• Journal of the Korean Society of Safety
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• v.15 no.2
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• pp.63-69
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• 2000

The constraint conditions are the stator voltage and the stator current to operate the motor in the flux weakening region. The maximum current is limited by the inverter current rating and the machine thermal rating. Given DC link voltage to control the motor in the flux weakening the maximum voltage is determined by considering PWM strategy, dead time, voltage drop of the inverter switching device, and the margin of the voltage for current forcing. In this paper, the new method to determine the available maximum voltage is derived by the quantitative method and by considering the factors of the voltage drop. The proposed method to determine the maximum voltage is very useful to improve the stability of the motor system and to enlarge the speed operation region in the flux weakening operation. Therefore the utility of the maximum voltage is increased.

• Transactions of the Korean Society of Automotive Engineers
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• v.20 no.2
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• pp.47-55
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• 2012

This work deals with dynamic analysis of a monorail system with magnetic caterpillar where magnets are embedded inside each articulated element of the caterpillar, augmenting traction force of main rubber wheels to climb up slope up to 15 degree grade. Considerations are first given to determine stiffness of the primary and secondary suspension springs in order for the natural frequencies of car body and bogie associated with vertical, pitch, roll and yaw motion to be within generally accepted range of 1-2 Hz. Equations for calculating magnetic force needed to climb up given slope are derived, and a magnetic caterpillar system for 1/6 scale monorail is designed based on the derivation. To assess the hill climbing ability and cornering stability, and make sure smooth operation of the side and vertical guiding wheels which is critical for safety, a multibody model that takes into account of every component level design characteristics of car, bogie, and caterpillar is set up. Through hill climbing simulation and comparison with measurement of the limit slope, the validity of the analysis and design of the magnetic caterpillar system are demonstrated. Also by studying the curving behavior, maximum curving speed without rollover, functioning of lateral motion constraint system, the effects of geometry of guiding rails are studied.

• International Journal of Naval Architecture and Ocean Engineering
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• v.5 no.3
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• pp.454-467
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• 2013

A practical Ship Inner Shell Optimization Method (SISOM), the purpose of which is to improve the safety of the seagoing transport ship by decreasing the maximum Still Water Bending Moment (SWBM) of the hull girder under all typical loading conditions, is presented in this paper. The objective of SISOM is to make the maximum SWBM minimum, and the section areas of the inner shell are taken as optimization variables. The main requirements of the ship performances, such as cargo hold capacity, propeller and rudder immersion, bridge visibility, damage stability and prevention of pollution etc., are taken as constraints. The penalty function method is used in SISOM to change the above nonlinear constraint problem into an unconstrained one, which is then solved by applying the steepest descent method. After optimization, the optimal section area distribution of the inner shell is obtained, and the shape of inner shell is adjusted according to the optimal section area. SISOM is applied to a product oil tanker and a bulk carrier, and the maximum SWBM of the two ships is significantly decreased by changing the shape of inner shell plate slightly. The two examples prove that SISOM is highly efficient and valuable to engineering practice.

• Geophysics and Geophysical Exploration
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• v.7 no.1
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• pp.51-55
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• 2004

This paper presents a fast and stable imaging scheme using the localized nonlinear (LN) approximation of integral equation (IE) solutions for inverting electromagnetic data obtained in a crosswell survey. The medium is assumed to be cylindrically symmetric about a source borehole, and to maintain the symmetry a vertical magnetic dipole is used as a source. To find an optimum balance between data fitting and smoothness constraint, we introduce an automatic selection scheme for a Lagrange multiplier, which is sought at each iteration with a least misfit criterion. In this selection scheme, the IE algorithm is quite attractive for saving computing time because Green's functions, whose calculation is a most time-consuming part in IE methods, are repeatedly re-usable throughout the inversion process. The inversion scheme using the LN approximation has been tested to show its stability and efficiency, using both synthetic and field data. The inverted image derived from the field data, collected in a pilot experiment of water-flood monitoring in an oil field, is successfully compared with that derived by a 2.5-dimensional inversion scheme.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.37 no.5
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• pp.272-281
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• 1988

The problem of optimal transmission system planning is to find the most economical locations and time of transmission line construction under the various constraints such as available rights-of-way, finances, the technical characteristics of power system, and the reliability criterion of power supply, and so on. In this paper the constraint of right-of-way is represented as a finite set of available rights-of-way. And the constructed for a unit period. The electrical constraints are represented in terms of line overload and steady state stability margin. And the reliability criterion is dealt with the suppression of failure cost and with single-contingency analysis. In general, the transmission planning problem requires integer solutions and its objective function is nonlinear. In this paper the objective function is defined as a sum of the present values of construction cost and the minimum operating cost of power system. The latter is represented as a sum of generation cost and failure cost considering the change of yearly load, economic dispatch, and the line contingency. For the calculation of operating cost linear programming is adopted on the base of DC load flow calculation, and for the optimization of main objective function nonlinear Branch-and-Bound algorithm is used. Finally, for improving the efficiency of B & B algorithm a new sensitivity analysis algorithm is proposed.

• Proceedings of the KIEE Conference
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• 1995.07b
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• pp.874-876
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• 1995

Force and compliance control has been used in the control of legged walking vehicles to achieve superior terrain adaptability on rough terrains. The compliance control requires distribution of the vehicle load over the supporting legs. However, the constraint equations for ground reaction forces of supporting legs are generally underdetermined, allowing an infinite number of solutions. Thus, it is possible to apply an optimization criteria in solving the force setpoint problem. It has been observed that the previous force setpoint optimization methods sometimes cause a system stability problem and/or the load distribution among supporting legs is not well balanced due to a memory effect on the solution trajectory, This paper presents an iterative force setpoint method to solve this problem using an interpolation technique. By simulation it was shown that an excessive load unbalance among supporting legs and the memory effect in the force trajectory are alleviated much with the proposed method.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.4
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• pp.469-475
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• 2010

The objective of this study is to integrate reliability analysis into shape optimization problem using the evolutionary structural optimization (ESO) in the application example. Reliability-based shape optimization is formulated as volume minimization problem with probabilistic stress constraint under minimization max. von Mises stress and allow stress. Young's modulus, external load and thickness are considered as uncertain variables. In order to compute reliability index, four methods, i.e., reliability index approach (RIA), performance measure approach (PMA), single-loop singlevector (SLSV) and adaptive-loop (ADL), are used. Reliability-based shape optimization design process is conducted to obtain optimal shape satisfying max. von Mises stress and reliability index constraints with the above four methods, and then each result is compared with respect to numerical stability and computing time.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.8
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• pp.585-593
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• 2004

Fault-tolerant gait planning in legged locomotion is to design gaits with which legged robots can maintain static stability and motion continuity against a failure in a leg. For planning a robust and deadlock-free fault-tolerant gait, kinematic constraints caused by a failed leg should be closely examined with respect to remaining mobility of the leg. In this paper, based on the authors's previous results, deadlock avoidance scheme for fault-tolerant gait planning is proposed for a hexapod robot walking over even terrain. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. It is shown that for guaranteeing the existence of the previously proposed fault-tolerant tripod gait of a hexapod robot, the configuration of the failed leg must be within a range of kinematic constraints. Then, for coping with failure situations where the existence condition is not satisfied, the previous fault-tolerant tripod gait is improved by including the adjustment of the foot trajectory. The foot trajectory adjustment procedure is analytically derived to show that it can help the fault-tolerant gait avoid deadlock resulting from the kinematic constraint and does not make any harmful effect on gait mobility. The post-failure walking problem of a hexapod robot with the normal tripod gait is addressed as a case study to show the effectiveness of the proposed scheme.

• Journal of the Korea Institute of Building Construction
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• v.3 no.2
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• pp.149-156
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• 2003

The purpose of this study was to find out the most reasonable design in the superstructure of an underground parking lot which needs to be considered with the economic efficiency being influenced on the subdivision price, construction duration, workability and the maintenance of crack and leakage status of apartment house. In this research, we've evaluated the fitness for the superstructure of an underground parking lot by examination of construction constraint, which was based on the calculated data of structural design and quantity survey. The results of this study are summarized as follows. 1. The system of the absent structure of beam is proper structure for economic efficiency, construction duration and workability, but it is disadvantageous at the side of maintenance efficiency because of the many part of large slab. In the opposite direction, the establishing structure of beam has the advantages of structural stability except economic efficiency, construction duration and workability 2. It's required a proper selection for the views being contrary to each other which the owners considers good quality, on the other hand, the contractors consider construction duration and workability. 3. In making a selection for the superstructure of an underground parking lot, we have concluded that it is the most important to choose the proper structure for the demanded performance by contrasting with two system. (2Bay or 3Bay)

• Journal of the Korean Society for Precision Engineering
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• v.30 no.10
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• pp.1031-1039
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• 2013

This paper presents gain optimization of a 6-DOF underwater robotic platform with 4 rotatable thrusters. To stabilize the 6-DOF motion of the underwater robotic platform, a back-stepping controller is designed with 6 proportional gains and 6 derivative gains. The 12 gains of the backstepping controller are optimized to decrease settling time in step response in 6-DOF motion independently. Stability criterion and overshoots are used as a constraint of the optimization problem. Trust-region algorithm and hybrid Taguchi-Random order Coordinate search algorithm are used to determine the optimal parameters, and the results by two methods are analyzed. Additionally, the resulting controller shows improved performance under disturbances.