• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.3
• /
• pp.249-256
• /
• 1999

The conventional robot manipulability is decomposed into linear manipulability and angular manipulability so that they may be analysed and visualized in easy way even in the case of 3 dimensional task space with 6 variables. After the Jacobian matrix is decomposed into linear part and angular part, constraint on joint velocities is transformed into linear task velocity and angular task velocity through the decomposed Jacobian matrices. Under the assumption of redundant robot manipulators, several optimization problems which utilize the redundancy are formulated to be solved by linear programming technique or sequential quadratic programming technique. After deriving the solutions of the optimization problems, we give graphical interpretations for the solutions.

• Journal of Electrical Engineering and Technology
• /
• v.8 no.3
• /
• pp.581-587
• /
• 2013

Among different linear motors, single-sided linear induction motors have been widely used in industry due to their simplicity and low construction cost. However, these types of motors suffer from low efficiency and power factor. In this paper, an effective procedure is proposed to design single-sided linear induction motors. The designed motor is simulated in MATLAB software in order to investigate the effect of design parameters on the performance of the machine. Regarding the obtained results, the Genetic Algorithm is employed to optimize the design considering product of efficiency and power factor as objective function. The results show significant improvement of the performance. Finally, experimental results and 2D finite element method is used to validate the model parameters and the optimization results.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 1993.04a
• /
• pp.135-140
• /
• 1993

The optimum weight design of structure is to determine the combination of structural members which minimize the weight of structures and satisfy design conditions as well. Since most of loads and design variables considered in structural design have uncertain natures, the reliability-based optimization techniques need to be developed. The aim of this study is to estabilish the general algorithm for the minimum weight design of transmission tower structure system with reliability constraints. The sequential linear programming method is used to solve non-linear minimization problems, which converts original non-linear programming problems to sequential linear programming problems. The optimal solutions are produced for various reliability levels such as reliability levels inherent in current standard transmission tower cross-section and optimal transmission tower cross-section obtained with constraints of current design criteria as well as selected target reliability index. The optimal transmission towers satisfying reliability constraints sustain consistent reliability levels on all members. Consequently, more balanced optimum designs are accomplished with less structural weight than traditional designs dealing with deterministic design criteria.

• Steel and Composite Structures
• /
• v.4 no.6
• /
• pp.453-469
• /
• 2004

In this article, a genetic algorithm based optimum design method is presented for non-linear steel frames with semi-rigid connections. The design algorithm obtains the minimum weight frame by selecting suitable sections from a standard set of steel sections such as European wide flange beams (i.e., HE sections). A genetic algorithm is employed as optimization method which utilizes reproduction, crossover and mutation operators. Displacement and stress constraints of Turkish Building Code for Steel Structures (TS 648, 1980) are imposed on the frame. The algorithm requires a large number of non-linear analyses of frames. The analyses cover both the non-linear behaviour of beam-to-column connection and $P-{\Delta}$ effects of beam-column members. The Frye and Morris polynomial model is used for modelling of semi-rigid connections. Two design examples with various type of connections are presented to demonstrate the application of the algorithm. The semi-rigid connection modelling results in more economical solutions than rigid connection modelling, but it increases frame drift.

• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.2
• /
• pp.134-139
• /
• 2010

In order to overcome some problems of existing anti-windup methods, this paper defines LQ (Linear Quadratic) observer and proposes a new anti-windup method using the LQ observer. LQ observer is derived by linear quadratic optimization in order to calculate controller states, which make the controller outputs equal to the plant inputs. And we propose an algorithm so that it can be implemented by a digital controller easily. The relationship between the design parameters and the anti-windup performance is shown via some numerical examples, which cover the cases with the anti-windup method using LQ observer designed and the case without it. Finally, the anti-windup performance of the proposed method is exemplified via comparison with the existing model-based conditioning scheme method[4].

• The Transactions of the Korean Institute of Electrical Engineers B
• /
• v.55 no.10
• /
• pp.498-504
• /
• 2006

Thrust force of linear motor is one of the important factor to specify motor performance. In this study, we optimized maximizing the thrust force of TFLM(Transverse Flux Linear Motor) using Response Surface Methodology by the table of orthogonal way. The Response Surface Methodology was well adapted to make the analytical model of the maximum thrust force and enable the objective function to be easily created and a great deal of the time In computation to be saved. Therefore, it is expected that the proposed optimization procedure using the Response Surface Methodology can be easily utilized to solve the optimization problem of electric machine.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.10a
• /
• pp.94-99
• /
• 2005

Though the technology on the ultra-precise machining has been developed intensively, the high speed and high precision for large machining range is still very hard to achieve. The linear motor system fur the universal machining center is proper fur high speed and high precision, but it has drawback of sensitivity to disturbance. In this research, two degrees of freedom controller based on the zero phase error tracking controller (ZPETC) and disturbance observer are proposed to improve the tracking performance and dynamic stiffness of linear motor system. The proposed controller is verified in simulations and experiments on a nano-positioner system, and the experimental result shows that the tracking performance improved. In addition, the PID optimization method is proposed for the commercialized controller such as the PMAC based system. The tracking as well as impedance is included in the cost function of optimization.

• Journal of KIISE:Computer Systems and Theory
• /
• v.34 no.8
• /
• pp.327-336
• /
• 2007

Lots of effort toward design optimizations have been paid for a cost-effective system design in various ways from a transistor level to RTL designs. In this paper, we propose a bit level optimization of an adder design for expanding its design space. For the bit-level optimization, a heterogeneous adder organization utilizing a mixture of carry propagation schemes is proposed to design a delay-area efficient adder which were not available in an ordinary design space. Then, we develop an optimization method based on Integer Linear Programming to search the expanded design space of the heterogeneous adder. The novelty of the Proposed architecture and optimization method is introducing a bit level reconstruction/recombination of IPs which have same functionality but different speed and area characteristics for producing more find-grained delay-area optimization.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.35 no.1
• /
• pp.1-10
• /
• 2011

An optimization method is proposed for preform and billet shape designs in the forging process by using the Equivalent Static Loads (ESLs). The preform shape is an important factor in the forging process because the quality of the final forging is significantly influenced by it. The ESLSO is used to determine the shape of the preform. In the ESLSO, nonlinear dynamic loads are transformed to the ESLs and linear response optimization is performed using the ESLs. The design is updated in linear response optimization and nonlinear analysis is performed with the updated design. The examples in this paper show that optimization using the ESLs is useful and the design results are satisfactory. Consequently, the optimal preform and billet shapes which produce the desired final shape have been obtained. Nonlinear analysis and linear response optimization of the forging process are performed using the commercial software LS-DYNA and NASTRAN, respectively.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
• /
• v.3B no.3
• /
• pp.128-132
• /
• 2003

This paper presents the optimum design of a Linear Induction Motor (LIM) using Genetic algorithm, Niching Genetic algorithm and Neural Network. The design variables are optimized by different optimization methods and the results are discussed.