• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.58-62
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• 1988

Recently many adaptive control schemes for the industrial robot manipulator have been developed. Especially, learning control utilizing the repetitive motion of robot and based on iterative signal synthesis attracts much interests. However, since most of these approaches excludes the boundness of the input torque supplied to the manipulator, its effectiveness may be limited and also the full dynamic capacity of the robot manipulator can not be utilized. To overcome the above-mentioned difficulties and meet the desired performance, we propose an approach which yields the effective learning control schemes in this paper. In this study, some stability conditions derived from applying the Lyapunov theory to the discrete linear time-varying dynamic system are established and also an optimization scheme considering the bounded input torque is introduced. These results are simulated on a digital computer using a three-joint revolute manipulator to show their effectiveness.

• Structural Engineering and Mechanics
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• v.6 no.8
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• pp.857-870
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• 1998

This paper deals with a special class of inverse problems in discrete structural plasticity involving the identification of elastic limits and hardening moduli on the basis of information on displacements. The governing equations lead naturally to a special and challenging optimization problem known as a Mathematical Program with Equilibrium Constraints (MPEC), a key feature of which is the orthogonality of two sign-constrained vectors or so-called "complementarity" condition. We investigate numerically the application of two simple algorithms, both based on the use of the general purpose nonlinear programming code CONOPT accessed via the GAMS modeling language, for solving the suitably reformulated problem. Application is illustrated by means of two numerical examples.

• International Journal of Control, Automation, and Systems
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• v.1 no.4
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• pp.412-430
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• 2003

In many practical problems in signal processing and control, the signal values are often restricted to belong to a finite number of levels. These questions are generally referred to as "finite alphabet" problems. There are many applications of this class of problems including: on-off control, optimal audio quantization, design of finite impulse response filters having quantized coefficients, equalization of digital communication channels subject to intersymbol interference, and control over networked communication channels. This paper will explain how this diverse class of problems can be formulated as optimization problems having finite alphabet constraints. Methods for solving these problems will be described and it will be shown that a semi-closed form solution exists. Special cases of the result include well known practical algorithms such as optimal noise shaping quantizers in audio signal processing and decision feedback equalizers in digital communication. Associated stability questions will also be addressed and several real world applications will be presented.

• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.675-678
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• 1999

본 논문에서는 음소별 코드북 개수의 선택과 벡터 양자화에 따른 음소 인식률과 고립단어 인식률에 대하여 다룬다. 음성모델은 이산 확률 밀도를 갖는 DHMM(Discrete Hidden Markov Model)을 사용하였으며, 코드북 생성과 벡터 양자화 알고리즘으로는 K-means 알고리즘과 LBG(Linde, Buzo, Gray) 알고리즘을 사용하였다 음소별 코드북 개수와 벡터 양자화를 최적화함으로써 음소 인식률을 향상시킬 수 있으며, 그 결과 안정된 고립단어 인식률을 얻을 수 있다.

• Journal of the Korean Society for Railway
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• v.8 no.5
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• pp.411-418
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• 2005

This paper expounds the development of a user-friendly expert system for the optimal stacking sequence design of composite laminates subjected to the various rules constraints. The expert system was realized in the graphic-based design environment. Therefore, users can access and use the system easily. The optimal stacking sequence is obtained by means of integration of a genetic algorithm, finite element analysis. These systems were integrated with the rules of design heuristics under an expert system shell. The optimal stacking sequence combination for the application of interest is drawn from the discrete ply angles and design rules stored in the knowledge base of the expert system. For the integration and management of softwares, a graphic-based design environment that provides multi-tasking and graphic user interface capability is built.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.6
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• pp.489-494
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• 2013

This paper tackles the problem of designing a dynamic output-feedback control for linear discrete-time norm-bounded uncertain systems with input saturation. By employing a LPV (Linear Parameter Varying) instead of LTI (Linear Time-Invariant) control, the useful information on interpolation parameters appearing in the procedure of representing saturation nonlinearity as a convex polytope is additionally applied in the control design procedure. By solving the addressed problem that can be recast into a convex optimization problem characterized by LMIs (Linear Matrix Inequalities) with one prescribed scalar, the vertices of convex set containing an LPV output-feedback control gain and the associated maximal invariant set of initial states are simultaneously obtained.

• Journal of the Korean Operations Research and Management Science Society
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• v.4 no.1
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• pp.59-64
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• 1979

The application of optimization techniques to the planning of industrial, economic, administrative and military activities with random technological coefficients has been extensively studied in the literature. Stochastic (linear) programs with simple recourse essentially model the allocation of scarce resources under uncertainty with linear penalties associated with shortages or surplus. This work on a problem with a discrete random resource vector, "The allocation of aircraft under uncertain demand" given in (1), is easily and efficiently handled by the application of the recently developed Wets' algorithm (8) for solving stochastic programs with simple recourse, which approves that such class of stochastic problems can be solved with the same efficiency as solving linear programs of the same size. It is known that the algorithm is also applicable to stochastic programs with continuous random demands for their approximate solutions.

• Journal of Electrical Engineering and Technology
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• v.9 no.1
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• pp.313-323
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• 2014

Sensor fault detection and isolation problems subject to H_/$H_{\infty}$, performance are concerned for linear time-invariant systems with time delay in a state and parametric uncertainties. To that end, a model-based observer bank approach is pursued. The design conditions for both continuous- and discrete-time cases are formulated in terms of matrix inequalities, which are then converted to the problems solvable via an algorithm involving convex optimization.

• International Journal of Aeronautical and Space Sciences
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• v.2 no.1
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• pp.20-27
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• 2001

Aerodynamic sensitivity analysis is performed for the Navier-Stokes equations coupled with two-equation turbulence models using a discrete adjoint method and a direct differentiation method respectively. Like the mean flow equations, the turbulence model equations are also hand-differentiated to accurately calculate the sensitivity derivatives of flow quantities with respect to design variables in turbulent viscous flows. The sensitivity codes are then compared with the flow solver in terms of solution accuracy, computing time and computer memory requirements. The sensitivity derivatives obtained from the sensitivity codes with different turbulence models are compared with each other. The capability of the present sensitivity codes to treat complex geometry is successfully demonstrated by analyzing the flows over multi-element airfoils on Chimera overlaid grid systems.

• Structural Engineering and Mechanics
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• v.5 no.1
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• pp.59-68
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• 1997

A two-step method is presented for the optimum design of trusses with available sections under stress and Euler buckling constraints. The shape design of the truss is used as a means to convert the discrete solution into a continuous one. In the first step of the method, a continuous solution is obtained by sizing and shape design using an approximate polynomial expression for the buckling coefficients. In the second step, the member sizes obtained are changed to the nearest available sections and the truss is reconfigured by using the exact values for the buckling coefficients. The optimizer used is based on the sequential quadratic programming and the gradients are evaluated in closed form. The method is illustrated by two numerical examples.