• The Journal of Korea Robotics Society
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• v.6 no.4
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• pp.308-316
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• 2011

This work deals with development of effective redundancy resolution algorithms for the motion control of manipulator. Differently from the typical kinematically redundant robots that are attached to the fixed ground, the ZMP condition should be taken into account in the manipulator motion in order to guarantee the system stability. In this paper, a new motion planning algorithm for redundant manipulator not fixed to the ground is introduced. A sequential redundancy resolution algorithm is proposed, which ensures the ZMP (Zero Moment Point) stability, the planned operational motion, and additional sub-criteria such as joint limit index. A geometric constraint equation derived by reshaping the existing ZMP equation enables one to employ the sequential redundancy algorithm. The feasibility of the proposed algorithm is verified by simulating a redundant manipulator model.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.4
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• pp.128-135
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• 2005

Overhead crane systems consist of trolley, girder, rope, objects, trolley motor, girder motor, and hoist motor. The dynamic system of these systems becomes a nonlinear state equations. These equations are obtained by the nonlinear equations of motion which are derived from transfer functions of driving motors and equations of motion for objects. From these state equations, Lyapunov functions of overhead crane systems are derived from integral method. These functions secure stability of autonomous overhead crane systems. Also constraint equations of driving motors of trolley, girder, and hoist are derived from these functions. From the results of computer simulation, it is founded that overhead crane systems is secure.

• Proceedings of the KIEE Conference
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• 1991.11a
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• pp.35-38
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• 1991

Recent, problems on the voltage-instability have been paid attention in power system and methods to find the limit of voltage-stability, concerned with these problems, were developed. However, these methods are short of precision on the limit of voltage-instability. Here, using the second-order load flow, constraint equation(d Pi/d Vi=0) and its patial differentiations are precisely formulated. Also, since the taylor series expansion of power flow equations terminates at the second-order terms, partial differentiations of constraint equation, that is Hessian, are constant. Then, Hessian matrix are calculated once during iteration process.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.10
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• pp.988-993
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• 2009

In this paper, we deal with a tracking gain-up controller design problem to control effectively the shake of tracking actuator after a track seek. A minimum tracking gain-up open-loop gain can be calculated by estimating the shake of tracking actuator and a desired transient specification is considered to diminish effectively the shake of actuator. A tracking gain-up controller is designed by considering a robust $H_{\infty}$ control problem with a regional stability constraint. The proposed tracking gain-up controller design method is applied to the track-following system of a DVD recording device and is evaluated through the experimental results.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.5
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• pp.541-549
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• 2008

The dynamic contact between a high-speed wheel and an elastic beam is numerically analyzed by solving the whole equations of motion of the wheel and the beam subjected to the contact condition. For the stability of the numerical solution, the velocity and acceleration constraints as well as the displacement constraint are imposed on the contact point. Through the numerical examples, it is shown that the acceleration contact constraint including the Coriolis and centripetal accelerations are crucial for the numerical stability.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.7
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• pp.4999-5008
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• 2015

The application of efficient constraint handling technique is fundamental method to find better solutions in engineering optimization problems with constraints. In this research four of constraint handling techniques are used with a meta-heuristic optimization method, harmony search algorithm, and the efficiency of algorithm is evaluated. The sample problem for evaluation of effectiveness is one of the typical discrete problems, optimal pipe size design problem of water distribution system. The result shows the suggested constraint handling technique derives better solutions than classical constraint handling technique with penalty function. Especially, the case of ${\varepsilon}$-constrained method derives solutions with efficiency and stability. This technique is meaningful method for improvement of harmony search algorithm without the need for development of new algorithm. In addition, the applicability of suggested method for large scale engineering optimization problems is verified with application of constraint handling technique to big size problem has over 400 of decision variables.

• Bulletin of the Korean Chemical Society
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• v.26 no.4
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• pp.543-547
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• 2005

The Belousov-Zhabotinskii system measured by a Pt electrode is investigated under external electrode current constraint. A dynamical analysis of the electrode reaction phase has been made by means of a linearized stability criterion valid for three-variable system. It turns out that limit cycle oscillatory regime and dynamical behaviors of the electrode reaction phase have been degenerated under periodical electrode current.

• Proceedings of the KSR Conference
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• 2005.11a
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• pp.191-196
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• 2005

In this study, to describe vehicle-track-bridge dynamic interaction phenomena with 1/4 vehicle model, nonlinear Hertzian contact spring and nonlinear contact damper are introduced. In this approach external loads acting on 1/4 vehicle model are self weight of vehicle and geometry information of running surface. The constraint equation on contact surface is implemented by Penalty method. Also, to improve the numerical stability and to maintain accuracy of solution, the artificial damper and the reaction from constraint violation are introduced. A nonlinear time integration method, in this study, Newmark method is adopted for both equations of vehicles and structure. And to reduce the error caused by inadequate time step size, adaptive time-stepping technique is partially introduced. As the nonlinear Hertzian contact spring has no resistance to tensile force, the bouncing phenomena of wheelset can be described. Thus, it is expected that more versatile dynamic interaction phenomena can be described by this approach and it can be applied to various railway dynamic problems.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.11
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• pp.1554-1560
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• 2017

Prepare a lose of 765kV transmission route in power system operation condition, there are some Special Protection Scheme(SPS)s in Korean power system. These SPS can make some preselected generators are tripped to avoid generator overspeed. Because of many of the new large power plants are installed to existing power generation sites due to the siting problem, the number of generator tripped by SPS should be increased. But that can be a cause of system frequency change under the Under Frequency Relay(UFR) 1st pickup level 59.0Hz. Therefore generation constraint should be considered until new transmission lines are installed. In this paper, we propose the ESS application for generation constraint mitigation by frequency damping control of ESS. To analysis an effect of ESS application, we use PSS/E dynamic simulation tool, CBEST model and controller model. The proposed ESS application is applied to the empirical Korean power system.

• Structural Engineering and Mechanics
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• v.52 no.5
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• pp.1051-1067
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• 2014

The structures of concern in this study are subject to two types of forces: dead loads from the acceleration imposed on the structures as well as the installed operation machines and the additional adjustable forces. We wish to determine the critical values of the adjustable forces when buckling of the structures occurs. The mathematical statement of such a problem gives rise to a constrained eigenvalue problem (CEVP) in which the dominant eigenvalue is subject to an equality constraint. A numerical algorithm for solving the CEVP is proposed in which an iterative method is employed to identify an interval embracing the target eigenvalue. The algorithm is applied to four engineering application examples finding the critical loads of a fixed-free beam subject to its own body force, two plane structures and one wide-flange beam using shell elements when acceleration force is present. The accuracy is demonstrated using the first example whose classical solution exists. The significance of the equality constraint in the EVP is shown by comparing the solutions without the constraint on the eigenvalue. Effectiveness and accuracy of the numerical algorithm are presented.