• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.3_1spc
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• pp.558-565
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• 2013

This paper describes a whole-body (human body's) motion generation scheme for an android robot that uses motion capture device and a nonlinear constrained optimization method. Because the captured motion data are based on global coordinates and the actors have different heights and different upper-lower body ratios, the captured motion data cannot be used directly for a humanoid robot. In this paper, we suggest a method for obtaining robot joint angles, which allow the resultant robot motion to be as close as possible to the captured human motion data, by applying a nonlinear constrained optimization method. In addition, the results are animated to demonstrate the similarity of the motions.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.4
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• pp.1692-1711
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• 2016

Energy is a scarce resource in wireless sensor networks (WSNs). A variety of clustering protocols for WSNs, such as the zone-based stable election protocol-enhanced (ZSEP-E), have been developed for energy optimization. The ZSEP-E is a heterogeneous zone-based clustering protocol that focuses on unbalanced energy consumption with parallel formation of clusters in zones and election of cluster heads (CHs). Most ZSEP-E research has assumed probabilistic election of CHs in the zones by considering the maximum residual energy of nodes. However, studies of the diverse CH election parameters are lacking. We investigated the performance of the ZSEP-E in such scenarios using a fuzzy logic approach based on three descriptors, i.e., energy, density, and the distance from the node to the base station. We proposed an efficient ZSEP-E scheme to adapt and elect CHs in zones using fuzzy variables and evaluated its performance for different energy levels in the zones.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.27 no.6B
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• pp.610-615
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• 2002

This paper considers a communication system consisting of a vector quantizer with selected code vectors with mapped into points in the modulated signal space. The modulated signal is transmitted over a Rayleigh flat fading channel. We optimize the modulated signal constellation to minimize the overall distortion of the system with the fixed vector quantization codebook. The optimization is obtained by partitioning the modulated signal space. Simulation results show that the signal constellation based on the proposed optimization scheme outperforms the conventional methods.

• Nuclear Engineering and Technology
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• v.29 no.3
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• pp.211-217
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• 1997

Adverse effects caused by the surveillance test for the components of nuclear power plant involve plant transients, unnecessary wear, burden on licensee's time, and the radiation exposure to personnel along with the characteristics of each component. The optimization methodology of STI and AOT has been developed and applied to AFWPs of a reference plant. The approach proposed in this paper consist of the resole in minimal mean unavailability of the two-out-of-four system with adverse effects are analytically calculated for the example system. The surveillance testing strategy are given by the sequential test, the staggered test and the train staggered test which is a mined test scheme. In the system level, the sensitivity analyses for the STI and AOT, are performed for the measure of the system unavailability of the top event in the fault tree developed for the example system. This methodology may contribute to establishing the basis for the risk-based regulations.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2001.10a
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• pp.159-166
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• 2001

Structural optimization often requires the evaluation of design sensitivities. The Semi Aanalytic method(SAM) for computing sensitivity is popular in shape optimization because this method has several advantages. But when relatively large rigid body motions are identified for individual elements, the SA method shows severe inaccuracy. In this paper, the improvement of design sensitivities corresponding to the rigid body mode is evaluated by exact differentiation of the rigid body modes. Moreover, the error of the SA method caused by numerical difference scheme is alleviated by using a series approximation for the sensitivity derivatives and considering the higher order terms. Finally, this paper shows that the refined SA method including the iterative method improves the results of sensitivity analysis in dynamic problems.

• Transactions of Materials Processing
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• v.12 no.4
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• pp.340-347
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• 2003

In the rigid-plastic finite element simulation of hot forging processes using hexahedral mesh, remeshing of a flash is important for design and control of the process to obtain desirable defect-free products. The mesh compression method is a remeshing technique which enables the construction of an effective hexahedral mesh in the flash. However, because the mesh is distorted during the compression procedure of the mesh compression method, when it is used in resuming the analysis, it causes discretization error and decreases the conversance rate. Therefore, mesh smoothing is necessary to improve the mesh quality. In this study, several geometric mesh smoothing techniques and optimization techniques are introduced and modified to improve mesh quality. Then, the most adaptive technique is recommended for the mesh compression method.

• Journal of Drive and Control
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• v.15 no.3
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• pp.1-7
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• 2018

Humanoid robots have fascinated many researchers since they appeared decades ago. For the requirement of both accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Humanoid robots are highly nonlinear, coupled, complex systems, accordingly the calculation of robot model is difficult and even impossible if precise model of the humanoid robots are unknown. Therefore, it is difficult to control using traditional model-based techniques. To realize model-free torque control, time-delay control (TDC) for humanoid robot was proposed with time-delay estimation technique. Using optimal walking trajectory obtained by particle swarm optimization, TDC with proposed scheme is implemented on whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the proposed TDC for humanoid robots.

• ETRI Journal
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• v.39 no.6
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• pp.782-793
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• 2017

This paper considers the use of the Partial Transmit Sequence (PTS) technique to reduce the Peak-to-Average Power Ratio (PAPR) of an Orthogonal Frequency Division Multiplexing signal in wireless communication systems. Search complexity is very high in the traditional PTS scheme because it involves an extensive random search over all combinations of allowed phase vectors, and it increases exponentially with the number of phase vectors. In this paper, a suboptimal metaheuristic algorithm for phase optimization based on an improved harmony search (IHS) is applied to explore the optimal combination of phase vectors that provides improved performance compared with existing evolutionary algorithms such as the harmony search algorithm and firefly algorithm. IHS enhances the accuracy and convergence rate of the conventional algorithms with very few parameters to adjust. Simulation results show that an improved harmony search-based PTS algorithm can achieve a significant reduction in PAPR using a simple network structure compared with conventional algorithms.

• International Journal of Control, Automation, and Systems
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• v.2 no.3
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• pp.298-309
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• 2004

In this paper, a new evolutionary scheme to design a TSK fuzzy model from relevant data is proposed. The identification of the antecedent rule parameters is performed via the evolutionary algorithm with the unique fitness function and the various evolutionary operators, while the identification of the consequent parameters is done using the least square method. The occurrence of the multiple overlapping membership functions, which is a typical feature of unconstrained optimization, is resolved with the help of the proposed fitness function. The proposed algorithm can generate a fuzzy model with transparent membership functions. Through simulations on various problems, the proposed algorithm found a TSK fuzzy model with better accuracy than those found in previous works with transparent partition of input space.

• Korean Journal of Computational Design and Engineering
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• v.7 no.1
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• pp.34-41
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• 2002

Five-axis NC machining, in general, is utilized in fabricating impellers, turbine blades, marine propellers that can be machined more effectively rather than three-axis machining. There have been many researches concerning tool interference avoidance, optimization of tool orientation. The C-space or Configuration-space was originated from the robotics area, which depicts interference-free joint-values in motion planning. In the paper we propose an optimizing scheme by which the maximum effective-radius of a face-milling cutter can be achieved for each CC(cutter-contact) point. Also the concept of a C-space for a CC point, the effective-radius map for 5-axis face-milling, and some illustrative examples of marine propeller machining, are presented.