• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.69-72
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• 1996

This paper considers a global resolution of kinematic redundancy under inequality constraints as a constrained optimal control. In this formulation, joint limits and obstacles are regarded as state variable inequality constraints, and joint velocity limits as control variable inequality constraints. Necessary and sufficient conditions are derived by using Pontryagin's minimum principle and penalty function method. These conditions leads to a two-point boundary-value problem (TPBVP) with natural, periodic and inequality boundary conditions. In order to solve the TPBVP and to find a global minimum, a numerical algorithm, named two-stage algorithm, is presented. Given initial joint pose, the first stage finds the optimal joint trajectory and its corresponding minimum performance cost. The second stage searches for the optimal initial joint pose with globally minimum cost in the self-motion manifold. The effectiveness of the proposed algorithm is demonstrated through a simulation with a 3-dof planar redundant manipulator.

• Computational Structural Engineering
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• v.6 no.3
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• pp.89-97
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• 1993

General formulation to analyse the rectangular thin plate on a soil medium by energy method is developed. In the problem, Boussinesque's formular needs to be integrated after assuming the contact stress distribution. Two different functions, i.e., power series and Chebychev polynomials are used to approximate the contact stress distribution. It was found that Chebychev polynomials are better function to describe the contact stress than power series. Chebychev polynomials considering stress singularity around plate boundary is recommended as the desirable shape function for future research.

• Journal of Computational Design and Engineering
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• v.3 no.3
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• pp.215-225
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• 2016

In recent years, the automotive industry has known a remarkable development in order to satisfy the customer requirements. In this paper, we will study one of the components of the automotive which is the twist beam. The study is focused on the multicriteria design of the automotive twist beam undergoing linear elastic deformation (Hooke's law). Indeed, for the design of this automotive part, there are some criteria to be considered as the rigidity (stiffness) and the resistance to fatigue. Those two criteria are known to be conflicting, therefore, our aim is to identify the Pareto front of this problem. To do this, we used a Normal Boundary Intersection (NBI) algorithm coupling with a radial basis function (RBF) metamodel in order to reduce the high calculation time needed for solving the multicriteria design problem. Otherwise, we used the free form deformation (FFD) technique for the generation of the 3D shapes of the automotive part studied during the optimization process.

• Proceedings of the IEEK Conference
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• 2001.09a
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• pp.403-406
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• 2001

We propose an algorithm for extracting the boundary of an object. In order to take full advantage of global shape, our approach uses global shape parameters derived from Point Distribution Model (PDM). Unlike PDM, the proposed method models global shape using curvature as well as edge. The objective function of applying the shape model is formulated using Bayesian rule. We can extract the boundaries of an object by evaluating iteratively the solution maximizing the objective function. Experimental results show that the proposed method can reduce computation cost than the PDM and it is robust to noise, pose variation, and some occlusion.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.18 no.2
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• pp.16-22
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• 2010

This paper proposes the real-time moving object tracking system UAV using color information. Case of object tracking, it have studied to recognizing the moving object or moving multiple objects on the fixed camera. And it has recognized the object in the complex background environment. But, this paper implements the moving object tracking system using the pan/tilt function of the camera after the object's region extraction. To do this tracking system, firstly, it detects the moving object of RGB/HSI color model and obtains the object coordination in acquired image using the compact boundary box. Secondly, the camera origin coordination aligns to object's top&left coordination in compact boundary box. And it tracks the moving object using the pan/tilt function of camera. It is implemented by the Labview 8.6 and NI Vision Builder AI of National Instrument co. It shows the good performance of camera trace in laboratory environment.

• Bulletin of the Korean Mathematical Society
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• v.53 no.6
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• pp.1805-1821
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• 2016

In this paper, we are concerned with the nonlinear elliptic equations of the p(x)-Laplace type $$\{\begin{array}{lll}-div(a(x,{\nabla}u))+{\mid}u{\mid}^{p(x)-2}u={\lambda}f(x,u) && in\;{\Omega}\\(a(x,{\nabla}u)\frac{{\partial}u}{{\partial}n}={\lambda}{\theta}g(x,u) && on\;{\partial}{\Omega},\end{array}$$ which is subject to nonlinear Neumann boundary condition. Here the function a(x, v) is of type${\mid}v{\mid}^{p(x)-2}v$ with continuous function $p:{\bar{\Omega}}{\rightarrow}(1,{\infty})$ and the functions f, g satisfy a $Carath{\acute{e}}odory$ condition. The main purpose of this paper is to establish the existence of at least three solutions for the above problem by applying three critical points theory due to Ricceri. Furthermore, we localize three critical points interval for the given problem as applications of the theorem introduced by Arcoya and Carmona.

• Journal of KSNVE
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• v.9 no.4
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• pp.785-794
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• 1999

The panel contribution analysis to reduce interior booming noise of a passenger car is carried out using both experimental method and numerical one. The accelerations of panels are measured on the outer surface of car body during operation. The acoustic characteristic of cavity is represented by two different ways. One is the acoustic transfer function obtained by experiment with reciprocal manner. The other is the boundary element model and numerical results of the model are calculated using SYSNOISE. The results from numerical method show more good agreement with measured sound pressure levels than the experimental one. Contributions of panels for interior noise are ranked and structure of the car is reinforced according to the results, which shows that the panel contribution analysis is a powerful tool to lessen structure-borne noise of passenger vehicle.

• Journal of Electrical Engineering and Technology
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• v.12 no.4
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• pp.1386-1396
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• 2017

In this paper, a new approach is proposed to select the optimal sitting and sizing of distributed solar photovoltaic generation (SPVG) in a radial electrical distribution systems (EDS) considering load/generation uncertainties. Here, distributed generations (DGs) allocation problem is modeled as optimization problem with network loss based objective function under various equality and inequality constrains in an uncertain environment. A boundary power flow is utilized to address the uncertainties in load/generation forecasts. This approach facilitates the consideration of random uncertainties in forecast having no statistical history. Uncertain solar irradiance is modeled by beta distribution function (BDF). The resulted optimization problem is solved by a new Dynamic Harmony Search Algorithm (DHSA). Dynamic band width (DBW) based DHSA is proposed to enhance the search space and dynamically adjust the exploitation near the optimal solution. Proposed approach is demonstrated for two standard IEEE radial distribution systems under different scenarios.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2474-2479
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• 2005

The control objectives in this paper are to move the gantry of a container crane to its target position and to suppress the transverse vibration of the payload. The crane system is modeled as an axially moving nonlinear string equation, in which control inputs are applied at both ends, through the gantry and the payload. The dynamics of the moving string are derived using Hamilton's principle. The Lyapunov function method is used in deriving a boundary control law, in which the Lyapunov function candidate is introduced from the total mechanical energy of the system. The performance of the proposed control law is compared with other two control algorithms available in the literature. Experimental results are given.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.165.1-165
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• 2001

The evolution strategy is a good evolutionary algorithm to find the global optimum of a real-valued function. Since many engineering problems can be formulated as real valued function optimization, the evolution strategy is frequently employed in engineering fields. However, in many engineering optimization problems, an optimization parameter is often restricted in the bounded region between two specified values, the minimum and the maximum limit, respectively. Since an offspring individual is generated randomly around a parent individual during mutation process of the evolution strategy, an individual outside the search region can be generated even if the parent is inside the search region. This paper proposes two new boundary-handling techniques for evolution strategies. One is the ...