• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10b
• /
• pp.501-506
• /
• 1993

An efficient solution algorithm of the optimal load distribution problem with joint torque constraints is presented. Multiple robot system where each robot is rigidly grasping a common object is considered. The optimality criteria used is the sum of weighted norm of the joint torque vectors. The maximum and minimum bounds of each joint torque in arbitrary form are considered as constraints, and the solution that reduces the internal force to zero is obtained. The optimal load distribution problem is formulated as a quadratic optimization problem in R, where I is the number of robots. The general solution can be obtained using any efficient numerial method for quadratic programming, and for dual robot case, the optimal solution is given in a simple analytical form.

• Smart Structures and Systems
• /
• v.22 no.3
• /
• pp.249-257
• /
• 2018

This study contributes to evaluate multiphase topology optimization design of plate-like elastic structures with constant thickness and Reissner-Mindlin plate theory. Stiffness and adjoint sensitivity formulations linked to Reissner-Mindlin plate potential energy of bending and shear are derived in terms of multiphase design variables. Multiphase optimization problem is solved through alternative active-phase algorithm with Gauss-Seidel version as an optimization model of optimality criteria. Numerical examples verify efficiency and diversity of the present topology optimization method of Reissner-Mindlin elastic plates depending on multiphase and Poisson's ratio.

• Journal of Information Technology Applications and Management
• /
• v.10 no.2
• /
• pp.61-71
• /
• 2003

Ad-hoc networks are characterized by multi-hop wireless links, frequently changing network topology and the need for efficient dynamic routing protocols. In an Ad-hoc network, each host assumes the role of a router and relays packets toward final destinations Because a packet is broadcast to all neighboring nodes, the optimality criteria of wireless network routing is different from that of wired network routing. tn this paper 1 point out the more important cost factor than the number of links in the Ad-hoc network. A class routing protocols called on-demand protocols has recently found attention because of their low routing overhead since it performs a blind flooding to look for a path. In this paper, 1 propose the method which reduces overhead by using the information of neighboring nodes and doing a selective flooding. Simulation results demonstrate better reduction of routing overheads with this scheme.

• Computational Structural Engineering
• /
• v.11 no.4
• /
• pp.229-237
• /
• 1998

본 연구는 횡변위 구속조건을 받는 고층철골구조물의 이산형 최적설계를 위해 효율적인 쌍대알고리즘을 제시하고자 한다. 양함수형태의 횡변위 구속조건을 설정하기 위해 가상일의 원리가 적용되면 고층철골조의 설계변수의 수를 줄여주기 위해 쌍대알고리즘내에 단면특성관계식이 추가된다. 이 알고리즘의 검증을 위하여 횡하중을 받는 네 가지 형태의 고층철골조 예제가 제시되며, 반복과정에서 수렴된 최종물량을 기존의 최적설계방법과 비교해 봄으로써 제시된 알고리즘의 효율성이 검토된다.

• Steel and Composite Structures
• /
• v.27 no.2
• /
• pp.177-184
• /
• 2018

This study contributes to evaluate multiphase topology optimization design of plate-like structures on elastic foundations by using classic plate theory. Multi-material optimal topology and shape are produced as an alternative to provide reasonable material assignments based on stress distributions. Multi-material topology optimization problem is solved through an alternative active-phase algorithm with Gauss-Seidel version as an optimization model of optimality criteria. Stiffness and adjoint sensitivity formulations linked to thin plate potential strain energy are derived in terms of multiphase design variables and Winkler-Pasternak parameters considering elastic foundation to apply to the current topology optimization. Numerical examples verify efficiency and diversity of the present topology optimization method of elastic thin plates depending on multiple materials and Winkler-Pasternak parameters with the same amount of volume fraction and total structural volume.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.17 no.2
• /
• pp.13-22
• /
• 2008

For the accuracy correction of the micro-positioning industrial robot, micro-manipulator has been devised. The compliant mechanisms using piezoelectric actuators is necessary geometrically and structurally to be developed by the optimization approaches. The overall geometric advantage as the mechanical efficiencies of the mechanism are considered as objective functions, which respectively art the ratio of output displacement to input force, and their constraints are the vertical notion of supporting leg and the structural strength of manipulation. In optimizing the compliant mechanical amplifier, the sequential linear programming and an optimality criteria method are used for the geometrical dimensions of compliant bridges and flexure hinges. This paper presents the integrated design process which not only can maximize the mechanism feasibilities but also can ensure the positioning accuracy and sufficient workspace. Experiment and simulation are presented for validating the design process through the comparisons of the kinematical and structural performances.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 1993.06a
• /
• pp.1195-1198
• /
• 1993

We investigate a systematic design procedure of automated rule generation of fuzzy logic based controller for uncertain dynamic systems such as an engine dynamic model.“Automated Tuning”means autonomous clustering or collection of such meaningful transitional relations in the state-space. Optimal control strategies are included in the design procedures, such as minimum squared error, minimum time, minimum energy or combined performance criteria. Fuzzy feedback control systems designed by the cell-state transition method have the properties of closed-loop stability, robustness under parameter variabtions, and a certain degree of optimality. Most of all, the main advantage of the proposed approach is that reliability can be potentially increased even if a large grain of uncertainty is involved within the control system under consideration. A numerical example is shown in which we apply our strategic fuzzy controller design to a highly nonlinear model of engine idle speed contr l.

• Nonlinear Functional Analysis and Applications
• /
• v.27 no.1
• /
• pp.23-44
• /
• 2022

In this paper, we consider and introduce some new concepts of the biconvex functions involving an arbitrary bifunction and function. Some new relationships among various concepts of biconvex functions have been established. We have shown that the optimality conditions for the general biconvex functions can be characterized by a class of bivariational-like inequalities. Auxiliary principle technique is used to propose proximal point methods for solving general bivariational-like inequalities. We also discussed the conversance criteria for the suggested methods under pseudo-monotonicity. Our method of proof is very simple compared with methods. Several special cases are discussed as applications of our main concepts and results. It is a challenging problem to explore the applications of the general bivariational-like inequalities in pure and applied sciences.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.26 no.6
• /
• pp.1194-1202
• /
• 2002

A study on the topology optimization of a multi-spectral camera for space-use is presented. The optimization is carried out under self-weight and polishing pressure loading. A multi-spectral camera for space-use experiences degradation of optical image in the space, which can not be detected on the optical test bench on the earth. An optical surface deformation of a primary mirror, which is a principal component of the camera system, is an important factor affecting the optical performance of the whole camera system. In this study, topology optimization of the primary mirror of the camera is presented. As an objective function, a measure of Strehl ratio is used. Total mass of the primary mirror is given as a constraint to the optimization problem. The sensitivities of the objective function and constraint are calculated by direct differentiation method. Optimization procedure is carried out by an optimality criteria method. For the light-weight primary mirror design, a three dimensional model is treated. As a preliminary example, topology optimization considering a self-weight loading is treated. In the second example, the polishing pressure is also included as a loading in the topology optimization of the mirror. Results of the optimized design topology for the mirror with various mass constraints are presented.

• Structural Engineering and Mechanics
• /
• v.51 no.3
• /
• pp.377-402
• /
• 2014

In this study, optimal distribution of springs which supports a cantilever beam is investigated to minimize two objective functions defined. The optimal size and location of the springs are ascertained to minimize the tip deflection of the cantilever beam. Afterwards, the optimization problem of springs is set up to minimize the tip absolute acceleration of the beam. The Fourier Transform is applied on the equation of motion and the response of the structure is defined in terms of transfer functions. By using any structural mode, the proposed method is applied to find optimal stiffness and location of springs which supports a cantilever beam. The stiffness coefficients of springs are chosen as the design variables. There is an active constraint on the sum of the stiffness coefficients and there are passive constraints on the upper and lower bounds of the stiffness coefficients. Optimality criteria are derived by using the Lagrange Multipliers. Gradient information required for solution of the optimization problem is analytically derived. Optimal designs obtained are compared with the uniform design in terms of frequency responses and time response. Numerical results show that the proposed method is considerably effective to determine optimal stiffness coefficients and locations of the springs.