• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2492-2497
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• 2003

This paper presents optimal walking trajectory generation for a quadruped robot with genetic-fuzzy algorithm. In order to move a quadruped robot smoothly, both generations of optimal leg trajectory and free walking are required. Generally, making free walking is difficult to realize for a quadruped robot, because the patterned trajectory may interfere in the free walking. In this paper, we suggest the generation method for the leg trajectory satisfied with free walking pattern so as to avoid obstacle and walk smoothly. We generate via points of leg with respect to body motion, and then we use the genetic-fuzzy algorithm to search for the optimal via velocity and acceleration information of legs. All these methods are verified with PC simulation program, and implemented to SERO-V robot.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.462-465
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• 2002

This paper deals with the problem of synthesis of stable and optimal grasps with unknown objects by 3-finger hand. Previous robot grasp research has analyzed mainly with either unknown objects 2D by vision sensor or unknown objects, cylindrical or hexahedral objects, 3D. Extending the previous work, in this paper we propose an algorithm to analyze grasp of unknown objects 3D by vision sensor. This is archived by two steps. The first step is to make a 3D geometrical model of unknown objects by stereo matching which is a kind of 3D computer vision technique. The second step is to find the optimal grasping points. In this step, we choose the 3-finger hand because it has the characteristic of multi-finger hand and is easy to modeling. To find the optimal grasping points, genetic algorithm is used and objective function minimizing admissible farce of finger tip applied to the object is formulated. The algorithm is verified by computer simulation by which an optimal grasping points of known objects with different angles are checked.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.11
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• pp.54-64
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• 2002

This paper deals with the problem of synthesis of stable and optimal grasps with unknown objects by 3-finger hand. Previous robot grasp research has mainly analyzed with either unknown objects 2-dimensionally by vision sensor or known objects, such as cylindrical objects, 3-dimensionally. As extending the previous work, in this study we propose an algorithm to analyze grasp of unknown objects 3-dimensionally by using vision sensor. This is archived by two steps. The first step is to make a 3-dimensional geometrical model for unknown objects by using stereo matching. The second step is to find the optimal grasping points. In this step, we choose the 3-finger hand which has the characteristic of multi-finger hand and is easy to model. To find the optimal grasping points, genetic algorithm is employed and objective function minimizes the admissible force of finger tip applied to the objects. The algorithm is verified by computer simulation by which optimal grasping points of known objects with different angle are checked.

• Structural Engineering and Mechanics
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• v.1 no.1
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• pp.119-135
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• 1993

The paper presents a generalized optimal active control algorithm for earthquake-resistant structures. The study included the weighting matrix configuration, stability, and time-delays for achieving control effectiveness and optimum solution. The sensitivity of various time-delays in the optimal solution is investigated for which the stability regions are determined. A simplified method for reducing the influence of time-delay on dynamic response is proposed. Numerical examples illustrate that the proposed optimal control algorithm is advantageous over others currently in vogue. Its feedback control law is independent of the time increment, and its weighting matrix can be flexibly selected and adjusted at any time during the operation of the control system. The examples also show that the weighting matrix based on pole placement approach is superior to other weighting matrix configurations for its self-adjustable control effectiveness. Using the time-delay correction method can significantly reduce the influence of time-delays on both structural response and required control force.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1086-1091
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• 2005

This paper focuses on intelligent control of induction motor by hybrid system consisting of GA-PSO. Induction motor has been using in industrial area. However, it is challengeable on how we control effectively. From this point, an optimal solution using GA (Genetic Algorithm) and PSO (Particle Swarm Optimization) is introduced to intelligent control. In this case, it is possible to obtain local solution because chromosomes or individuals which have only a close affinity can convergent. To improve an optimal learning solution of control, This paper deal with applying PSO and Euclidian data distance to mutation procedure on GA's differentiation. Through this approaches, we can have global and local optimal solution together, and the faster and the exact optimal solution without any local solution. Four test functions are used for proof of this suggested algorithm.

• Proceedings of the KIEE Conference
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• 1999.07c
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• pp.1245-1247
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• 1999

This paper describes the optimal reconfiguration of distribution network. The optimal routing of distribution network should provide electricity to customers with quality, and this paper shows that optimal routing of distribution network can be obtained by Neural-Tabu algorithm while keeping constraints such as line power capacity, voltage drop and reliability indices. The Neural-Tabu algorithm is a Tabu algorithm combined with Neural network to find neighborhood solutions. This paper shows that not only the loss cost but also the reliability cost should be considered in distribution network reconfiguration to achieve the optimal routing.

• Journal of Korean Society for Quality Management
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• v.28 no.2
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• pp.135-146
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• 2000

This study has adapted a genetic algorithm for an optimal design for the first time. The models using a simulation are the nonlinear models. Using an genetic algorithm in D-optimal, it is more efficient than previous algorithms to get an object function. Not like other algorithms, without any troublesome restrictions about the initial solution, not falling into a local optimal solution, it's the most suitable algorithm. Also if we use it without any adding experiments, we can use it to find optimal design of experimental condition efficiently.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.11
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• pp.2079-2088
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• 2009

The optimal operation in distribution system is to select tie switches considering important elements(Load balance, Loss minimization, Voltage drop, Restoration index..) in distribution system. Optimal Tie Switches Selection is very important in operation of distribution system because that is closely related with efficiency and reliability. In this paper, a new algorithm considering important elements is proposed to find optimal location of tie switches. In the case study, the proposed algorithm has been testified using real distribution network of KEPCO for verifying algorithm and complex network for applying future distribution network.

• International Journal of Computer Science & Network Security
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• v.21 no.2
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• pp.88-92
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• 2021

A method and a mathematical algorithm for finding a quasi-optimal assignment plan with rectangular efficiency matrices are proposed. The developed algorithm can significantly reduce the time and computer memory consumption for its implementation in comparison with optimal methods.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.32 no.2
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• pp.158-170
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• 2009

This paper considers how the optimal export level is influenced by export risk, the degree of risk-averseness for exporting firms, and those firms' cost structure. In addition, export insurance is incorporated into some simple theoretical model to analyze the optimal export level. This paper applies genetic algorithm simulation to show that the exporting firms'risk-averseness do not affect the optimal export decision while export risk and cost function characteristic have relatively more significant effects on the optimal export level. Finally, our findings suggest that the most influential factor for the optimal export levels seems to be the monopoly power of exporting firms.