• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.2617-2622
• /
• 2003

The pH neutralization process has long been taken as a representative benchmark problem of nonlinear chemical process control due to its nonlinearity and time-varying nature. For general nonlinear processes, it is difficult to control with a linear model-based control method so nonlinear controls must be considered. Among the numerous approaches suggested, the most rigorous approach is the dynamic optimization. However, as the size of the problem grows, the dynamic programming approach is suffered from the curse of dimensionality. In order to avoid this problem, the Neuro-Dynamic Programming (NDP) approach was proposed by Bertsekas and Tsitsiklis (1996). The NDP approach is to utilize all the data collected to generate an approximation of optimal cost-to-go function which was used to find the optimal input movement in real time control. The approximation could be any type of function such as polynomials, neural networks and etc. In this study, an algorithm using NDP approach was applied to a pH neutralization process to investigate the feasibility of the NDP algorithm and to deepen the understanding of the basic characteristics of this algorithm. As the global approximator, the neural network which requires training and k-nearest neighbor method which requires querying instead of training are investigated. The global approximator requires optimal control strategy. If the optimal control strategy is not available, suboptimal control strategy can be used even though the laborious Bellman iterations are necessary. For pH neutralization process it is rather easy to devise an optimal control strategy. Thus, we used an optimal control strategy and did not perform the Bellman iteration. Also, the effects of constraints on control moves are studied. From the simulations, the NDP method outperforms the conventional PID control.

• 한국전산구조공학회논문집
• /
• 제24권5호
• /
• pp.543-551
• /
• 2011

본 논문에서는 해양작업 상태의 하중조건을 고려한 부유식 원유생산 저장 하역장치에 설치된 라이져 보강구조의 강도설계에 관련하여 다양한 근사화 기법 기반 설계최적화 및 그 성능을 비교하고자 한다. 설계최적화 문제는 하중조건별 구조강도의 제한조건 하에서 중량을 최소화하여 설계변수인 구조 부재치수가 결정되도록 정식화된다. 비교 연구를 위해 사용된 근사화 기법은 반응표면법 기반 순차적 근사최적화(RBSAO), 크리깅 기반 순차적 근사최적화(KBSAO), 그리고 개선된 이동최소자승법(MLSM) 기반 근사최적화 기법인 CF-MLSM와 Post-MLSM이다. RBSAO와 KBSAO의 적용을 위하여 상용프로세스 통합 설계최적화(PIDO) 코드를 사용하였다. 본 연구에 적용한 MLSM 기반 근사최적화 기법들은 제한조건의 가용성을 보장할 수 있도록 새롭게 개발되었다. 다양한 근사화 모델 기반 설계최적화 기법에 의한 결과는 설계 해의 개선 및 수렴속도 등의 수치적 성능을 기준으로 실제 비근사 설계최적화 결과와 비교 검토하였다.

• 천문학회지
• /
• 제14권1호
• /
• pp.37-42
• /
• 1981

In order to know how the magnetic field increases with density in interstellar clouds, we have analyzed observations of extinction and polarization for stars in the ${\rho}$ Oph molecular cloud complex. The size of grains in dense parts of the complex is estimated to be larger than the ones in diffuse interstellar clouds by about 15 percent in radii. Employing the Davis-Greenstein mechanism for grain alignment with this estimated grain size, we have put constraints on the exponent in the field-density relation $B{\propto}n^x:1/5{\leq}x{\leq}1/3$. It is concluded that magnetic field in gravitationally contracting clouds increases less steeply than the classical expectation based on the approximation of isotropic contraction with complete frozen-in flux.

• 터널과지하공간
• /
• 제20권3호
• /
• pp.153-168
• /
• 2010

단일시험편의 일축압축시험에서 평면이방성 암석의 5개의 독립적 탄성상수를 얻기 위하여 제 5의 수식이 반드시 필요하다. Saint-Venant에 의하여 제안된 근사식은 오랫동안 전통적으로 사용되어 왔지만 시험편의 특성에 따라 문제를 해결하지 못하는 경우가 있다. 지난 일련의 연구에서 이 식을 대체할 수 있는 3개의 수식이 제안되었으며, 모델연구를 통하여 이들은 적용가능한 수식으로 밝혀졌다. Saint-Venant 근사식은 제안된 식들 가운데 첫째식과 같은 것으로 밝혀졌는데, 이로서 겉보기 탄성계수는 이방성각도에 따른 단조증가함수라는 특성이 있다. 본 연구에서는 단일시험편에 대한 일축압축시험을 수행하여 얻어진 4개의 독립적 변형률로부터 탄성상수를 구하는 자세한 방법이 언급되었으며, 제안된 수식의 필요성과 적합성이 검토되었다. 이방성각도가 중간 또는 큰 크기일 때에는 Saint-Venant 근사식의 적용으로 참값에 가까운 탄성상수를 결정할 수 있기 때문에 다른 수식의 제안은 필요하지 않다. 그럼에도 불구하고 제안된 식들은 이와 비슷한 결과를 유도하므로 적용가능하다고 판단된다. 이방성각도가 작은 경우에는 Saint-Venant 근사식으로 일반적인 여러 구속조건을 만족시키는 값을 얻지 못하는 반면에, 제안된 식들은 참값에 가까운 결과를 유도할 수 있었다. 따라서 보다 더 적합한 수식이 알려지기 전에는 이들 식을 적용하는 것을 제안한다. 모델연구에서 얻어진 지침도를 활용하면, 3개의 수식 가운데 가장 적합한 수식을 결정할 수 있다.

• 한국수자원학회:학술대회논문집
• /
• 한국수자원학회 1983년도 제25회 수공학 연구발표회 논문초록집
• /
• pp.78-79
• /
• 1983

It is well known that small amplitude wave theory, a first approximation to the complete theoretical description of wave behavior, yields a maximum investment in mathematical endeavor. But, if the wave amplitude is large, the small amplitude considerations are not valid, and finite amplitude wave theory which retains higher-order terms to obtain an accurate representation of the wave motion is numercal theory. The Stream function wave theory, one of the numerical methods, was developed by Dean for use with asymmetric measured wave profiles and with symmetric theoretical wave profiles. Dalrymple later improved the comjputational procedure by adding two Lagrangian constraints so that more efficient convergence of the iterative numerical method to a specified wave heigh and to a zero mean free surface displacement resulted. This paper introduces in details the Dean and Darlymple Stream Function Method in case of the symmetric theoretical wave, because in design purposes, wave height and wave period are given.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
• /
• pp.530-533
• /
• 1995

This paper deals with the problem of motion planning for a unicycle-like robot. We present a simple local planner for unicycle model, based on an approximation of the desired configuration generated by local holonomic planner that ignores motion constraints. To guarantee a collision avoidance, we propose an inequality constraint, based on the motion analysis with the constant control input and time interval. Consequently, we formulate our problem as the constrained optimization problem and a feedback scheme based on local sensor information is established by simply solving this problem. Through simulations, we confirm the validity and effectiveness of our algorithm.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1987년도 정기총회 및 창립40주년기념 학술대회 학회본부
• /
• pp.425-429
• /
• 1987

This paper describes a collision avoidance method for planning safe trajectories for multi-robot system in common work space. Usually objects have been approximated to convex polyhedra in most previous researches, but in case using such the approximation method it is difficult to represent objects analytically in terms of functions and also to describe tile relationship between the objects. In this paper, in order to solve such problems a modeling method which approximates objects to cylinder ended by hemispheres and or sphere is used and the maximum distance functions is defined which call be calculated simply. Using an objective function with inequality constraints which are related to minimum distance functions, work range and maximum allowable angular velocities of the robots, tile collision avoidance for two robots is formulated to a constrained function optimization problem. With a view to solve tile problem a penalty function having simple form is defined and used. A simple numerical example involving two PUMA-type robots is described.

• 전자공학회논문지A
• /
• 제33A권4호
• /
• pp.27-36
• /
• 1996

It is well known that the viterbi algorithm proposed as a mthod of decoding convolutional codes is in fact maximum likelihood (ML) and therefore optimal. But, because hardware complexity grows exponentially with the constraint length, there will be severe constraints on the implementation of the viterbi decoders. In this paper, the three-layered backpropagation neural networks are proposed as an alternative in order to get sufficiently useful performance and deal successfully with the problems of the viterbi decoder. This paper shows that the neural convolutional decoder (NCD) can make a decision in the point of ML in decoding and describes simulation results. The cause of the difference between stochastic results and simulation results is discussed, and then thefuture prospect of the NCD is described on the basis of the characteristic of the transfer function.

• Journal of applied mathematics & informatics
• /
• 제32권5_6호
• /
• pp.707-719
• /
• 2014

In this paper, we investigate a variational discretization approximation of elliptic optimal control problems with control constraints. The state and the co-state are approximated by piecewise linear functions, while the control is not directly discretized. By using some proper intermediate variables, we derive a second-order convergence in $L^2$-norm and superconvergence between the numerical solution and elliptic projection of the exact solution in $H^1$-norm or the gradient of the exact solution and recovery gradient in $L^2$-norm. Then we construct a posteriori error estimates by using the superconvergence results and do some numerical experiments to confirm our theoretical results.

• Structural Engineering and Mechanics
• /
• 제62권3호
• /
• pp.303-310
• /
• 2017

The model updating problems, which are to find the optimal approximation to the discrete quadratic model obtained by the finite element method, are critically important to the vibration analysis. In this paper, the structured model updating problem is considered, where the coefficient matrices are required to be symmetric and positive semidefinite, represent the interconnectivity of elements in the physical configuration and minimize the dynamics equations, and furthermore, due to the physical feasibility, the physical parameters should be positive. To the best of our knowledge, the model updating problem involving all these constraints has not been proposed in the existed literature. In this paper, based on the semidefinite programming technique, we design a general-purpose numerical algorithm for solving the structured model updating problems with incomplete measured data and present some numerical results to demonstrate the effectiveness of our method.