expected total cost between replacements to the expected time between replacements. Results: In this paper, we conduct a sensitivity analysis to find the following results. First, when the expected number of failures per unit time increases, the optimal number of cycle times decreases. Second, when the periodic time for replacement becomes longer, the optimal number of cycle times decreases. Third, when the expected value for exponential distribution of the cycle time increases, the optimal number of cycle times increases. Conclusion: A mathematical model is suggested to find the optimal number of cycle times and numerical examples are provided through the sensitivity analysis on the model parameters to see the patterns for changes of the optimal number of cycle times.

• Journal of Korean Society for Quality Management
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• v.47 no.1
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• pp.87-96
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• 2019

Purpose: The purpose of this paper is to determine an optimal production time for economic production quantity model with preventive maintenance and random defective rate as the function of a machinery deteriorates. Methods: If a machinery shifts from "in-control" state to "out-of-control" state, a proportion of defective items being produced increases. It is assumed that time to state shift is a random variable and follows an arbitrary distribution. The elapsed time until process shift decreases stochastically as a production cycle repeats and quasi-renewal process is used to implement for production facilities to deteriorate. Results: When the exponential parameter for exponential distribution increases, the optimal production time increases. When Weibull distribution is considered, the optimal production time is closely affected by the shape parameter of Weibull distribution. Conclusion: A mathematical model is suggested to find optimal production time and optimal number of production cycles and numerical examples are implemented to validate the patterns for changes of optimal times under different parameters assumptions. The real application is implemented using the proposed approach.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.10
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• pp.116-126
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• 2001

This paper suggests a numerical method to find optimal geometric path and minimum-time motion for a spatial 6-link manipulator arm (PUMA 560 type). To find a minimum-time motion, the optimal geometric paths minimizing 2 different dynamic performance indices are searched first, and the minimum-time motions are searched on these optimal paths. In the algorithm to find optimal geometric paths, the objective functions (performance indices) are selected to minimize joint velocities, actuator forces or the combinations of them as well as to avoid one static obstacle. In the minimum-time algorithm the traveling time is expressed by the power series including 21 terms. The coefficients of the series are obtained using nonlinear programming to minimize the total traveling time subject to the constraints of velocity-dependent actuator forces.

• The Transactions of the Korea Information Processing Society
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• v.2 no.5
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• pp.807-813
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• 1995

This paper proposes a method to determine the optimal utilizations of the UNIX systems. This method is developed using the definition-the optimal utilization is the maximum allowable utilization. In other words, the optimal utilization is the maximum utilization that can be allowed by users while providing tolerable response time. As the tolerable response time increases, the optimal utilization increases. Therefore, the optimal utilization is obtained at the maximal value of tolerable response time. Our analysis shows tolerable response time is achieved when the average of the trivial response time is less than 0.24 seconds for a given service objective. It also shows the optimal utilization consists of three components-%wio, and %usr. By way of example, the optimal utilizations of a machine (IBM 3081) running under the UNIX operating system are computed are computed using the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.293-298
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• 1993

In this paper, methods for computing the time-optimal motion of a robotic manipulator are presented that considers the nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacles. The optimization problem can be reduced to a search for the time-optimal path in the n-dimensional position space. These paths are further optimized with a local path optimization to yield a global optimal solution. Time-optimal motion of a robot with an articulated arm is presented as an example.