• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.58-67
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• 2022

In this paper, we propose an approach resolving inaccuracy of the low-cost redundant manipulator workspace with low encoder and low stiffness. When the manipulators are manufactured with low-cost encoders and low-cost links, the robots can run into workspace inaccuracy issues. Furthermore, trajectory generation based on conventional forward/inverse kinematics without taking into account inaccuracy issues will introduce the risk of end-effector fluctuations. Hence, we propose an optimization for the trajectory generation method based on the DDPG (Deep Deterministic Policy Gradient) algorithm for the low-cost redundant manipulators reaching the target position in Euclidean space. We designed the DDPG algorithm minimizing the distance along with the jacobian condition number. The training environment is selected with an error rate of randomly generated joint spaces in a simulator that implemented real-world physics, the test environment is a real robotic experiment and demonstrated our approach.

• International conference on construction engineering and project management
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• 2005.10a
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• pp.881-885
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• 2005

Scheduling repetitive projects under limitations on the amounts of available resources (labor and equipment) has been an active subject because of its practical relevance. Traditionally, the limitation is specified as a deterministic (fixed) number, such as 1000 labor-hours. The limitation, however, is often exposed to uncertainty and variability, especially when the project is lengthy. This paper presents a stochastic optimization model to treat the situations where the limitations of resources are expressed as probability functions in lieu of deterministic numbers. The proposed model transfers each deterministic resource constraint into a corresponding stochastic one and then solves the problem by the use of a chance-constrained programming technique. The solution is validated by comparison with simulation results to show that it can satisfy the resource constraints with a probability beyond the desired confidence level.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.5
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• pp.589-595
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• 2010

This paper presents a reliability-based shape optimization (RBSO) using the evolutionary structural optimization (ESO). An actual design involves uncertain conditions such as material property, operational load, poisson's ratio and dimensional variation. The deterministic optimization (DO) is obtained without considering of uncertainties related to the uncertainty parameters. However, the RBSO can consider the uncertainty variables because it has the probabilistic constraints. In order to determine whether the probabilistic constraint is satisfied or not, simulation techniques and approximation methods are developed. In this paper, the reliability-based shape design optimization method is proposed by utilization the reliability index approach (RIA), performance measure approach (PMA), single-loop single-vector (SLSV), adaptive-loop (ADL) are adopted to evaluate the probabilistic constraint. In order to apply the ESO method to the RBSO, a sensitivity number is defined as the change of strain energy in the displacement constraint. Numerical examples are presented to compare the DO with the RBSO. The results of design example show that the RBSO model is more reliable than deterministic optimization.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.1254-1261
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• 2003

In this paper we present a simple and efficient robust optimal design formulation and its application to a resonant-type micro probe. The basic idea is to use the Gradient Index (GI) to improve robustness of the objective and constraint functions. In the robust optimal design procedure, a deterministic optimization for performance of MEMS structures is followed by design sensitivity analysis with respect to uncertainties such as fabrication errors and change of operating conditions. During the process of deterministic optimization and sensitivity analysis, dominant performance and uncertain variables are identified to define GI. The GI is incorporated as a term of objective and constraint functions in the robust optimal design formulation to make both performance and robustness improved. While most previous approaches for robust optimal design require statistical information on design variations, the proposed GI based method needs no such information and therefore is cost-efficient and easily applicable to early design stages. For the micro probe example, robust optimums are obtained to satisfy the targets for the measurement sensitivity and they are compared in terms of robustness and production yield with the deterministic optimums through the Monte Carlo simulation.

• Genomics & Informatics
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• v.1 no.1
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• pp.20-24
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• 2003

The analysis of DNA microarry data is one of the most important things for functional genomics research. The matrix representation of microarray data and its successive 'optimal' incisional hyperplanes is a useful platform for developing optimization algorithms to determine the optimal partitioning of pairwise proximity matrix representing completely connected and weighted graph. We developed Deterministic Annealing (DA) approach to determine the successive optimal binary partitioning. DA algorithm demonstrated good performance with the ability to find the 'globally optimal' binary partitions. In addition, the objects that have not been clustered at small non­zero temperature, are considered to be very sensitive to even small randomness, and can be used to estimate the reliability of the clustering.

• Journal of Korea Multimedia Society
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• v.8 no.11
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• pp.1556-1564
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• 2005

Various optimization techniques are deployed in the compilation process of a source program for improving the program's execution speed and reducing the size of the source code. Of the optimization pattern matching techniques, the string pattern matching technique involves finding an optimal pattern that corresponds to the intermediate code. However, it is deemed inefficient due to excessive time required for optimized pattern search. The tree matching pattern technique can result in many redundant comparisons for pattern determination, and there is also the disadvantage of high cost involved in constructing a code tree. The objective of this paper is to propose a table-driven code optimizer using the DFA(Deterministic Finite Automata) optimization table to overcome the shortcomings of existing optimization techniques. Unlike other techniques, this is an efficient method of implementing an optimizer that is constructed with the deterministic automata, which determines the final pattern, refuting the pattern selection cost and expediting the pattern search process.

• International Journal of CAD/CAM
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• v.9 no.1
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• pp.1-16
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• 2010

When Deterministic Design Optimization (DDO) methods are used, deterministic optimum designs are frequently pushed to the design constraint boundary, leaving little or no room for tolerances (or uncertainties) in design, manufacture, and operating processes. In the Reliability-Based Design Optimization (RBDO) model for robust system design, the mean values of uncertain system variables are usually used as design variables, and the cost is optimized subject to prescribed probabilistic constraints as defined by a nonlinear mathematical programming problem. Therefore, a RBDO solution that reduces the structural weight in uncritical regions does not only provide an improved design but also a higher level of confidence in the design. In this work, we seek to improve the quality of RBDO processes using efficient optimization techniques with object of improving the resulting objective function and satisfying the required constraints. Our recent RBDO developments show its efficiency and applicability in this context. So we present some recent structural engineering applications demonstrate the efficiency of these developed RBDO methods.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.04a
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• pp.21-26
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• 2003

The well-conditioned observer in a stochastic system is designed so that the observer is less sensitive to the ill-conditioning factors in transient and steady-state observer performance. These factors include not only deterministic issues such as unknown initial estimation error, round-off error, modeling error and sensing bias, but also stochastic issues such as disturbance and sensor noise. In deterministic perspectives, a small value in the L$_2$ norm condition number of the observer eigenvector matrix guarantees robust estimation performance to the deterministic issues and its upper bound can be minimized by reducing the observer gain and increasing the decay rate. Both deterministic and stochastic issues are considered as a weighted sum with a LMI (Linear Matrix Inequality) formulation. The gain in the well-conditioned observer is optimally chosen by the optimization technique. Simulation examples are given to evaluate the estimation performance of the proposed observer.

• Journal of the Society of Naval Architects of Korea
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• v.41 no.3
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• pp.49-59
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• 2004

The paper describes the preliminary ship design method using deterministic approach and probabilistic approach. In deterministic approach, there are computational aspects to applying not only the integration concurrently of principal dimension decisions and hull form variations but also hydrostatic coefficients that applied to optimization iterative process. Therefore, this paper developed that actual design concept at the preliminary ship design more than sequential design which separated in principal dimension decisions and hull form variations. Furthermore, a probabilistic approach at the preliminary ship design is applied to efficiently solve design information uncertainty that compared to deterministic approach.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.1
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• pp.93-100
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• 2012

In this paper, the deterministic optimal design for the tail plane made of composite materials is conducted under the deterministic loading condition and compared with that of the metallic materials. Next, the reliability analysis with five random variables such as loading and material properties of unidirectional prepreg is conducted to examine the probability of failure for the deterministic optimal design results. The MATLAB programing is used for reliability analysis combined with FEA S/W(COMSOL) for structural analysis. The laminated composite is assumed to the equivalent orthotropic material using classical laminated plate theory. The response surface methodology and importance sampling technique are adopted to reduce computational cost with satisfying the accuracy in reliability analysis. As a result, structural weight of composite materials is lighter than that of metals in deterministic optimal design. However, the probability of failure for the deterministic optimal design of the tail plane structures is too high to be neglected. The sensitivity of each variable is also estimated using probabilistic sensitivity analysis to figure out which variables are sensitive to failure. The computational cost is considerably reduced when response surface methodology and importance sampling technique are used. The study of the computationally inexpensive method for reliability-based design optimization will be necessary in further work.