• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.493-499
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• 2022

This paper presents the design for the kinematic structure of a system for an automatically moored 6000 ton autonomous ship in a port, and the process and results of optimal design for the link cross-sectional shape. We propose an automatic mooring system with a PPP type serial manipulator structure capable of linear motion in the XYZ axis. The mooring force applied by the mooring system was derived with dynamics simulation tool "ADAMS". The design goal is the minimization of the cross-sectional area of the link. Constrains include compressive stress and shear stress. The optimization problems were solved by using the sequential quadratic programing method implemented in the fmincon package. The shape of the cross section was assumed to be rectangle. Through future research, we plan to manufacture automatic mooring system for 6000ton class autonomous ship.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.1
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• pp.103-108
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• 2012

In this paper, the optimal design of a spring-type gravity compensation system for an articulated robot is presented. Sequential quadratic programming (SQP) is adopted to resolve various nonlinear constraints in spring design such as stress, buckling, and fatigue constraints, and to reduce computation time. In addition, continuous relaxation method is used to explain the integer-valued design variables. The simulation results show that the gravity compensation system designed by proposed method improves the performance effectively without additional weight gain in the main workspace.

• 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 ...

• Journal of the Korean Society of Marine Environment & Safety
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• v.24 no.4
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• pp.467-474
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• 2018

The purpose of this study is related to automatic hull-form design for ships operating at two speeds. Research was conducted using a series 60 ($C_B=0.6$) ship as a target, which has the most basic ship hull-form. Hull-form development was pursued from the viewpoint of improving resistance performance. In particular, automatic hull-form design for a ship was performed to improve wave resistance, which is closely related to hull-forms. For this purpose, we developed automatic hull-form design software for ships by combining an optimization technique, resistance prediction technique and hull-form modification technique, appling the software developed to a target ship. A sequential quadratic programming method was used for optimization, and a potential-based panel method was used to predict resistance performance. A Gaussian-type modification function was developed and applied to change the ship hull-form. The software developed was used to design a target ship operating at two different speeds, and the performance of the resulting optimized hull was compared with the results of the original hull. In order to verify the validity of the program developed, experimental results obtained in model tests were compared with calculated values by numerical analysis.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.9 no.2
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• pp.59-65
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• 2000

In this paper the comparison of the first order approximation schemes such as SLP(sequential linear programming) CONLIN(convex linearization) MMA(method of moving asymptotes) and the second order approximation scheme SQP(sequential quadratic programming) was accomplished for optimization of nonlinear structures. It was found that MMA and SQP are the most efficient methods for optimization. But the number of function call of SQP is much more than that of MMA. Therefore when it is considered with the expense of computation MMA is more efficient than SQP. In order to examine the efficiency of MMA for complex optimization problem it was applied to the helicopter tail boom con-sidering column buckling and local wall buckling constraints. it is concluded that MMA can be a very efficient approxima-tion scheme from simple problems to complex problems.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2003.09a
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• pp.395-402
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• 2003

Characteristics of base isolators including frictional and hysteretic types may be described by Bouc-Wen model. A probabilistic optimum design method of the base isolation system using Bouc-Wen model is presented in this paper. For optimum design, the objective function and constraints are derived based on the stochastic responses of the system. As a numerical example, the optimum design problem of a three-story base isolated shear type structure is formulated and solved by the sequential quadratic programming method.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.15 no.4
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• pp.675-691
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• 2002

The focus of this work is on the development of large-scale numerical optimization methods for optimal control of steady incompressible Navier-Stokes flows. The control is affected by the suction or injection of fluid on portions of the boundary, and the objective function of fluid on portions of the boundary, and the objective function represents the rate at which energy is dissipated in the fluid. We develop reduced Hessian sequential quadratic programming. Both quasi-Newton and Newton variants are developed and compared to the approach of eliminating the flow equations and variables, which is effectively the generalized reduced gradient method. Optimal control problems we solved for two-dimensional flow around a cylinder. The examples demonstrate at least an order-of-magnitude reduction in time taken, allowing the optimal solution of flow control problems in as little as half an hour on a desktop workstation.

• Proceeding of KASS Symposium
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• 2008.05a
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• pp.101-106
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• 2008

This paper describes a comparative study of genetic algorithm and mathematical programming technique applied in the design optimization of geodesic dome. In particular, the genetic algorithm adopted in this study uses the so-called re-birthing technique together with the standard GA operations such as fitness, selection, crossover and mutation to accelerate the searching process. The finite difference method is used to calculate the design sensitivity required in mathematical programming techniques and three different techniques such as sequential linear programming (SLP), sequential quadratic programming(SQP) and modified feasible direction method(MFDM) are consistently used in the design optimization of geodesic dome. The optimum member sizes of geodesic dome against several external loads is evaluated by the codes $ISADO-GA{\alpha}$ and ISADO-OPT. From a numerical example, we found that both optimization techniques such as GA and mathematical programming technique are very effective to calculate the optimum member sizes of three dimensional discrete structures and it can provide a very useful information on the existing structural system and it also has a great potential to produce new structural system for large spatial structures.

• Magazine of the Korean Society of Agricultural Engineers
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• v.36 no.2
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• pp.111-122
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• 1994

In this study, an algorithm which can be applied to the optimum design of simple steel plate girders was developed, and efficient optimization strategies for the solution of algorithm were found out. The optimum design algorithm consists of 3-levels of optimization. In the first and second levels of optimization, the absolute maximum bending moment and shearing force are extracted and in the third level of optimization, the optimum cross section of steel plate girder is determined. For the optimum design of cross section, the objective function is formulated as the total area of cross section and constraints are derived in consideration of the various stresses and the minimum dimension of flange and web based on the part of steel bridge in the Korea standard code of road bridge. Sequential unconstrained minimization technique using the exterior penalty function method(SUMT-EP), sequential linear programming(SLP) and sequential quadratic programming (SQP) are proved to be efficient and robust strategies for the optimum design of simple plate girder cross section. From the reliable point of view, SLP is the most efficient and robust strategy and SQP is the most efficient one from the viewpoint of converguency and computing time.

• Journal of Mechanical Science and Technology
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• v.17 no.1
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• pp.40-47
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• 2003

In this paper, we constructed the analytic model of control valve as a function of electric and geometric parameters, and analyzed the influence of the design parameters on the dynamic characteristics. For improving the dynamic characteristics, optimal design is conducted by applying sequential quadratic programming method to the analytic model. This optimal design aims to minimize the response time and maximize force efficiency. By this procedure, control valve can be designed to have fast response in motion.