• International Journal of Precision Engineering and Manufacturing
• /
• v.2 no.4
• /
• pp.61-68
• /
• 2001

A new approach for motion control of constrained mechanical systems is proposed in this paper. The approach uses a new equations of motion which is proposed by Udwadia and Kalaba and named Udwadia-Kalaba's equations of motion in this paper. This paper reveals that the Udwadia-Kalaba's equations of motion is more adequate to model constrained mechanical systems rather than the famous Lagrange's equations of motion at least for control purpose. The proposed approach coverts most of constraints including holonomic and nonholonomic constraints. Comparison of simulation results of two systems which are well-known in the literature show the superiority of the proposed approach. Furthermore, a special constrained mechanical system which includes nonlinear generalized velocities in its constraint equations, which has been considered to be difficult to control, can be controlled easily. It shows the possibility of the proposed approach to being a general framework for motion control of constrained mechanical systems with various kinds of constraints.

• Journal of Power Electronics
• /
• v.18 no.4
• /
• pp.1111-1126
• /
• 2018

In modern power systems, distributed generators (DGs) result in high stress on system frequency stability. Apart from the intermittent nature of DGs, most DGs do not contribute inertia or damping to systems. As a result, a new control method referred to as a virtual synchronous machine (VSM) has been proposed, which brought new characteristics to inverters such as synchronous machines (SM). DGs employing an energy storage system (ESS) provide inertia and damping through VSM control. Meanwhile, energy storage presents some physical constraints in the VSM implementation level. In this paper, a VSM mathematical model is built and analyzed. The dynamic responses of the output active power are presented when a step change in the frequency occurs. The influences of the inertia constant, damping factor and operating point on the ESS volume margins are investigated. In addition, physical constraints are proposed based on these analyses. The proposed physical constraints are simulated using PSCAD/EMTDC software and tested through RTDS experiment. Both simulation and RTDS test results verify the analysis.

• Journal of the Korean Society for Precision Engineering
• /
• v.13 no.9
• /
• pp.84-93
• /
• 1996

This paper describes the development of new feature positioning method which embedded into the top-down assembly modeling system supporting conceptual design. In this work, the user provides the geometric constraints representing the position and size of features, then the system calculates their proper solution. The use of geometric constraints which are easy to understand intuitively enables the user to represent his design intents about geometric shapes, and enables the system to propagate the changes automatically when some editing occurs. To find the proper solution of given constraints, the Selective Solving Method in which the redundant or conflict equations are detected and discarded is devised. The validity of feature shapes satisfying the constraints can be maintained by this technique, and under or over constrained user-defined constraints can also be estimated. The problems such as getting the initial guess, controlling the multiple solutions, and dealing with objects of rotational symmetry are also resolved. Through this work, the feature based modeling system can support more general and convenient modeling method, and keeps the model being valid during modifying models.

• Journal of the Korean Institute of Telematics and Electronics A
• /
• v.32A no.7
• /
• pp.104-114
• /
• 1995

In this paper, an intermediate representation HSFG(Hanyang Sequential Flow GRaph) and a new scheduling algorithm for the control-dominated ASIC design is presented. The HSFG represents control flow, data dependency and such constraints as resource constraints and timing constraints. The scheduling algorithm minimizes the total operating time by reducing the number of the constraints as maximal as possible, searching a few paths among all the paths produced by conditional branches. The constraints are substitute by subgraphs, and then the number of subgraphs (that is the number kof the constraints) is minimized by using the inclusion and overlap relation among subgraphs. The proposed algorithm has achieved the better results than the previous ones on the benchmark data.

• Nuclear Engineering and Technology
• /
• v.54 no.10
• /
• pp.3660-3671
• /
• 2022

A new methodology to derive a dose constraint for radioactive effluent from a unit of nuclear power plant (NPP) through retrospective assessment was developed to reflect operational flexibility in line with international standards. The new dose constraint can retain the safety margin between the offsite dose and the past dose constraints. As case studies, the new approach was applied to 24 Korean NPPs to address the limitations of the existing seven dose constraints that do not fully comply with current international radiation protection standards. Therefore, an effective dose constraint for Korean NPPs was proposed as no less than 0.15 mSv/y, which is comparable to the international practices and previous studies (0.05-0.3 mSv/y). Although the lower bound of the equivalent dose constraint was calculated as 0.17 mSv/y, it is not proposed in this study since the compliance with the derived effective dose constraint can prevent accompanied equivalent doses to any organs from exceeding equivalent dose limits. The new framework and the case studies are expected to contribute toward and support the revision of existing dose constraints for radioactive effluent from NPPs, ensuring better compliance with the current international safety standards as well as reflect the operational flexibility in practice.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.30B no.12
• /
• pp.40-50
• /
• 1993

This paper presents a new method for generating assembly sequences. The method acquires constraints on sequencing the assembly tasks without redundancy. Then it generates the assembly sequences without seatching undesirable tasks by recursively searching all assembly tasks which do not violate the assembly constraints. Since the method does not search undesirable tasks, it can generate assembly sequences for complex products. Current available methods may not generate assembly sequences for the complex product since their search-space increases explosively as the number of parts rises.

• Journal of the Korea Society of Computer and Information
• /
• v.22 no.9
• /
• pp.9-16
• /
• 2017

The course timetabling problem is a problem assigning a set of subjects to the given classrooms and different timeslots, while satisfying various hard constraints and soft constraints. This problem is defined as a constraint satisfaction optimization problem and is known as an NP-complete problem. Various methods has been proposed such as integer programming, constraint programming and local search methods to solve a variety of course timetabling problems. In this paper, we propose an iterative improvement search method to solve the problem based on constraint programming. First, an initial solution satisfying all the hard constraints is obtained by constraint programming, and then the solution is repeatedly improved using constraint programming again by adding new constraints to improve the quality of the soft constraints. Through experimental results, we confirmed that the proposed method can find far better solutions in a shorter time than the manual method.

• Journal of Astronomy and Space Sciences
• /
• v.21 no.3
• /
• pp.209-220
• /
• 2004

Some methods have been presented to get optimal formation trajectories in the step of configuration or reconfiguration, which subject to constraints of collision avoidance and final configuration. In this study, a method for optimal formation trajectory-planning is introduced in view of fuel/time minimization using parameter optimization technique which has not been applied to optimal trajectory-planning for satellite formation flying. New constraints of nonlinear equality are derived for final configuration and constraints of nonlinear inequality are used for collision avoidance. The final configuration constraints are that three or more satellites should be placed in an equilateral polygon of the circular horizontal plane orbit. Several examples are given to get optimal trajectories based on the parameter optimization problem which subjects to constraints of collision avoidance and final configuration. They show that the introduced method for trajectory-planning is well suited to trajectory design problems of formation flying missions.

• Structural Engineering and Mechanics
• /
• v.12 no.1
• /
• pp.35-50
• /
• 2001

A numerical methodology is presented in this paper for the geometrically non-linear analysis of slender uni-dimensional structural elements under unilateral contact constraints. The finite element method together with an updated Lagrangian formulation is used to study the structural system. The unilateral constraints are imposed by tensionless supports or foundations. At each load step, in order to obtain the contact regions, the equilibrium equations are linearized and the contact problem is treated directly as a minimisation problem with inequality constraints, resulting in a linear complementarity problem (LCP). After the resulting LCP is solved by Lemke's pivoting algorithm, the contact regions are identified and the Newton-Raphson method is used together with path following methods to obtain the new contact forces and equilibrium configurations. The proposed methodology is illustrated by two examples and the results are compared with numerical and experimental results found in literature.

• Structural Engineering and Mechanics
• /
• v.35 no.1
• /
• pp.83-98
• /
• 2010

In this paper, the mass optimization of four bar linkages is carried out using genetic algorithms (GA) with single and dual constraints. The single constraint of bending stress and the dual constraints of bending and buckling stresses are imposed. From the movement response of the bar linkage mechanism, the analysis of the mechanism is developed using the combination of kinematics, kinetics, and finite element analysis (FEA). A penalty-based transformation technique is used to convert the constrained problem into an unconstrained one. Lastly, a detailed comparison on the effect of single constraint and of dual constraints is presented.