• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.565-569
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• 1993

In this paper, a specified number of actuators are selected from a given set of admissible actuators. The selected set of actuators is likely to use minimum control energy while required output variance constraints are guaranteed to be satisfied. The actuator selection procedure is an iterative algorithm composed of two parts; an output variance constrained control and an input variance constrained control algorithm. The idea behind this algorithm is that the solution to the first control problem provides the necessary weighting matrix in the objective function of the second optimization problem, and the sensitivity information from the second problem is utilized to delete one actuator. For variance constrained control problems, by considering a dual version of each control problem an efficient algorithm is provided, whose convergence properties turn out to be better than an existing algorithm. Numerical examples with a simple beam are given for both the input/output variance constrained control problem and the actuator selection problem.

• International Journal of Control, Automation, and Systems
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• v.4 no.1
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• pp.42-52
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• 2006

In order to utilize hydrodynamic drag force on articulated robots moving in an underwater environment, an optimum motion planning procedure is proposed. The drag force acting on cylindrical underwater arms is modeled and a directional drag measure is defined as a quantitative measure of reaction force in a specific direction in a workspace. A repetitive trajectory planning method is formulated from the general point-to-point trajectory planning method. In order to globally optimize the parameters of repetitive trajectories under inequality constraints, a 2-level optimization scheme is proposed, which adopts the genetic algorithm (GA) as the 1st level optimization and sequential quadratic programming (SQP) as the 2nd level optimization. To verify the validity of the proposed method, optimization examples of periodic motion planning with the simple two-link planner robot are also presented in this paper.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.8
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• pp.790-798
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• 2011

An efficient sequential computation algorithm of kinematic optimal control is suggested for redundancy resolution of freefloating manipulators. Utilization of minimum principle usually requires involved and tedious procedure of differentiation of Hamiltonian. Due to the constraints of momentum conservation, it is not easy to get exact differential equations of boundary value problem for even relatively simple free-floating manipulator models. To overcome this difficulty, we developed an effective sequential algorithm for the computation of terms appeared in the differential equations. The usefulness of suggested approach is verified by simulation of a planar 3-joints free-floating manipulator.

• Structural Engineering and Mechanics
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• v.2 no.3
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• pp.285-294
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• 1994

Based on a fast and accurate method for the stationary random seismic response analysis for discretized structures(Lin 1992, Lin et al. 1992), a Ritz method for dealing with such responses of continuous systems in developed. This method is studied quantitatively, using cantilever shear beams for simplicity and clarity. The process can be naturally extended to deal with various boundary conditions as well as non-uniform Bernoulli-Euler beams, or even Timoshenko beams. Algorithms for both proportionally and non-proportionally damped responses are described. For all of such damping cases, it is not necessary to solve for the natural vibrations of the beams. The solution procedure is very simple, and equally efficient for a white or a non-white ground excitation spectrum. Two examples are given where various power spectral density functions, variances, covariances and second spectral moments of displacement, internal force response, and their derivatives are calculated and analyses. Some Ritz solutions are compared with "exact" CQC solutions.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2001.04a
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• pp.371-378
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• 2001

To enhance seismic performance of a structure ATC-40 and FEMA-273 propose technical strategies such as increasing strength, altering stiffness, and reducing demand by employing base isolation and energy dissipation devices. Specifically the energy dissipation devices directly increase the ability of the structure to dampen earthquake response. However nonlinear dynamic time history analysis of a structure with energy dissipation devices is complicated and time consuming. In this study a simple and straightforward procedure is developed using effective damping ratio to obtain the required amount of viscoelastic dampers in order to meet given performance objectives. Parametric study has been performed for the period of the structure, yield strength, and the stiffness after the first yield. According to the analysis results, earthquake demand and required damping ratio were reduced by installing viscoelastic dampers. The results also show that with the addition of the supplemental damping evaluted by the proposed method the performance of the model structures are well restrained within the target point.

• Journal of Industrial Technology
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• v.22 no.B
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• pp.79-88
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• 2002

This paper deals with a case study on the process improvement and the layout design of a boiler factory with FactoryCAD. Firstly, two alternatives of job reallocation are suggested with the understanding of problems in current process. The layout planning for these new alternatives is carried out by simple procedure and the detailed analyses are performed by the aid of FactoryCAD program. The result shows that the new layout plan brings on about 10% reduction of travel distance. The utilization of FactoryCAD program can simplify the process of layout design.

• Bulletin of the Korean Chemical Society
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• v.28 no.12
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• pp.2200-2202
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• 2007

The local field distribution around gold nanosphere-gold plane junction has been studied using the finitedifference time-domain (FDTD) electrodynamics calculation procedure. We find that both the in-plane and out-of-plane polarized excitation produce enhanced field strong enough to explain the observed SERS activities of the junctions. Comparison with a simple dipole-image dipole model shows that the enhanced field primarily originates from the multipole-image multipole interaction, which indicates that the detailed fine-structures of the nanoparticles also play a significant role in the SERS activities as well.

• Structural Engineering and Mechanics
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• v.2 no.2
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• pp.211-225
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• 1994

Responses of asymmetrical multistorey buildings to earthquakes are obtained by quasi-static code approach and real time dynamic analysis, using two different structural models. In the first model, all vertical members are assumed to be restrained at the slab levels and hence their end rotations, about horizontal axes, are taken as zero. In the second model this restriction is removed and the rotation is assumed to be proportional to the lateral stiffness of the member. A simple microcomputer based procedure is used in the analyses, by both models. Numerical examples are presented where results obtained from both the models are given. Effects of modelling on the response of three buildings, each with a different type and degree of asymmetry, are studied. Results for deflections and shear forces are presented and the effects of the type of model on the response are discussed.

• Structural Engineering and Mechanics
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• v.4 no.4
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• pp.347-364
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• 1996

Presently welded components are designed using S/N curves which predict only the fatigue life of the component. In order to ascertain the condition of the weld at any intermediate period of its life inspection is carried out. If cracks are detected in a weld fracture mechanics is used to find their remaining life. A procedure for assessment is developed here that can be used to verify the condition of a weld before inspection is carried out to detect cracks. This simple method has been developed using linear fracture envelopes by combining S/N curves with linear elastic fracture mechanics.

• Journal of the Korea Society of Computer and Information
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• v.10 no.5 s.37
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• pp.27-32
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• 2005

Recently there has been much interest in applying data mining to computer network intrusion detection. A new approach, based on the k-Nearest Neighbour(kNN) classifier, is used to classify Program behaviour as normal or intrusive. Each system call is treated as a word and the collection of system calls over each program execution as a document. These documents are then classified using kNN classifier, a Popular method in text mining. A simple example illustrates the proposed procedure.