• Journal of Mechanical Science and Technology
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• v.16 no.8
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• pp.1072-1078
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• 2002

The constrained motion requires the determination of constraint force acting on unconstrained systems for satisfying given constraints. Most of the methods to decide the force depend on numerical approaches such that the Lagrange multiplier method, and the other methods need vector analysis or complicated intermediate process. In 1992, Udwadia and Kalaba presented the generalized inverse method to describe the constrained motion as well as to calculate the constraint force. The generalized inverse method has the advantages which do not require any linearization process for the control of nonlinear systems and can explicitly describe the motion of holonomically and/or nongolonomically constrained systems. In this paper, an explicit equation to describe the constrained motion is derived by minimizing the performance index, which is a function of constraint force vector, with respect to the constraint force. At this time, it is shown that the positive-definite weighting matrix in the performance index must be the inverse of mass matrix on the basis of the Gauss's principle and the derived differential equation coincides with the generalized inverse method. The effectiveness of this method is illustrated by means of two numerical applications.

• Journal of the Korea Society of Computer and Information
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• v.15 no.5
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• pp.39-47
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• 2010

Constraint satisfaction optimization problem is a kind of optimization problem involving cost minimization as well as complex constraints. Local search and constraint programming respectively have been used for solving such problems. In this paper, I propose a method to integrate local search and constraint programming to improve search performance. Basically, local search is used to solve the given problem. However, it is very difficult to find a feasible neighbor satisfying all the constraints when we use only local search. Therefore, I introduced constraint programming as a tool for neighbor generation. Through the experimental results using weighted N-Queens problems, I confirmed that the proposed method can significantly improve search performance.

• Journal of Korea Multimedia Society
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• v.11 no.4
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• pp.516-524
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• 2008

This paper presents a new modeling technique for the simulation of cloth specific characteristics with a set of hard constraints using an implicit constraint enforcement scheme. A conventional explicit Baumgarte constraint stabilization method has several defects. It requires users to pick problem-dependent coefficients to achieve fast convergence and has inherent stabilization limits. The proposed implicit constraint enforcement method is stable with large time steps, does not require problem dependent feed-back parameters, and guarantees the natural physics-based motion of an object. In addition, its computational complexity is the same as the explicit Baumgarte method. This paper describes a formulation of implicit constraint enforcement and provides a constraint error analysis. The modeling technique for complex components of cloth such as seams, buttons, sharp creases, wrinkles, and prevention of excessive elongation are explained. Combined with an adaptive constraint activation scheme, the results using the proposed method show the substantial enhancement of the realism of cloth simulations with a corresponding savings in computational cost.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.16 no.10
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• pp.972-980
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• 1991

LQG/LTR method have a theoretical constraint that it cannot applied to nonminimum phase plant. In this paper we suggest two methods of approximation of minimum phase plant for a given nonminimum phase plant to solve this constraint. Error is described by additive form which can reduce its magnitude in broad frequency range. A optimal approximation method was suggested by using Hankel operator theory and Nehan theory it is shown by example that the methods suggested can resolve the frequency domain constraint arised in Stein and Athans approximation.

• International Journal of Contents
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• v.6 no.2
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• pp.59-68
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• 2010

This research looks close the effect of security agent's hierarchical leisure constraint on the leisure motivation and participation based on the Jackson's Model of the hierarchical leisure constraints. This research selected 420 people for sampling, designating security agents who work for security companies located in Seoul in 2009 at present as subjects by utilizing purposive sampling method, but the number of sampling used for ultimate analysis is 356. In this research, reliability analysis's and structural equation modeling's Maximum Likelihood method are used to prove the reliability and validity of questionnaire. By using these research method and procedures, the conclusion of this research is as following. First, intra-personal leisure constraint was affected by interpersonal, structural leisure constraint. Second, leisure motivation was affected negatively by leisure constraint. Third, leisure participation was affected positively by leisure motivation. Synthesizing all things referred above, leisure constraint was affected by inter-personal, structural leisure constraint, and in turn, leisure motivation and leisure participation were affected by its effects. It turned out that leisure motivation has a meaningful effect on leisure participation through leisure participation and adjusting process.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.191-196
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• 1991

LQG/LTR method have a theoretical constraint that it cannot applied to nonminimum phase plant. In this paper, we suggest two methods of approximation of minimum phase plant for a given nonminimum phase plant to solve this constraint. Error is described by additive form which can reduce its magnitude in broad frequency range. A optimal approximation method was suggesetd by using Hankel operator theory and Nehari theory. It is showen by example that the methods suggested can resolve the frequency domain constraint arised in Stein and Athans approximation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.445-450
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• 2000

In this paper, a numerical method is proposed for cam synthesis. kinematics of closed loop system with cam and follower is presented using relative coordinates. The system is transformed into an open loop system by cutting fictitiously higher-pair contact of cam and follower and envelope constraint equations are derived. Follower constraint equations are derived from the motion of the follower ends. The joint variables and follower profile parameters are calculated from the envelope constraint equations and follower constraint equations by using the Newton - Raphson iterative method. Algorithms for cam synthesis are presented and simulations are done to verify the effectiveness of the proposed method.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.3
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• pp.275-283
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• 2012

This paper presents a design method of a robust tracking controller satisfying multiple constraints using genetic algorithm. A robust $H_{\infty}$ constraint with loop shaping is used to address disturbance attenuation with error limits and a loop gain constraint is considered so as not to enlarge the tracking loop gain and bandwidth unnecessarily. The robust $H_{\infty}$ constraint is expressed by a matrix inequality and the loop gain constraint is considered as an objective function so that genetic algorithm can be applied. Finally, a robust tracking controller can be obtained by integrating genetic algorithm with LMI approach. The proposed tracking controller design method is applied to the track-following system of an optical DVD recording drive and is evaluated through the experimental results.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.6
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• pp.148-159
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• 1999

A numerical method is presented for the dynamic analysis of spur gears rotating with very high angular speeds. For an efficient computation each gear is assumed to consist of a rotating rigid disk and an elastic tooth having mass, and finite element formulations are used for the equations of motion of the tooth. The geometric constraint is imposed between the rigid disk and the elastic tooth to fix them, and contact condition is imposed between the meshing teeth of the gears. At each iteration of each time step the Lagrange multiplier and contact force are revised by using the constraint error vector, and then the whole equations of motion are time integrated with the given Lagrange multiplier and contact force. For the accurate solution the velocity and acceleration constraints as well as the displacement constraint are satisfied by the monotone reductions of the constraint error vectors. Computing procedures associated with the iterative schemes are explained and numerical simulations are conducted with the spur gears.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.161-166
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• 2008

In general structures, cleavage fracture may develop under the low constraint condition of larger scale yielding with a shallow surface crack. However, standard procedures for fracture toughness testing require very severe restrictions of specimen geometry. So the standard fracture toughness data makes the integrity assessment irrationally conservative. In this paper, cleavage fracture toughness tests have been made on side-grooved PCVN (precracked charpy V-notch) type specimens (10 by 10 by 55 mm) with varying crack depth, The constraint effects on the crack depth ratios are quantitatively evaluated by scaling model and Weibull stress method using 3-D finite clement method, After correction of constraint loss due to shallow crack depths, the statistical size effect are also corrected according to the standard ASTM E 1921 procedure, The results snowed a good agreement in the geometry correction regardless of the crack size, while some over-corrections were observed in the corrected values of $T_0$.