• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.208-211
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• 1993

This paper presents the parameter design method for the desired time response of hydraulic track motor system of an industrial excavator. The dynamic response depends upon many component parameters such as motor displacement, spring constant and various valve coefficients. Most of them are to be determined to obtain the desired response while some parameters are fixed, or discrete for the off-the-shelf type components. The parameters might be selected through repeated simulations of the system once the system is mathematically represented. This paper, however, presents optimization technique to select two parameters using a parameter optimization technique. The variational approach is applied to the system equations which are represented as state equations and from those system equations derived are the adjoint equations. The gradients for each parameter also are formed for the iterations.

• Bulletin of the Korean Mathematical Society
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• v.52 no.2
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• pp.661-677
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• 2015

In this paper, we consider the following Kirchhoff-type Schr$\ddot{o}$dinger system $$\{-\(a_1+b_1{\int}_{\mathbb{R^3}}{\mid}{\nabla}u{\mid}^2dx\){\Delta}u+{\gamma}V(x)u=\frac{2{\alpha}}{{\alpha}+{\beta}}{\mid}u{\mid}^{\alpha-2}u{\mid}v{\mid}^{\beta}\;in\;\mathbb{R}^3,\\-\(a_2+b_2{\int}_{\mathbb{R^3}}{\mid}{\nabla}v{\mid}^2dx\){\Delta}v+{\gamma}W(x)v=\frac{2{\beta}}{{\alpha}+{\beta}}{\mid}u{\mid}^{\alpha}{\mid}v{\mid}^{\beta-2}v\;in\;\mathbb{R}^3,\\u,v{\in}H^1(\mathbb{R}^3),$$ where $a_i$ and $b_i$ are positive constants for i = 1, 2, ${\gamma}$ > 0 is a parameter, V (x) and W(x) are nonnegative continuous potential functions. By applying the Nehari manifold method and the concentration-compactness principle, we obtain the existence and concentration of ground state solutions when the parameter ${\gamma}$ is sufficiently large.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.980-984
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• 1990

In order to find the optimal control law for the precise trajectory tracking of a robot manipulator, a perturbational control method is proposed based on a linearized manipulator dynamic model which can be obtained in a very compact and computationally efficient manner using the dual number algebra. Manipulator control can be decomposed into two parts: the nominal control and the corrective perturbational control. The nominal control is precomputed from the inverse dynamic model using the quantities of a desired trajectory. The perturbational control is obtained by applying the second-variational method on the linearized dynamic model. Simulation results for a PUMA-560 robot show that, by using this controller, the desired trajectory tracking performance of the robot can be achieved, even in the presence of large initial positional disturbances.

• Journal of applied mathematics & informatics
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• v.6 no.1
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• pp.309-320
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• 1999

Models of single-server queues with vacations have been widely used to study the performance of many computer communi-cation and production systems. In this paper we analyze an M/G/1 queue with generalized vacations and exhaustive service. This sys-tem has been shown to possess a stochastic decomposition property. That is the customer waiting time in this system is distributed as the sum of the waiting time in a regular M/G/1 queue with no va-cations and the additional delay due to vacations. Herein a general formula for the additional delay is derived for a wide class of vacation policies. The formula is also extended to cases with multiple types of vacations. Using these new formulas existing results for certain vacation models are easily re-derived and unified.

• Smart Structures and Systems
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• v.6 no.7
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• pp.867-887
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• 2010

An energy-based variational approach is used for structural dynamic modeling of the IPMC (Ionic Polymer Metal Composites) flapping wing. Dynamic characteristics of the wing are analyzed using numerical simulations. Starting with the initial design, critical parameters which have influence on the performance of the wing are identified through parametric studies. An optimization study is performed to obtain improved flapping actuation of the IPMC wing. It is shown that the optimization algorithm leads to a flapping wing with dimensions similar to the dragonfly Aeshna Multicolor wing. An unsteady aerodynamic model based on modified strip theory is used to obtain the aerodynamic forces. It is found that the IPMC wing generates sufficient lift to support its own weight and carry a small payload. It is therefore a potential candidate for flapping wing of micro air vehicles.

• Journal of Magnetics
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• v.16 no.3
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• pp.240-245
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• 2011

A new hybrid ON/OFF method is presented for the fast solution of electromagnetic inverse problems in high frequency domains. The proposed method utilizes both topological sensitivity (TS) and material sensitivity (MS) to update material properties in unit design cells. MS provides smooth design space and stable convergence, while TS enables sudden changes of material distribution when MS slows down. This combination of two sensitivities enables a reduction in total computation time. The TS and MS analyses are based on a variational approach and an adjoint variable method (AVM), which permits direct calculation of both sensitivity values from field solutions of the primary and adjoint systems. Investigation of the formulations of TS and MS reveals that they have similar forms, and implementation of the hybrid ON/OFF method that uses both sensitivities can be achieved by one optimization module. The proposed method is applied to dielectric material reconstruction problems, and the results show the feasibility and effectiveness of the method.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.11 no.3
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• pp.7-20
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• 2007

We examined the steady state solution for a strongly exothermic mixtures in some class A geometries subjected to different boundary conditions under Arrhenius, Bimolecular and Sensitised reactions. The solution of the governing nonlinear reaction diffusion equation was obtained using the variational method formulation executed in Mathematica package. The paper elucidates the influence of geometry, boundary conditions and types of reaction on the thermal ignition of the reactive mixture. Apart from validating known results in literature, the solution gave further insight into the influence of material properties and conditions on the occurrence of thermal ignition.

• Earthquakes and Structures
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• v.8 no.1
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• pp.253-273
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• 2015

The current investigation has been conducted to examine the effect of gravity loads on the seismic responses of the doubly asymmetric, three-dimensional structures comprising walls and frames. The proposed model includes the P-${\Delta}$ effects induced by the building weight. Based on the variational approach, a 3D finite element with two nodes and six DOF per node including P-${\Delta}$ effects is formulated. Dynamic and static governing equations are derived for dynamic and buckling analyzes of buildings braced by wall-frame systems. The influences of P-${\Delta}$ effects and height of the building on tip displacements under Hachinohe earthquake record are investigated through many structural examples.

• Proceedings of the Korean Nuclear Society Conference
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• 1996.05a
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• pp.157-162
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• 1996

A novel nodal method is developed for the two-dimensional multi-group diffusion equations based on the Spectral-Galerkin approach. In this study, the nodal diffusion equations with Robin boundary condition are reformulated in a weak (variational) form, which is then approximated spatially by choosing appropriate basis functions. For the nodal coupling relations between the neighbouring nodes, the continuity conditions of partial currents are utilized. The resulting discrete systems with sparse structured matrices are solved by the Preconditioned Conjugate Gradient Method (PCG) and sweeping technique. The method is validated on two test problems.

• Coupled systems mechanics
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• v.13 no.1
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• pp.73-93
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• 2024

In this work, we propose combining an advanced optimal control algorithm with a geometrically exact beam model. For simplicity, the 2D Reissner beam model is chosen to represent large displacements and rotations. The difficulty pertains to the nonlinear nature of beam kinematics affecting the tangent stiffness matrix, making it non-constant, which compromises direct use of optimal control methods for linear problems. Thus, we seek to accommodate a time varying control using linear-quadratic regulator (LQR) algorithm with the proposed geometrically nonlinear beam model. We provide a detailed theoretical formulation and its numerical implementation in a variational format form. Several illustrative numerical examples are provided to confirm an excellent performance of the proposed methodology.