• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.310-316
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• 1986

The problem of finding an allowable object trajectory for a cooperating two-robot system is investigated. The method proposed in this paper is based on reformulating the problem as a nonlinear optimization problem with equality constants in terms of the joint variables. The optimization problem is then solved numerically on a computer. The solution automatically gives the corresponding joint variable trajectories as well, thus eliminating the need for solving the inverse kinematic problem. The method has been succesfully applied to an experimental system.

• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.9
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• pp.1332-1339
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• 1989

The problem of finding an admissible object trajectory for a cooperating two-robot system is investigated. The method is based on reformulating the problem as a nonlinear optimization problem with equality constraints in terms of the joint variables. The optimization problem is then solved numerically on a computer. The solution automatically gives the corresponding joint variable trajectories as well, thus eliminating the need for solving the inverse kinematic problem. The performance indices are chose in joint and cartesian spaces and computer simulations are performed.

• Korean Journal of Computational Design and Engineering
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• v.9 no.2
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• pp.93-101
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• 2004

In mechanical design, optimization procedures have mostly been implemented solely by CAE codes combined by optimization routine, in which the model is built, analyzed and optimized. In the complex geometries, however, CAD is indispensable tool for the efficient and accurate modeling. This paper presents a method to carry out optimization, in which CAD and CAE are used for modeling and analysis respectively and integrated in an optimization routine. Application Programming Interface (API) function is exploited to automate CAD modeling, which enables direct access to CAD. The advantage of this method is that the user can create very complex object in Parametric and automated way, which is impossible in CAE codes. Unigraphics and ANSYS are adopted as CAD and CAE tools. In ANSYS, automated analysis is done using codes made by a script language, APDL(ANSYS Parametric Design Language). Optimization is conducted by VisualDOC and IDESIGN respectively. As an illustrative example, a mold design problem is studied, which is to minimize temperature deviation over a diagonal line of the surface of the mold in contact with hot glass.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.25 no.6
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• pp.504-510
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• 2016

Robots are widely utilized in many fields, and various demands need customized robots. This study proposes an optimal design method based on swarm intelligence for selecting the kinematic parameter of a manipulator according to the task space trajectory desired by the user. The optimal design method is dealt with herein as an optimization problem. This study is based on swarm intelligence-based optimization algorithms (i.e., ant colony optimization (ACO) and particle swarm optimization algorithms) to determine the optimal kinematic parameters of the manipulator. The former is used to select the optimal kinematic parameter values, whereas the latter is utilized to solve the inverse kinematic problem when the ACO determines the parameter values. This study solves a design problem with the PUMA 560 when the desired task space trajectory is given and discusses its results in the simulation part to verify the performance of the proposed design.

• Advances in Computational Design
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• v.7 no.1
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• pp.1-17
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• 2022

In this study, a new strategy is presented to transmit the fundamental elastic beam problem into the modern optimization platform and solve it by using artificial intelligence (AI) tools. As a practical example, deflection of Euler-Bernoulli beam is mathematically formulated by 2nd-order ordinary differential equations (ODEs) in accordance to the classical beam theory. This fundamental engineer problem is then transmitted from classic formulation to its artificial-intelligence presentation where the behavior of the beam is simulated by using neural networks (NNs). The supervised training strategy is employed in the developed NNs implemented in the heuristic optimization algorithms as the fitness function. Different evolutionary optimization tools such as genetic algorithm (GA) and particle swarm optimization (PSO) are used to solve this non-linear optimization problem. The step-by-step procedure of the proposed method is presented in the form of a practical flowchart. The results indicate that the proposed method of using AI toolsin solving beam ODEs can efficiently lead to accurate solutions with low computational costs, and should prove useful to solve more complex practical applications.

• Journal of Computing Science and Engineering
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• v.8 no.4
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• pp.199-206
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• 2014

The ant colony optimization (ACO) algorithm is a new heuristic algorithm that offers good robustness and searching ability. With in-depth exploration, the ACO algorithm exhibits slow convergence speed, and yields local optimization solutions. Based on analysis of the ACO algorithm and the genetic algorithm, we propose a novel hybrid genetic ant colony optimization (NHGAO) algorithm that integrates multi-population strategy, collaborative strategy, genetic strategy, and ant colony strategy, to avoid the premature phenomenon, dynamically balance the global search ability and local search ability, and accelerate the convergence speed. We select the traveling salesman problem to demonstrate the validity and feasibility of the NHGAO algorithm for solving complex optimization problems. The simulation experiment results show that the proposed NHGAO algorithm can obtain the global optimal solution, achieve self-adaptive control parameters, and avoid the phenomena of stagnation and prematurity.

• Journal of Korea Society of Digital Industry and Information Management
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• v.6 no.3
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• pp.59-68
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• 2010

In the paper, we proposed the Using Correspondent Information for Route Optimization on PMIPv6 over Inter-MAG. Proxy Mobile IPv6 has the problem that a mobile node sends data packets through inefficient routing paths when communicating other mobile node. Route optimization schemes are proposed to solve the triangle routing problem that creates the shortest routing path by leaving the inefficient routing paths. We proposed Correspondent Information Route Optimization scheme to reduce signaling cost as compared with other route optimization scheme. We can reduce signaling cost of route optimization through the Correspondent Information message on basic PMIPv6 and hand-off environment.

• International Journal of Aeronautical and Space Sciences
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• v.10 no.1
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• pp.112-121
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• 2009

This paper deals with supersonic air-breathing missile system. A supersonic air-breathing missile system has very complicated and incoherent thrust characteristics with respect to outer and inner environment during operation. For this reason, the missile system has many maneuver constraints and is allowed to operate within narrow flight envelope. In this paper, trajectory optimization of the missile is accomplished. The trajectory optimization problem is formulated as a discrete parameter optimization problem. For this formulation, Legendre Pseudo-Spectral method is introduced. This method is based on calculating the state and control variables on Legendre-Gauss-Lobatto (LGL) points. This approach helps to find approximated derivative and integration quantities simply. It is shown that, for this trajectory optimization, trend analysis is performed from thrust characteristics on various conditions so that the trajectory optimization is accomplished with fine initial guess with these results.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.786_787
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• 2009

This paper proposes a novel multimodal optimization method, Coupling particles swarm optimization (PSO), to find all optima in design space. This method based on the conventional Particle Swarm Optimization with modifications. The Coupling method is applied to make a couple from main particle and then each couple of particles searches its own optimum by using non-stop-moving PSO. We tested out our method and other one, such as ClusteringParticle Swarm Optimization and Niche Particle Swarm Optimization, on three analytic functions. The Coupling Particle Swarm Optimization is also applied to solve a significant benchmark problem, the TEAM workshop benchmark problem 22

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1156-1161
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• 2008

Nonlinear dynamic analysis is generally used in automobile crash analysis and structural optimization considering crashworthiness uses the results of nonlinear dynamic analysis. Automobile crash optimization has high nonlinearity and difficulty in calculating sensitivity. Recently the equivalent static load (ESL) method has been proposed in order to overcome these difficulties. The ESL is the static load set generating the same displacement field as the nonlinear dynamic displacement field at each time step in dynamic analysis. From various researches regarding the ESL method, it has been proved that the ESL method is fairly useful. The ESL method can mathematically optimize a crash optimization problem through nonlinear analysis and well developed static optimization. The ESL is applied to nonlinear dynamic structural optimization of the automobile frontal impact problem. An automobile bumper is optimized. The mass of the structure is minimized while some constraints are satisfied.