• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2002.05a
• /
• pp.108-113
• /
• 2002

This paper presents a multi-step structural design optimization method fur machine tool structures using a genetic algorithm with dynamic penalty. The first step is a sectional topology optimization, which is to determine the best sectional construction that minimize the structural weight and the compliance responses subjected to some constraints. The second step is a static design optimization, in which the weight and the static compliance response are minimized under some dimensional and safety constraints. The third step is a dynamic design optimization, where the weight static compliance, and dynamic compliance of the structure are minimized under the same constraints. The proposed design method was examined on the 10-bar truss problem of topology and sizing optimization. And the results showed that our solution is better than or just about the same as the best one of the previous researches. Furthermore, we applied this method to the topology and sizing optimization of a crossbeam slider for a high-speed machining center. The topology optimization result gives the best desirable cross-section shape whose weight was reduced by 38.8% than the original configuration. The subsequent static and dynamic design optimization reduced the weight, static and dynamic compliances by 5.7 %, 2.1% and 19.1% respectively from the topology-optimized model. The examples demonstrated the feasibility of the suggested design optimization method.

• The Transactions of the Korean Institute of Electrical Engineers A
• /
• v.48 no.9
• /
• pp.1088-1095
• /
• 1999

This paper presents short-term hydro scheduling method for hydrothermal coordination by genetic algorithms. Hydro scheduling problem has many constraints with fixed final reservoir volume. In this paper, the difficult water balance constraints caused by hydraulic coupling satisfied throughout dynamic decoding method. Adaptive penalizing method was also proposed to handle the infeasible solutions that violate various constraints. In this paper, we proposed GA to solve hydrothermal scheduling with appropriate decoding method and dynamic penalty method. The effectiveness of the proposed method is demonstrated in the case study.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.10
• /
• pp.930-939
• /
• 2004

In this paper, both dynamic constraints and kinematic constraints are considered for the analysis of manipulability of robotic systems comprised of multiple cooperating arms. Given bounds on the torques of each Joint actuator for every robot, the purpose of this study is to drive the bounds of task-space acceleration of object carried by the system. Bounds on each joint torque, described as a polytope, is transformed to the task-space acceleration through matrices related with robot dynamics, robot kinematics, object dynamics, grasp conditions, and contact conditions. A series of mathematical manipulations including the procedure calculating minimum infinite-norm solution of linear equation is applied to get the reachable acceleration bounds from given actuator dynamic constrains. Several examples including two robot systems as well as three robot system are shown with the assumptions of complete-constraint contact model(or' very soft contact') and insufficient or proper degree of freedom robot.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.15 no.11 s.104
• /
• pp.1255-1261
• /
• 2005

The dynamic contact model of a beam that contacts to a rigid wall in a reactor core was studied. The gap between the beam and contact wall results in dynamic contact accompanying inequality constraints. The inequality constraints can be relieved to an equality constraint problem by introducing a convex Penalty function. In this work, a beam with contact condition is formulated using quasi-convex penalty function and numerically solved. General coordinate solution is adopted to raise computational efficiency. Also nonlinearity is examined In the beam contacting to a rigid wall.

• Journal of Electrical Engineering and Technology
• /
• v.3 no.4
• /
• pp.509-513
• /
• 2008

In this paper, we investigate how generators' ramp-rate constraints may influence their equilibrium strategy formulation. In the market model proposed in this study, the generators' ramp-rate constraints are explicitly represented. In order to fully characterize the inter-temporal nature of the ramp-rate constraints, a dynamic game model is presented. The subgame perfect Nash equilibrium is adopted as the solution of the game and the backward induction procedure for the solution of the game is designed in this paper. The inter-temporal nature of the ramp-rate constraints results in the Markov property of the game, and we have found that the Markov property of the game significantly simplifies the subgame perfect Nash equilibrium characterization. Finally, a simple electricity market numerical illustration is presented for the successful application of the approach proposed.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.12 no.3
• /
• pp.109-121
• /
• 2004

This paper presents an optimal design method for structure-borne durability of a vehicle body structure. Structure-borne durability design requires a new design that can increase fatigue lives of critical areas in a structure and must prohibit transition phenomenon of critical areas that results from modification of the structure at the same time. Therefore, the optimization problem fur structure-borne durability design are consists of an objective function and design constraints of 2 types; type 1-constraint that increases fatigue lives of the critical areas to the required design limits and type 2-constraint that prohibits transition phenomenon of critical areas. The durability design problem is generally dynamic because a designer must consider the dynamic behavior such as fatigue analyses according to the structure modification during the optimal design process. This design scheme, however, requires such high computational cost that the design method cannot be applicable. For the purpose of efficiency of the durability design, we presents a method which carry out the equivalent static design problem instead of the dynamic one. In the proposed method, dynamic design constraints for fatigue life, are replaced to the equivalent static design constraints for stress/strain coefficients. The equivalent static design constraints are computed from static or eigen-value analyses. We carry out an optimal design for structure-borne durability of the newly developed bus and verify the effectiveness of the proposed method by examination of the result.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.41 no.8
• /
• pp.831-840
• /
• 1992

This paper presents an efficient short-term generation scheduling method using a rule-based expert/consulting system approach to assist electric energy system operators and planners. The expert system approach is applied to improve the Dynamic Programming(DP) based generation scheduling algorithm. In the selection procedure of the feasible combinations of generating units at each stage, automatic consulting on the manipulation of several constraints such as the minimum up time, the minimum down time and the maximum running time constraints of generating units will be performed by the expert/consulting system. In order to maximize the solution feasibility, the aforementioned constraints are controlled by a rule-based expert system, that is, instead of imposing penalty cost to those constraint violated combinations, which sometimes may become the very reason of no existing solution, several constraints will be manipulated within their flexibilities using the rules and facts that are established by domain experts. In this paper, for the purpose of implementing the consulting of several constraints during the dynamic process of generation scheduling, an expert system named STGSCS is developed. As a building tool of the expert system, C Language Integrated Production System(CLIPS) is used. The effectiveness of the proposed algorithm has been demonstrated by applying it to a model electric energy system.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.176.5-176
• /
• 2001

This paper presents a fuzzy dynamic output feedback controller design method for Parallel Distributed Compensation (PDC)-type Takagi-Sugeno (T-S) model based fuzzy dynamic system with H$\infty$ performance and additional constraints on the closed pole placement. Design condition for these controller is obtained in terms of the linear matrix inequalities (LMIs). The proposed fuzzy controller satisfies the disturbance rejection performance and the desired transient response. The design method is verified by this method for an inverted pendulum with a cart using the proposed method.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.7
• /
• pp.654-661
• /
• 2015

Stairs are the most popular obstacles in buildings and factories. To enlarge the application areas of a field robotic platform, stair-climbing is very important mission. One important reason why a stair-climbing is difficult is that stairs are various in sizes. To achieve autonomous climbing of various-sized stairs, dynamic modeling is essential. In this research, an inverse dynamic modeling is performed to enable an autonomous stair climbing. Stair-climbing robotic platform with flip locomotion, named FilpBot, is analyzed. The FlipBot platform has advantages of robust stair-climbing of various sizes with constant speed, but the autonomous operation is not yet capable. Based on external constraints and the postures of the robot, inverse dynamic models are derived. The models are switched by the constraints and postures to analyze the continuous motion during stair-climbing. The constraints are changed according to the stair size, therefore the analysis results are different each other. The results of the inverse dynamic modeling are going to be used in motor design and autonomous control of the robotic platform.

• Steel and Composite Structures
• /
• v.29 no.1
• /
• pp.67-75
• /
• 2018

High performance concrete (HPC) depends on various parameters such as the type of cement, aggregate and water reducer amount. Generally, the ready concrete company in various regions according to the requirements and costs, mix design of concrete as well as type of cement, aggregates, and, amount of other components will vary as a result of moment decisions or dynamic optimization, though the ideal conditions will be more applicable for the design of mix proportion of concrete. This study aimed to apply dynamic optimization for mix design of HPC; consequently, the objective function, decision variables, input and output variables and constraints are defined and also the proposed dynamic optimization model is validated by experimental results. Results indicate that dynamic optimization objective function can be defined in such a way that the compressive strength or performance of all constraints is simultaneously examined, so changing any of the variables at each step of the process input and output data changes the dynamic of the process which makes concrete mix design formidable.