• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.69-72
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• 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.

• Journal of Electrical Engineering and Technology
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• v.12 no.4
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• pp.1386-1396
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• 2017

In this paper, a new approach is proposed to select the optimal sitting and sizing of distributed solar photovoltaic generation (SPVG) in a radial electrical distribution systems (EDS) considering load/generation uncertainties. Here, distributed generations (DGs) allocation problem is modeled as optimization problem with network loss based objective function under various equality and inequality constrains in an uncertain environment. A boundary power flow is utilized to address the uncertainties in load/generation forecasts. This approach facilitates the consideration of random uncertainties in forecast having no statistical history. Uncertain solar irradiance is modeled by beta distribution function (BDF). The resulted optimization problem is solved by a new Dynamic Harmony Search Algorithm (DHSA). Dynamic band width (DBW) based DHSA is proposed to enhance the search space and dynamically adjust the exploitation near the optimal solution. Proposed approach is demonstrated for two standard IEEE radial distribution systems under different scenarios.

• Journal of Korean Society of Water and Wastewater
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• v.29 no.2
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• pp.223-231
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• 2015

District Metered Area (DMA) construction is one of the most cost effective alternatives for management of water loss (i.e., water leakage) and energy consumption (i.e., water pressure) in water distribution systems. Therefore, it's being implemented to numerous new and existing water distribution systems worldwide. However, due to the complexity of water distribution systems, especially large-scale and highly looped systems, it is still very difficult to define the optimal boundary of DMAs considering all the aspects of water distribution system management requirements. In this study, a DMA design methodology (or a DMA design model) was developed with Geographic Information Systems (GIS) and hydraulic distribution system model to determine the optimal DMA boundary.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.7
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• pp.76-82
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• 2004

The solutions of neighboring optimal control are typically obtained using the sweep method or transition matrices. Due to the numerical integration, however, the gain matrix can become infinite as time go to final one in the transition matrices, and the Riccati solution can become infinite when the final time free. To overcome these disadvantages, this paper proposes the pseudospectral Legendre method which is to first discreteize the linear boundary value problem using the global orthogonal polynomial, then transforms into an algebraic equations. Because this method is not necessary to take any integration of transition matrix or Riccati equation, it can be usefully used in real-time operation. Finally, its performance is verified by the numerical example for the space vehicle's orbit transfer.

• Structural Engineering and Mechanics
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• v.25 no.6
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• pp.637-652
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• 2007

This paper presents stacking sequence optimization of laminated angle-ply cylindrical panel based on natural frequency. Finite element method (FEM) is used to obtain the vibration characteristic of an anisotropic panel using the first order shear deformation theory(FSDT) and genetic algorithm (GA) is used to obtain the optimal stacking sequence of the layers. Cylindrical panel has finite length and arbitrary boundary conditions. The thicknesses of the layers are assumed constant and their angles are specified as design variables. The effect of the number of plies and boundary conditions in the fitness function is considered. Numerical examples are presented for four, six and eight layered anisotropic cylindrical panels.

• Journal of Ocean Engineering and Technology
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• v.37 no.3
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• pp.122-128
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• 2023

Autonomous berthing is a crucial technology for autonomous ships, requiring optimal trajectory planning to prevent collisions and minimize time and control efforts. This paper presents a two-phase, two-point boundary value problem (TPBVP) strategy for creating an optimal berthing trajectory for a twin-propeller, twin-rudder ship with autonomous berthing capabilities. The process is divided into two phases: the approach and the terminal. Tunnel thruster use is limited during the approach but fully employed during the terminal phase. This strategy permits concurrent optimization of the total trajectory duration, individual phase trajectories, and phase transition time. The efficacy of the proposed method is validated through two simulations. The first explores a scenario with phase transition, and the second generates a trajectory relying solely on the approach phase. The results affirm our algorithm's effectiveness in deciding transition necessity, identifying optimal transition timing, and optimizing the trajectory accordingly. The proposed two-phase TPBVP approach holds significant implications for advancements in autonomous ship navigation, enhancing safety and efficiency in berthing operations.

• Smart Structures and Systems
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• v.26 no.6
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• pp.721-733
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• 2020

The present study investigates the employing of piezoelectric patches in active control of a sandwich plate. Indeed, the active control and optimal patch distribution on this structure are presented together. A sandwich plate with honeycomb core and composite reinforced by carbon nanotubes in facesheet layers is considered so that the optimum position of actuator/sensor patches pair is guaranteed to suppress the vibration of sandwich structures. The sandwich panel consists of a search space which is a square of 200 × 200 mm with a numerous number of candidates for the optimum position. Also, different dimension of square and rectangular plates to obtain the optimal placement of piezoelectric actuator/senor patches pair is considered. Based on genetic algorithm and LQR, the optimum position of patches and fitness function is determined, respectively. The present study reveals that the efficiency and performance of LQR control is affected by the optimal placement of the actuator/sensor patches pair to a large extent. It is also shown that an intelligent selection of the parent, repeated genes filtering, and 80% crossover and 20% mutation would increase the convergence of the algorithm. It is noted that a fitness function is achieved by collection actuator/sensor patches pair cost functions in the same position (controllability). It is worth mentioning that the study of the optimal location of actuator/sensor patches pair is carried out for different boundary conditions of a sandwich plate such as simply supported and clamped boundary conditions.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.3 no.1
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• pp.55-69
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• 1999

In this paper we analyze the error estimates for a single-phase nonlinear Stefan problem with Neumann boundary conditions. We apply the modified Crank-Nicolson method to get the optimal order of error estimates in the temporal direction.

• Journal of the Korean Mathematical Society
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• v.37 no.6
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• pp.1031-1042
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• 2000

The equations prescribed in Ω⊂R(sup)n are called loaded, if they contain some operations of the traces of desired solution on manifolds (of dimension which is strongly less than n) from closure Ω. These equations result from approximations of nonlinear equations by linear ones, in the problems of optimal control when the control when the control actions depends on a part of independent variables, in investigations of the inverse problems and so on. In present work we study the nonlocal boundary value problems for first-order loaded differential operator equations. Criterion of unique solvability is established. We illustrate the obtained results by examples.

• Journal of the Korean Mathematical Society
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• v.54 no.6
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• pp.1817-1828
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• 2017

We give a simple and direct proof of the characterization of positivity preserving semi-flows for ordinary differential systems. The same method provides an abstract result on a class of evolution systems containing reaction-diffusion systems in a bounded domain of ${\mathbb{R}}^n$ with either Neumann or Dirichlet homogeneous boundary conditions. The conditions are exactly the same with or without diffusion. A similar approach gives the optimal result for invariant rectangles in the case of Neumann conditions.