• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.9
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• pp.2339-2348
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• 1994

The objective of this paper is to develop a solution method for the differential-algebraic equation(DAE) derived from constrained muti-body dynamic systems. Mechanical systems are often modeled as bodies and joints. Differential equations of motion are formulated for bodies. Since the bodies are connected by joint, the differential variables must satisfy the kinematic constraint equations that come from the joints. Difficulties are arised due to drift of the differential variables off the constraint equations. An optimization method is adopted to correct the drift of the differential variables. To demonstrate the efficiency of the proposed method a slider-crank mechanism is analyzed dynamically. Identical results are obtained as these from the commercial program DADS. Dynamic analysis of a High Mobility Multi-purpose Wheeled. Vehicle(HMMWV) is carried out to show the practicalism of the proposed method.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.2
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• pp.247-250
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• 2006

Based on the possibility theory and the fuzzy set, the Maximum Possibility Estimation method and its applications in kinematic GPS positioning are presented in this paper. Firstly, the principle and the optimal criterion of the Maximum Possibility Estimation method are explained. Secondly, the kinematic GPS positioning model of single epoch single frequency with baseline length constraint is developed. Then, the authors introduce the artificial immune algorithm and use this algorithm to search the global optimum of the Maximum Possibility Estimation model. The results of some examples show that the method is efficient for kinematic GPS positioning.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.3
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• pp.127-132
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• 1998

Mobile wheeled robots are nonholonomically constrained systems. Generally, it is very difficult to describe the motion of mechanical systems with nonintegrable nonholonomic constraints. An objective of this study is to describe the motion of a robot with a free wheel. The motion of holonomically and/or nonholonomically constrained system can be simply determined by Generalized Inverse Method presented by Udwadia and Kalaba in 1992. Using the method, we describe the exact motion of the robot and determine the constraint force exerted on the robot for satisfying constraints imposed on it. The application illustrates the ease with which the Generalized Inverse Method can be utilized for the purpose of control of nonlinear system without depending on any linearization, maintaining precision tracking motion and explicit determination of control forces of nonholonomically constrained system.

• Journal of Electrical Engineering and Technology
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• v.13 no.3
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• pp.1099-1109
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• 2018

For practical consideration, economic dispatch (ED) problems in power system have non-smooth cost functions with equality and inequality constraints that makes the problems complex constrained nonlinear optimization problems. This paper proposes a new constraint handling method for equality and inequality constraints which is employed to solve ED problems, where the incremental rate is employed to enhance the modification process. In order to prove the applicability of the proposed method, the study cases are tested based on the classical particle swarm optimization (PSO) and differential evolution (DE) algorithm. The proposed method is evaluated for ED problems using six different test systems: 6-, 15-, 20-, 38-, 110- and 140-generators system. Simulation results show that it can always find the satisfactory solutions while satisfying the constraints.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.31 no.4
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• pp.134-139
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• 2008

Most approaches for continuous review inventory problem need tables for loss function and cumulative standard normal distribution. Furthermore, it is time-consuming to calculate order quantity (Q) and reorder point (r) iteratively until required values are converged. The purpose of this paper is to develop a direct method to get the solution without any tables. We used approximation approaches for loss function and cumulative standard normal distribution. The proposed method can get the solution directly without any iterative procedure for Q, r and without any tables. The performance of the proposed approach is tested by using numerical examples. The budget constraint of this paper assumes that purchasing costs are paid at the time an order is arrived. This constraint can be easily replaced by capacity constraint or budget constraint in which' purchasing costs are paid at the time an order is placed.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.16 no.6
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• pp.2044-2059
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• 2022

Recent works have shown that the geometric constraint can be harnessed to boost the performance of CNN-based camera localization. However, the existing strategies are limited to imposing image-level constraint between pose pairs, which is weak and coarse-gained. In this paper, we introduce a pixel-level epipolar geometry constraint to vanilla localization framework without the ground-truth 3D information. Dubbed EpiLoc, our method establishes the geometric relationship between pixels in different images by utilizing the epipolar geometry thus forcing the network to regress more accurate poses. We also propose a variant called EpiSingle to cope with non-sequential training images, which can construct the epipolar geometry constraint based on a single image in a self-supervised manner. Extensive experiments on the public indoor 7Scenes and outdoor RobotCar datasets show that the proposed pixel-level constraint is valuable, and helps our EpiLoc achieve state-of-the-art results in the end-to-end camera localization task.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.8
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• pp.669-681
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• 2016

Mechanical designers often make mistakes that result in unwanted over-constraints, causing difficulty in assembly operations and residual stress due to interference among parts. This study is concerned with detection and elimination of over-constraints. Screw theory is a general method that is used for constraint analysis of an assembly and motion analysis of a mechanism. Mechanical assemblies with plane-plane, pin-hole, and pin-slot constraint pairs are analyzed using screw theory to illustrate its utility. As a real-world problem, a ball valve design is analyzed using the same method, and several unwanted over-constraints are detected. Elimination measures are proposed. Nominal dimensions of some parts are adjusted, and dimensions and tolerances of the pins and holes are modified using the virtual condition boundary concept. The revised design is free of over-constraints. General procedure for applying screw theory to constraint analysis is established and demonstrated; it will contribute to improving quality of assembly designs.

• Information Systems Review
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• v.5 no.2
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• pp.203-217
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• 2003

Constraint Programming and Optimization have developed in different fields to solve common problems in real world. In particular, constraint propagation and linear Programming are their own fundamental and complementary techniques with the potential for integration to benefit each other. This intersection has evoked the efforts to combine both for a solution method to combinatorial optimization problems. Attempts to combine them have mainly focused on incorporating either technique into the framework of the other with traditional models left intact. This paper argues that integrating both techniques into an old modeling fame loses advantages from another and the integration should be molded in a new framework to be able to exploit advantages from both. The paper propose a declarative modeling framework in which the structure of the constraints indicates how constraint programming and optimization solvers can interact to solve problems.

• Journal of the Korean Association of Geographic Information Studies
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• v.12 no.1
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• pp.81-95
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• 2009

The CDB(Constraint Database) model is a new paradigm for massive spatial data processing such as GIS(Geographic Information System). This paper will identify the limitation of the schema structure and query processing through prior spatial database research and suggest more efficient processing mechanism of constraint data model. We presented constraint model concept, presentation method, and the examples of query processing. Especially, we represented TIN (Triangulated Irregular Network) as a constraint data model which displays the height on a plane data and compared it with prior spatial data model. Finally, we identified that we were able to formalize spatial data in a simple and refined way through constraint data modeling.

• Journal of Information Technology Applications and Management
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• v.23 no.2
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• pp.61-80
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• 2016

The wireless mesh network (WMN) is a next-generation technology for data networking that has the advantage in cost and the flexibility in its construction because of not requiring the infra-structure such as the ethernet. This paper focuses on the optimal link scheduling problem under the wireless mesh network to effectuate real-time streaming by using the constraint programming. In particular, Under the limitation of half-duplex transmission in wireless nodes, this paper proposes a solution method to minimize the makespan in scheduling packet transmission from wireless nodes to the gateway in a WMN with no packet transmission conflicts due to the half-duplex transmission. It discusses the conflicts in packet transmission and deduces the condition of feasible schedules, which defines the model for the constraint programming. Finally it comparatively shows and discusses the results using two constraint programming solvers, Gecode and the IBM ILOG CP solver.