• International Journal of Control, Automation, and Systems
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• 제6권3호
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• pp.364-377
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• 2008

Due to the difficulty in solving the Hamilton-Jacobi-Isaacs equation, the nonlinear optimal control approach is not very practical in general. To overcome this problem, Ezal et al. (2000) first solved a linear optimal control problem for the linearized model of a nonlinear system given in the strict-feedback form. Then, using the backstepping procedure, a nonlinear feedback controller was designed where the linear part is same as the linear feedback obtained from the linear optimal control design. However, their construction is based on the cancellation of the high order nonlinearity, which limits the application to the smooth ($C^{\infty}$) vector fields. In this paper, we develop an alternative method for backstepping procedure, so that the vector field can be just $C^1$, which allows this approach to be applicable to much larger class of nonlinear systems.

• 한국경영과학회지
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• 제27권2호
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• pp.153-171
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• 2002

In this paper, we present an efficient pricing strategy, the pivot and probe Algorithm for Network Flow Problems(PAPANET), specifically for solving capacitated, linear network flow problem (NPs). The PAPANET begins with an initial relaxed network problem(RNP), consisting of all the nodes and initial candidate arcs(possibly a few least cost arcs form the original problem and a set of all the artificial and slack arcs). After an initial solution to the RNP is derived by pivoting, the PROBE procedure identifies a set of most violated arcs from the noncandidate arcs that are not considered to be in the current RNP, and adds them to the RNP. The procedure also discards a set of least favorable, zero flow, nonbasic arcs from the RNP. The new RNP is solved to optimality and the procedure continues until all of the dual constraints of the noncandidate arcs are satisfied by the dual solution to the RNP. The PAPANET effectively reduces the problem size, time per pivot, and solution CPU time by eliminating noncandidate arcs. Computational tests on randomly generated problems indicate that PAPANET achieves and average savings of 50-80% of the solution CPU time of that of a comparable standard network simplex implementation.

• 대한화학회지
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• 제39권1호
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• pp.14-22
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• 1995

주어진 시간에 금속 고체 내부의 목표 부위에 탄성에너지를 집중시킬 수 있도록 표면에 가해주는 최적의 레이저 pulse의 형태를 디자인 하는 문제에 관하여 연구하였다. 금속고체 표면에 레이저를 쪼여주면 흡수된 광에너지가 열로 바뀌어 열팽창에 의하여 종파와 횡파가 고체 내부로 전파된다. 최소의 레이저의 세기를 사용하고 다른 부위에 영향을 최소화하면서 목표 부위에 원하는 에너지를 집중시킬 수 있는 최적의 레이저 펄스의 형태를 공액 변화 방법과 반 공간 Green 함수를 이용한 유한 요소법으로 조사하였다. 최적의 레이저 펄스로부터 원하는 시간에 목표 부위에 탄성에너지를 집중시키는 것을 보여주었고 또한 대부분의 에너지가 방향성이 큰 횡파로부터 온다는 것을 알았다.

• 로봇학회논문지
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• 제2권3호
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• pp.234-241
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• 2007

Effective tools which can alleviate the complexity and computational load problem in collision-free motion planning for multi-agent system have steadily been demanded in robotics field. To reduce the complexity, the extended collision map (ECM) which adopts decoupled approach and prioritization is already proposed. In ECM, the collision regions which represent the potential collision of robots are calculated using the computational power; the complexity problem is not resolved completely. In this paper, we propose a mathematical analysis of the extended collision map; as a result, we formulate the collision region as an equation with 5-8 variables. For mathematical analysis, we introduce realistic assumptions as follows; the path of each robot can be approximated to a straight line or an arc and every robot moves with uniform velocity or constant acceleration near the intersection between paths. Our result reduces the computational complexity in comparison with the previous result without losing optimality, because we use simple but exact equations of the collision regions. This result can be widely applicable to coordinated multi-agent motion planning.

• 한국전산구조공학회논문집
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• 제15권3호
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• pp.453-462
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• 2002

건설공사의 설계와 시공에서 표준화된 이산형 강재단면을 이용하고 있으나, 대부분의 최적화기법에서는 표준강재단면을 사용하기 위해 별도의 이산화 과정을 가지게 되므로 설계결과의 최적성을 보장할 수 없다. 따라서, 본 논문에서는 제안된 알고리즘의 효율성을 높이기 위해 전체구조계와 구조요소계로 나누는 다단계 알고리즘을 적용하였다 수치해석 과정의 효율성과 최적해의 정확성을 예제를 통하여 비교·검토하였다.

• 제어로봇시스템학회논문지
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• 제6권1호
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• pp.66-72
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• 2000

As the demand for the design of modular manipulators or special purpose manipulators has increased, task based design to design an optimal manipulator for a given task become more and more important. However, the complexity with a large number of design parameters, and highly nonlinear and implicit functions are characteristics of a general manipulator design. To achieve the goal of task based design, it is necessary to develop a methodology to solve the complexity. This paper addresses how to determine the kinematic parameters of a two-degrees of freedom manipulator with parallelogram five-bar link mechanism from a given task, namely, how to map a given task into the kinematic parameters. With simplified example of designing a manipulator with five-bar link mechanism, the methodology for task based design is presented. And it introduces formulations of a given task and manipulator specifications, and presents a new dexterity measure for manipulator design. Also the optimization problem with constraints is solved by using a genetic algorithm that provides robust search in complex spaces.

• 한국해양공학회지
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• 제18권4호
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• pp.65-70
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• 2004

Many port states, such as New Zealand, U.S.A., Australia, and Canada, have strict regulations to prevent arriving ships from discharging polluted ballast water that contains harmful aquatic organisms and pathogens. They are notified that transfer of polluted ballast water can cause serious injury to public health and damage to property and environment. For this reason, ballast exchange in deep sea is perceived as the most effective method of emptying ballast water. The ballast management plan contains the effective exchange method, ballast system, and safety considerations. In this study, we pursued both nautical engineering analysis and optimization of the algorithm, in order to generate the sequence of stability and rapidity. A heuristic algorithm was chosen on the basis of optimality and applicability to a sequential exchange problem. We have built an optimized algorithm for the automatic exchange of ballast water, by redefining core elements of the A$\ast$ algorithm, such as node, operator, and evaluation function. The final version of the optimized algorithm has been applied to existing bulk carrier, and the performance of the algorithm has been successfully verified.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제16권1호
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• pp.97-115
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• 2022

Smart power grid is a user friendly system that transforms the traditional electric grid to the one that operates in a co-operative and reliable manner. Demand Response (DR) is one of the important components of the smart grid. The DR programs enable the end user participation by which they can communicate with the electricity service provider and shape their daily energy consumption patterns and reduce their consumption costs. The increasing demands of electricity owing to growing population stresses the need for optimal usage of electricity and also to look out alternative and cheap renewable sources of electricity. The solar and wind energy are the promising sources of alternative energy at present because of renewable nature and low cost implementation. The proposed work models a smart home with renewable energy units. The random nature of the renewable sources like wind and solar energy brings an uncertainty to the model developed. A stochastic dual descent optimization method is used to bring optimality to the developed model. The proposed work is validated using the simulation results. From the results it is concluded that proposed work brings a balanced usage of the grid power and the renewable energy units. The work also optimizes the daily consumption pattern thereby reducing the consumption cost for the end users of electricity.

• Journal of applied mathematics & informatics
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• 제41권3호
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• pp.647-656
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• 2023

In this work, we are concerned by the problem of identification of noisy terms which arise in singular problem as for remote sensing problems, and which are modeled by a linear singular parabolic equation. For the reason of missing some data that could be arisen when using the traditional sentinel method, the later will be changed by a new sentinel method for attaining the same purpose. Such new method is a particular least square-like method which permits one to distinguish between the missing terms and the pollution terms. In particular, a sentinel method will be given here in its more realistic setting for singular parabolic problems, where in this case, the observation and the control have their support in different open sets. The problem of finding a new sentinel is equivalent to finding singular optimality system of the least square control for the parabolic equation that we solve.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2008년도 춘계학술발표대회
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• pp.1035-1038
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• 2008

Network mobility (NEMO) has been studied extensively due to its potential applications in military and public transportation. NEMO Basic Support Protocol (NBSP) [1], the current NEMO standard based on mobile IPv6, can be readily deployed using the existing mobile IPv6 infrastructure. However, for Nested network mobility, multi-level tunnel and too many Binding Update packets results in substantial performance overhead, generally known as route sub-optimality, especially in the bottleneck root mobile router (root-MR) and Access Router. In this paper, we propose a route optimization mechanism for nested network mobility management to reduce the overhead of root-MR. In this system, Mobile Router (MR) has a cache that stores Mobile Network Nodes' (MNN) information, Correspondent Nodes' (CN) information for every MNN，and the attachments information with its subnet MRs. Home Agent performs Binding Update with CNs responsible for MRs. Through this mechanism, the number of tunnel is limited between CN and MR and the overhead of root-MR is reduced obviously.