• 한국정밀공학회지
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• 제21권7호
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• pp.115-123
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• 2004

This paper deals with the gait optimization of via points on biped robot. ZMP(Zero Moment point) is the most important index in a biped robot's dynamic walking stability. To stable walking of a biped robot, leg's trajectory and a desired ZMP trajectory is required, balancing motion is solved by FDM(Finite Difference Method). In this paper, optimal index is defined to dynamically stable walking of a biped robot, and genetic algorithm is applied to optimize gait trajectory and balancing motion of a biped robot. By genetic algorithm, the index of walking parameter is efficiently optimized, and dynamic walking stability is verified by ZMP verification equation. Genetic algorithm is only applied to balancing motion, and is totally applied to whole trajectory. All of the suggested motions of biped robot are investigated by simulations and verified through the real implementation.

• 소음진동
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• 제7권4호
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• pp.645-653
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• 1997

For high performance rotating machinery, unstable vibrations may occur caused by hydrodynamic forces such as oil film forces, clearance excitation forces generated by the working fluid, and etc. In order to improve the availability one has to take into account the vibrations very accurately. When designing a rotating machinery, the stability behavior and the resonance response can be obtained by calculation of the complex eigenvalues. A suitable modifications of seal and/or bearing design may effectively improve the stability and the response of a rotor system. This paper deals with the optimum length and clearance of seals and bearings to minimize the resonance response(Q factor) and to maximize the logarithmic decrement in the operating speed under the constraints of design variables. Also, for an avoidance of resonance region from the operating speed, an optimization technique has been used to yield the critical speeds as far from the operating speed as possible. The optimization method is used by the genetic algorithm, which is a search algorithm based on the mechanics of natural selection and natural genetics. The results show that the optimum design of seals and bearings can significantly improve the resonance and the stability of the pump rotor system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 추계학술대회 논문집 전력기술부문
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• pp.165-167
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• 2007

This paper presents a analysis method for power system stability using a Modified Genetic-based Power System Stabilized(MGPSS). The proposed MGPSS parameters are optimized using Modified Genetic Algorithm(MGA) in order to maintain optimal operation of generator under the various operating conditions. To improve the convergence characteristics, real variable string is adopted. The results tested on a single machine infinite bus system verify that the proposed controller has better dynamic performance than conventional controller.

• Structural Engineering and Mechanics
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• 제41권3호
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• pp.339-348
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• 2012

The slope stability analysis is usually done using the methods of calculation to rupture. The problem lies in determining the critical failure surface and the corresponding factor of safety (FOS). To evaluate the slope stability by a method of limit equilibrium, there are linear and nonlinear methods. The linear methods are direct methods of calculation of FOS but nonlinear methods require an iterative process. The nonlinear simplified Bishop method's is popular because it can quickly calculate FOS for different slopes. This paper concerns the use of inverse analysis by genetic algorithm (GA) to find out the factor of safety for the slopes using the Bishop simplified method. The analysis is formulated to solve the nonlinear equilibrium equation and find the critical failure surface and the corresponding safety factor. The results obtained by this approach compared with those available in literature illustrate the effectiveness of this inverse method.

• 한국통신학회논문지
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• 제36권4B호
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• pp.305-313
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• 2011

본 논문은 인터넷상에서 안정적인 멀티미디어 서비스를 제공하기 위한 P2P (Peer-to-Peer) 오버레이 멀티캐스트 트리 구성 알고리즘을 제안한다. 제안하는 알고리즘은 멀티캐스트 트리를 구성 할 때 링크의 지연뿐만 아니라 피어의 안정성 (Peer Stability)까지 고려한다. 실제로 피어는 매우 동적이고 불안정한 행동을 하기 때문에 안정적인 서비스를 제공하기 위해서 피어의 안정성은 필수적으로 고려해야한다. 그리고 제안하는 알고리즘에서는 멀티캐스트 트리의 상태에 따라서 링크의 지연과 피어의 안정성 사이의 가중치를 적응적으로 조절한다. 기본적으로 낮은 계산 복잡도로 근사해를 구하기 위해서 유전자 알고리즘 (Genetic Algorithm)을 이용한다. 마지막으로 실험 결과에서는 제안하는 알고리즘의 성능을 보인다.

• 한국미생물·생명공학회지
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• 제16권4호
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• pp.327-333
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• 1988

대장균을 이용한 재조합 인체 인터루킨-2(IL_2) 생산의 최적화를 위하여 발효조건이 세포성장과 IL-2의 생산 및 재조합 세포의 안정성 등에 미치는 영향을 조사하였다. 복합배지의 경우에는 yeast extract, peptone, corn steep liquor 등이 재조합 세포성장에 좋은 효과를 나타내었다. 재조합 세포의 안정성은 IL-2 발현 억제 조건(3$0^{\circ}C$)에서는 안정하게 유지되었으나 IL-2 생산조건(42$^{\circ}C$)에서는 selection pressure를 주었을 때조차도 현격하게 감소함을 알 수 있었다. 한편 배양배지에 항생제를 첨가한 경우에도 안정성 유지에는 별로 도움이 되지 못하고 세포성장만 억제됨을 알 수 있었다. 유전자의 발현은 대수 증식 중기에서 유도했을 때가 IL-2 생산에 가장 좋은 것으로 나타났으며 IL-2 생산은 세포성장과 플라스미르내의 다른 유전자들의 발현을 상당히 저해시킴을 알 수 있었다.

• Journal of Electrical Engineering and Technology
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• 제6권2호
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• pp.182-191
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• 2011

Genetic algorithms (GA) and particle swarm optimization (PSO) are the most famous optimization techniques among various modern heuristic optimization techniques. These two approaches identify the solution to a given objective function, but they employ different strategies and computational effort; therefore, a comparison of their performance is needed. This paper presents the application and performance comparison of the PSO and GA optimization techniques for a static synchronous series compensator-based controller design. The design objective is to enhance power system stability. The design problem of the FACTS-based controller is formulated as an optimization problem, and both PSO and GA optimization techniques are employed to search for the optimal controller parameters.

• Journal of Plant Biotechnology
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• 제6권2호
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• pp.119-124
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• 2004

For long-term conservation of germ plasm, somatic embryos of sweet potato are important because shoot tips are not amenable to liquid nitrogen storage. Somatic embryos from different genotypes were used for induction of somatic embryogenesis in a large number of genotypes. Somatic embryogenesis was induced on 2,4-D medium in all the 11 genotypes, collected from geographically distinct locations. Genetic fidelity of the regenerated plants was confirmed by morphological and RAPD markers.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 추계학술대회 논문집 학회본부
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• pp.119-121
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• 1997

This paper suggests a design method of the robust model following PD control system using genetic algorithm. This PD control system is designed by applying genetic algorithm with reference model to the optimal determination of proportional and derivative gains that are given by PD servo controller. These proportional and derivative gains are optimized simultaneously in the search domain guaranteeing the robust stability of closed-loop system satisfying different stability margins. The effectiveness of this PD control system is verified by computer simulation.

• 한국군사과학기술학회지
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• 제20권6호
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• pp.803-812
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• 2017

This paper proposes a local path planning method for stable autonomous driving in rough terrain. There are various path planning techniques such as candidate paths, star algorithm, and Rapidly-exploring Random Tree algorithms. However, such existing path planning has limitations to reflecting the stability of unmanned ground vehicles. This paper suggest a path planning algorithm that considering the stability of unmanned ground vehicles. The algorithm is based on the genetic algorithm and assumes to have probability based obstacle map and elevation map. The simulation result show that the proposed algorithm can be used for real-time local path planning in rough terrain.