• Bulletin of the Korean Chemical Society
• /
• v.31 no.10
• /
• pp.2903-2908
• /
• 2010

Protein S-nitrosation is common in cells under nitrosative stress. In order to model proteins with S-nitrosocysteine (CysSNO) residues, we first developed an Amber force field for S-nitrosoethanethiol (EtSNO) and then transferred it to CysSNO. Partial atomic charges for EtSNO and CysSNO were obtained by a restrained electrostatic potential approach to be compatible with the Amber-99 force field. The force field parameters for bonds and angles in EtSNO were obtained from a generalized Amber force field (GAFF) by running the Antechamber module of the Amber software package. The GAFF parameters for the CC-SN and CS-NO dihedrals were not accurate and thus determined anew. The CC-SN and CS-NO torsional energy profiles of EtSNO were calculated quantum mechanically at the level of B3LYP/cc-pVTZ//HF/6-$31G^*$. Torsional force constants were obtained by fitting the theoretical torsional energies with those obtained from molecular mechanics energy minimization. These parameters for EtSNO reproduced, to a reasonable accuracy, the corresponding torsional energy profiles of the capped tripeptide ACE-CysSNO-NME as well as their structures obtained from quantum mechanical geometry optimization. A molecular dynamics simulation of myoglobin with a CysSNO residue produced a well-behaved trajectory demonstrating that the parameters may be used in modeling other S-nitrosated proteins.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.5
• /
• pp.405-411
• /
• 2011

This paper presents a hierarchical trajectory planning method which can handle a collision-free of the planned path in complex and dynamic environments. A PV (Path & Velocity profile) planning method minimizes a sharp change of orientation and waiting time to avoid a collision with moving obstacle through detour path. The path generation problem is solved by three steps. In the first step, a smooth global path is generated using $A^*$ algorithm. The second step sets up the velocity profile for the optimization problem considering the maximum velocity and acceleration. In the third step, the velocity profile for obtaining the shortest path is optimized using the fuzzy and genetic algorithm. To show the validity and effectiveness of the proposed method, realistic simulations are performed.

• Journal of Auto-vehicle Safety Association
• /
• v.11 no.2
• /
• pp.23-28
• /
• 2019

This paper presents an optimal performance of rear wheel steering vehicle for maneuverability. The maneuverability of vehicle is evaluated in terms of yaw rate, body slip angle and driver input. The maneuverability of vehicle can be improved by rear wheel steering system. To obtain optimal performance of rear wheel steering vehicle, the optimal control history is designed. The high dimensional trajectory optimization problem is solved by formulating a quadratic program considering rear wheel steer input. To evaluate handling performance 7 degree-of-freedom vehicle model with actuation sub-models is designed. A step steer test is conducted to evaluate rear wheel steering vehicle. A response time, a TB factor, overshoot, and yaw rate gain are investigated through objective criteria, assessment webs. The handling performance of vehicle is evaluated via computer simulations. It has been shown from simulation studies that optimal controlled rear wheel steering vehicle provides improved performance compared to others.

• Journal of the Korean Society of Mechanical Technology
• /
• v.20 no.6
• /
• pp.809-817
• /
• 2018

The model predictive controller performance of the mobile robot is set to an arbitrary value because it is difficult to select an accurate value with respect to the controller parameter. The general model predictive control uses a quadratic cost function to minimize the difference between the reference tracking error and the predicted trajectory error of the actual robot. In this study, we construct a predictive controller by transforming it into a quadratic programming problem considering velocity and acceleration constraints. The control parameters of the predictive controller, which determines the control performance of the mobile robot, are used a simple weighting matrix Q, R without the reference model matrix $A_r$ by applying a quadratic cost function from which the reference tracking error vector is removed. Therefore, we designed the predictive controller 1 and 2 of the mobile robot considering the constraints, and optimized the controller parameters of the predictive controller using a genetic algorithm with excellent optimization capability.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.16 no.4
• /
• pp.1187-1208
• /
• 2022

One of the main goals of wireless sensor networks (WSNs) is to utilize the energy of sensor nodes effectively and maximize the network lifetime. Thus, this paper proposed a routing protocol for WSNs based on virtual force disturbing mobile Sink node (VFMSR). According to the number of sensor nodes in the cluster, the average energy and the centroid factor of the cluster, a new cluster head (CH) election fitness function was designed. At the same time, a hexagonal fixed-point moving trajectory model with the best radius was constructed, and the virtual force was introduced to interfere with it, so as to avoid the frequent propagation of sink node position information, and reduce the energy consumption of CH. Combined with the improved ant colony algorithm (ACA), the shortest transmission path to Sink node was constructed to reduce the energy consumption of long-distance data transmission of CHs. The simulation results showed that, compared with LEACH, EIP-LEACH, ANT-LEACH and MECA protocols, VFMSR protocol was superior to the existing routing protocols in terms of network energy consumption and network lifetime, and compared with LEACH protocol, the network lifetime was increased by more than three times.

• The Journal of Korea Robotics Society
• /
• v.17 no.4
• /
• pp.500-507
• /
• 2022

In this study, a motion planning method based on the integer representation of contact status between wheels and the ground is proposed for planning swing motion of a 6×6 wheel-legged robot to cross large obstacles and gaps. Wheel-legged robots can drive on a flat road by wheels and overcome large obstacles by legs. Autonomously crossing large obstacles requires the robot to perform complex motion planning of multi-contacts and wheel-rolling at the same time. The lift-off and touch-down status of wheels and the trajectories of legs should be carefully planned to avoid collision between the robot body and the obstacle. To address this issue, we propose a planning method for swing motion of robot legs. It combines an integer representation of discrete contact status and a trajectory optimization based on the direct collocation method, which results in a mixed-integer nonlinear programming (MINLP) problem. The planned motion is used to control the joint angles of the articulated legs. The proposed method is verified by the MuJoCo simulation and shows that over 95% and 83% success rate when the height of vertical obstacles and the length of gaps are equal to or less than 1.68 times of the wheel radius and 1.44 times of the wheel diameter, respectively.

• Journal of information and communication convergence engineering
• /
• v.20 no.2
• /
• pp.103-112
• /
• 2022

The goal of pattern mining is to identify novel patterns in a database. High utility itemset mining (HUIM) is a research direction for pattern mining. This is different from frequent itemset mining (FIM), which additionally considers the quantity and profit of the commodity. Several algorithms have been used to mine high utility itemsets (HUIs). The original BPSO algorithm lacks local search capabilities in the subsequent stage, resulting in insufficient HUIs to be mined. Compared to the transfer function used in the original PSO algorithm, the V-shaped transfer function more sufficiently reflects the probability between the velocity and position change of the particles. Considering the influence of the acceleration factor on the particle motion mode and trajectory, a nonlinear acceleration strategy was used to enhance the search ability of the particles. Experiments show that the number of mined HUIs is 73% higher than that of the original BPSO algorithm, which indicates better performance of the proposed algorithm.

• Structural Engineering and Mechanics
• /
• v.89 no.2
• /
• pp.213-223
• /
• 2024

This paper proposes a composite design of fuzzy adaptive control scheme based on TMD RC structural system and the gain of two-dimensional fuzzy control is controlled by parameters. Monitoring and learning in LMI then produces performance indicators with a weighting matrix as a function of cost. It allows to control the trade-off between the two efficiencies by adjusting the appropriate weighting matrix. The two-dimensional Boost control model is equivalent to the LMI-constrained multi-objective optimization problem under dual performance criteria. By using the proposed intelligent control model, the fuzzy nonlinear criterion is satisfied. Therefore, the data connection can be further extended. Evaluation of controller performance the proposed controller is compared with other control techniques. This ensures good performance of the control routines used for position and trajectory control in the presence of model uncertainties and external influences. Quantitative verification of the effectiveness of monitoring and control. The purpose of this article is to ensure access to adequate, safe and affordable housing and basic services. Therefore, it is assumed that this goal will be achieved in the near future through the continuous development of artificial intelligence and control theory.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.41 no.6
• /
• pp.473-480
• /
• 2013

Researches for various lunar landing technologies are in progress for the lunar exploration program planned for early 2020s in Korea. This paper shows the integrated simulation for safe lunar landing guidance/control system in powered descent phase. Generally, the lunar lander uses on/off(bang-bang) controller to control the RCS jet thrusters instead of proportional controller. In this paper, the on/off controller using phase-plane switching function, and thruster selection algorithm to control sixteen thrusters are applied. Also additional guidance commands are calculated by a proposed fuzzy logic guidance algorithm. The simulation results show that lunar lander can follow a reference trajectory which is generated by optimization method, then land on the surface safely.

• Ocean Systems Engineering
• /
• v.6 no.3
• /
• pp.265-287
• /
• 2016

The change of the global performance of a turret-moored FPSO (Floating Production Storage Offloading) with DP (Dynamic Positioning) control is simulated, analyzed, and compared for two different internal turret location cases; bow and midship. Both collinear and non-collinear 100-yr GOM (Gulf of Mexico) storm environments and three cases (mooring-only, with DP position control, with DP position+heading control) are considered. The horizontal trajectory, 6DOF (degree of freedom) motions, fairlead mooring and riser tension, and fuel consumptions are compared. The PID (Proportional-Integral-Derivative) controller based on LQR (linear quadratic regulator) theory and the thrust-allocation algorithm which is based on the penalty optimization theory are implemented in the fully-coupled time-domain hull-mooring-riser-DP simulation program. Both in collinear and non-collinear 100-yr WWC (wind-wave-current) environments, the advantage of mid-ship turret is demonstrated by the significant reduction in heave at the turret location due to the minimal coupling with pitch mode, which is beneficial to mooring and riser design. However, in the non-collinear WWC environment, the mid-turret case exhibits unfavorable weathervaning characteristics, which can be reduced by employing DP position and heading controls as demonstrated in the present case studies. The present study also reveals the plausible cause of the failure of mid-turret Gryphon Alpha FPSO in milder environment than its survival condition.