• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1185-1188
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• 1996

In this paper we present a genetic approach for trajectory control algorithm of balancing weight for IWR biped walking robot. The biped walking robot, IWR that was made by Automatic Control Lab. of Inha University has a trunk which stabilizes its walking by generating compensation moment. Trunk is composed of a revolute and a prismatic joint which roles balancing weight. The motion of balancing weight is determined by the gait of legs and represented by two linear second order ordinary differential equations. The solution of this equation must satisfy some constraints simultaneously to have a physical meaning. Genetic algorithm search for this feasible motion of balancing weight under some constraints. Simulation results show that feasible motion of balancing weight can be obtained by genetic algorithm.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1992년도 추계학술대회 논문집
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• pp.339-343
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• 1992

For the analysis of dynamic behavior of dynamic behavior of multibody systems by cartesian coordinate method, maximal sets of generalized coordinates and maximum numbers of differential equation and constraints must be considered. Therefore the inefficiency of the increase of CPU time is occurred. This paper is to analyze the dynamic system by using the relative coordinate method without violating the geometric condition of systems. The graph theory and system topology were used for this study. The dynamic systems could be analyzed by the automatic generation of the informations like equation of motion, constraints, and external forces etc. And the results were compared and verified with dynamic commercial package DADS.

• 한국소음진동공학회논문집
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• 제21권4호
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• pp.384-391
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• 2011

This paper deals with free vibrations of the parabolic hollowed beam-columns with constant volume. The cross sections of beam-column taper are the hollowed regular polygons whose depths are varied with the parabolic functional fashion. Volumes of the objective beam-columns are always held constant regardless given geometrical conditions. Ordinary differential equation governing free vibrations of such beam-columns are derived and solved numerically for determining the natural frequencies. In the numerical examples, hinged-hinged, hinged-clamped and clamped-clamped end constraints are considered. As the numerical results, the relationships between non-dimensional frequency parameters and various beam-column parameters such as end constraints, side number, section ratio, thickness ratio and axial load are reported in tables and figures.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.377-387
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• 2005

The equations of motion of two-wheeled vehicles, e.g. bicycles or motorcycles, are developed by using Lagrange's equations for quasi-coordinates. The pure rolling constraints between the ground and the two wheels are considered in the dynamical equations of the system. For each wheel, two nonholonomic and two holonomic constraints are introduced in a set of differential-algebraic equations (DAE). The constraint Jacobian matrix is obtained by collecting all the constraint equations and converting them into the velocity form. Equilibrium, an algorithm for searching for equilibrium points of two-wheeled vehicles and the associated problems are discussed. Formulae for calculating the radii of curvatures of ground-wheel contact paths and the reference point are also given.

• 경영과학
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• 제25권3호
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• pp.87-99
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• 2008

Besieged by needs for upgrading the current Internet, social pressures, and regulatory concerns, a network operator may be left with few options to Improve his services. Yet he can still consider a transition prioritizing network services. In this paper, we describe a transition from a non-priority system to a prioritized one, using non-preemptive M/G/1 model. After reviewing the constraints and theoretical results from past research, we describe steps making the transition Pareto-improving, which boils down to a multi-goal search for a Pareto-improving state. We use a genetic algorithm that captures actual transition costs along with incentive-compatible and Pareto-Improving constraints. Simulation results demonstrate that the initial post-transition solutions are typically Pareto-improving. for non Pareto-improving solutions, the heuristic quickly generates Pareto-improving and incentive-compatible solutions.

• 대한수학회지
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• 제37권4호
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• pp.625-643
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• 2000

In this paper we formulate an optimal control problem governed by time-delay Volterra integral equations; the problem includes control constraints as well as terminal equality and inequality constraints on the terminal state variables. First, using a special type of state and control variations, we represent a relatively simple and self-contained method for deriving new necessary conditions in the form of Pontryagin minimum principle. We show that these results immediately yield classical Pontryagin necessary conditions for control processes governed by ordinary differential equations (with or without delay). Next, imposing suitable convexity conditions on the functions involved, we derive Mangasarian-type and Arrow-type sufficient optimality conditions.

• 한국농공학회지
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• 제34권4호
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• pp.97-105
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• 1992

The main purpose of this paper is to present the buckling loads of tapered columns due to dynamic concept. The ordinary differential equation governing the bucking loads for tapered columns is derived on the basis of dynamic concept. Three kinds of cross sectional shape are considered in the governing equation. The Improved Euler method and Determinant Search method are used to perform the integration of the differential equation and to determine the buckling loads, respectively. The hinged-hinged, hinged-clamped, clamped-clamped and free-clamped end constraints are applied in numerical examples. The buckling loads are reported as the function of section ratio, and the effects of cross-sectional shapes are investigated. The buckling load equation, which are fitted by numerical data, are proposed as a function of section ratio. It is expected that these equations can be utilized in structural engineering field.

• Journal of Information Processing Systems
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• 제14권2호
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• pp.455-468
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• 2018

The concepts of graph theory are applied to model and analyze dynamics of computer networks, biochemical networks and, semantics of social networks. The analysis of dynamics of complex networks is important in order to determine the stability and performance of networked systems. The analysis of non-stationary and nonlinear complex networks requires the applications of ordinary differential equations (ODE). However, the process of resolving input excitation to the dynamic non-stationary networks is difficult without involving external functions. This paper proposes an analytical formulation for generating solutions of nonlinear network ODE systems with functional decomposition. Furthermore, the input excitations are analytically resolved in linearized dynamic networks. The stability condition of dynamic networks is determined. The proposed analytical framework is generalized in nature and does not require any domain or range constraints.

• 한국소음진동공학회논문집
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• 제14권3호
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• pp.230-235
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• 2004

This paper deals with the free vibration analysis of circular strip foundations with the variable breadth. Taking into account effects of both rotatory inertia and shear deformation, differential equations governing free vibrations of such foundations are derived. The Winkler foundation is chosen as the model of soil foundation. The breadth of strip foundation is assumed to be a linear function. The differential equations are solved numerically to calculate natural frequencies. In numerical examples, the strip foundations with the hinged-hinged, hinged-clamped. clamped-hinged and clamped-clamped end constraints are considered. The parametric studies are conducted and the lowest four frequency parameters are reported in figures as the non-dimensional forms.

• Advances in Computational Design
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• 제1권1호
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• pp.79-86
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• 2016

In this study, the three different meta-heuristics namely the Grey Wolf Optimizer (GWO), Stochastic Fractal Search (SFS), and Adaptive Differential Evolution with Optional External Archive (JADE) algorithms are examined. This study considers optimization of the planer frame to minimize its weight subjected to the strength and displacement constraints as per the American Institute of Steel and Construction - Load and Resistance Factor Design (AISC-LRFD). The GWO algorithm is associated with grey wolves' activities in the social hierarchy. The SFS algorithm works on the natural phenomenon of growth. JADE on the other hand is a powerful self-adaptive version of a differential evolution algorithm. A one-bay ten-story planar steel frame problem is examined in the present work to investigate the design ability of the proposed algorithms. The frame design is produced by optimizing the W-shaped cross sections of beam and column members as per AISC-LRFD standard steel sections. The results of the algorithms are compared. In addition, these results are also mapped with other state-of-art algorithms.