• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2011년도 춘계학술대회 논문집
• /
• pp.961-962
• /
• 2011

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제7권2호
• /
• pp.288-307
• /
• 2013

This paper formulates resource allocation for decode-and-forward (DF) relay assisted multi-cell orthogonal frequency division multiple (OFDM) networks as an optimization problem taking into account of inter-cell interference and users fairness. To maximize the transmit rate of system we propose a joint interference coordination, subcarrier and power allocation algorithm. To reduce the complexity, this semi-distributed algorithm divides the primal optimization into three sub-optimization problems, which transforms the mixed binary nonlinear programming problem (BNLP) into standard convex optimization problems. The first layer optimization problem is used to get the optimal subcarrier distribution index. The second is to solve the problem that how to allocate power optimally in a certain subcarrier distribution order. Based on the concept of equivalent channel gain (ECG) we transform the max-min function into standard closed expression. Subsequently, with the aid of dual decomposition, water-filling theorem and iterative power allocation algorithm the optimal solution of the original problem can be got with acceptable complexity. The third sub-problem considers dynamic co-channel interference caused by adjacent cells and redistributes resources to achieve the goal of maximizing system throughput. Finally, simulation results are provided to corroborate the proposed algorithm.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제11권3호
• /
• pp.1301-1318
• /
• 2017

In order to utilize the licensed channel of cognitive radio (CR) when the primary user (PU) is detected busy, a benefit-exchange access mode based on cooperative communication is proposed to allow secondary user (SU) to access the busy channel through giving assistance to PU's communication in exchange for some transmission bandwidth. A holistic joint optimization problem is formulated to maximize the total throughput of CR system through jointly optimizing the parameters of cooperative spectrum sensing (CSS), including the local sensing time, the pre-configured sensing decision threshold, the forward power of cooperative communication, and the bandwidth and transmission power allocated to SUs in benefit-exchange access mode and traditional access mode, respectively. To solve this complex problem, a combination of bi-level optimization, interior-point optimization and exhaustive optimization is proposed. Simulation results show that, compared with the tradition throughput maximizing model (TTMM), the proposed holistic joint optimization model (HJOM) can make use of the channel effectively even if PU is busy, and the total throughput of CR obtains a considerable improvement by HJOM.

• 대한의용생체공학회:의공학회지
• /
• 제31권4호
• /
• pp.310-315
• /
• 2010

Estimation of muscle forces is important in biomechanics, therefore many researchers have tried to build a muscle model. Recently, optimization techniques for adjusting muscle parameters, i.e. EMG-driven model, have been used to estimate muscle forces and predict joint moments. In this study, an EMG-driven model based on the previous studies has been developed and isometric and isokinetic contraction movements were evaluated to validate the developed model. One healthy male participated in this study. The dynamometer tasks were performed for maximum voluntary isometric contractions (MVIC) for ankle dorsi/plantarflexors, isokinetic contraction at both $30^{\circ}/s$ and $60^{\circ}/s$. EMGs were recorded from the tibialis anterior, gastrocnemius medialis, gastrocnemius lateralis and soleus muscles at the sampling rate of 1000 Hz. The MVIC trial was used to customize the EMG-driven model to the specific subject. Once the subject's own model was developed, the model was used to predict the ankle joint moment for the other two dynamic movements. When no optimization was applied to characterize the muscle parameters, weak correlations were observed between the model prediction and the measured joint moment with large RMS error over 100% (r = 0.468 (123%) and r = 0.060 (159%) in $30^{\circ}/s$ and $60^{\circ}/s$ dynamic movements, respectively). However, once optimization was applied to adjust the muscle parameters, the predicted joint moment was highly similar to the measured joint moment with relatively small RMS error below 40% (r = 0.955 (21%) and r = 0.819 (36%) and in $30^{\circ}/s$ and $60^{\circ}/s$ dynamic movements, respectively). We expect that our EMG-driven model will be employed in our future efforts to estimate muscle forces of the elderly.

• 대한전자공학회논문지
• /
• 제26권9호
• /
• pp.1332-1339
• /
• 1989

The problem of finding an admissible object trajectory for a cooperating two-robot system is investigated. The method is based on reformulating the problem as a nonlinear optimization problem with equality constraints in terms of the joint variables. The optimization problem is then solved numerically on a computer. The solution automatically gives the corresponding joint variable trajectories as well, thus eliminating the need for solving the inverse kinematic problem. The performance indices are chose in joint and cartesian spaces and computer simulations are performed.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제7권12호
• /
• pp.3037-3054
• /
• 2013

Interference between primary user (PU) and secondary user (SU) transceivers should be mitigated in order to implement underlay spectrum sharing in cognitive radio networks (CRN). Considering this scenario, an improved joint subcarrier and bit allocation scheme for cognitive user with primary users' cooperation (PU Coop) in CRN is proposed. In this scheme, the optimization problem is formulated to minimize the average interference power level at the PU receiver via PU Coop, which guarantees a higher primary signal to interference plus noise ratio (SINR) while maintaining the secondary user total rate constraint. The joint optimal scheme is separated into subcarrier allocation and bit assignment in each subcarrier via arith-metric geo-metric (AM-GM) inequality with asymptotical optimization solution. Moreover, the joint subcarrier and bit optimization scheme, which is evaluated by the available SU subcarriers and the allocated bits, is analyzed in the proposed PU Coop model. The performance of cognitive spectral efficiency and the average interference power level are investigated. Numerical analysis indicates that the SU's spectral efficiency increases significantly compared with the PU non-cooperation scenario. Moreover, the interference power level decreases dramatically for the proposed scheme compared with the traditional Hughes-Hartogs bit allocation scheme.

• 대한기계학회논문집A
• /
• 제34권5호
• /
• pp.597-604
• /
• 2010

본 논문에서는 모바일하버의 하역 시스템으로 특화되어 개발한 제로 모멘트 크레인에 적용되는 조인트를 설계하고자 한다. 해당 조인트는 제로 모멘트 포인트의 개념에 기반하여 제로 모멘트 크레인을 안정화시키는데 중요한 역할을 수행한다. 이 목적을 위해서는 크고 다양한 형태의 하중을 견딜 수 있으며, 또한 2 방향의 자유도를 허용할 수 있어야 한다. 통상적인 설계 과정을 거쳐, 유니버셜 조인트와 스피리컬 조인트를 결합한 후 가변형 구름 요소를 적용한 새 디자인을 제안하였다. 구름 요소는 하중을 분산시키며 하역 과정 동안의 동력 손실을 줄여준다. 시스템의 복잡성과 최적화 과정의 효율성을 고려하여, 크리깅 기반 근사 최적화 기법을 선정하였다. 설계된 조인트를 검증하기 위해, 구조 해석을 수행하고, 축소 시제품을 제작하였다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
• /
• pp.69-72
• /
• 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.

• 품질경영학회지
• /
• 제40권1호
• /
• pp.88-91
• /
• 2012

Joint optimization of preventive age replacement and inventory policy is considered in this paper. There are three decision variables in the problem: (i) preventive replacement age of the operating unit, (ii) order quantity per order and (iii) reorder point for spare replenishment. Preventive replacement age and order quantity are jointly determined so as to minimize the expected cost rate, and then the reorder point for meeting a desired service level is found. A numerical example is included to explain the joint optimization model.

• 대한산업공학회지
• /
• 제42권6호
• /
• pp.386-394
• /
• 2016

In this research, in order to optimize the multi-objective function effectively, we suggested the optimization model to maximize the total destruction of ground targets and minimize the total damage of aircrafts and cost of air munitions by using goal programming. To satisfy the various variables and constraints of this mathematical model, the concept of air strike package is applied. As a consequence, effective attack can be possible by identifying the prior ground targets more quickly. This study can contribute to maximize the ROK air force's combat power and preservation of high value air asset in the war.