• 한국경영과학회지
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• 제15권1호
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• pp.73-82
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• 1990

This paper describes two algorithms to Nonlinear programming problems with equality constraints and with equality and inequality constraints. The first method treats nonlinear programming problems with equality constraints. Utilizing the nonlinear programming problems with equality constraints. Utilizing the nonlinear parametric programming technique, the method solves the problem by imbedding it into a suitable one-parameter family of problems. The second method is to solve a nonlinear programming problem with equality and inequality constraints, by minimizing a square sum of nonlinear functions which is derived from the Kuhn-Tucker condition.

• Journal of Mechanical Science and Technology
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• 제14권6호
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• pp.655-665
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• 2000

We propose an efficient algorithm for the purpose of satisfying a wide range of design constraints represented with equality and inequality equations as well as production rules. The algorithm employs simulated-annealing and a production rule inference engine and works on design constraints represented with networks. The algorithm fulfills equality constraints through constraint satisfaction processes like variable elimination while taking into account inequality constraints and inferring production rules. It can also reduce the load of the optimization procedure if necessary. We demonstrate the implementation of the algorithm with the result on machine tool design.

• 대한전기학회논문지:전력기술부문A
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• 제49권7호
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• pp.339-344
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• 2000

This paper presents an improved optimal power flow algorithm, which solves an optimization problem with equality constraints with converted inequality constraints. The standard OPF and the penalty function method should do reconstructing active constraints among the inequality constraints so that the activation of the inequality constraints has been imposing an additional burden to solve OPF problem efficiently. However the proposed algorithm converts active inequality constraints into the equality constraints in order to preclude us from reconstructing the procedures. The effectiveness of the new OPF algorithm is validated by applying the IEEE 14 bus system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 A
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• pp.7-9
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• 2000

This paper deals with optimal power flow, which is optimal problem with equality constraints and inequality constraints. An a1gorithm of changing inequality constraints problem to equality constraints problem is applied to real systems.

• 한국국방경영분석학회지
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• 제13권1호
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• pp.91-100
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• 1987

This paper deals with an algorithm for solving nonlinear programming problems with equality constraints. Nonlinear programming problems are transformed into a square sums of nonlinear functions by the Lagrangian multiplier method. And an iteration method minimizing this square sums is suggested and then an algorithm is proposed. Also theoretical basis of the algorithm is presented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.215-219
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• 2003

In this paper, we generate a trajectory minimized the energy gait of a biped robot for walking a staircase using genetic algorithms and apply to the computed torque controller for the stable dynamic biped locomotion. In the saggital plane, a 6 degree of freedom biped robot that model consists of seven links is used. In order to minimize the total energy efficiency, the Real-Coded Genetic Algorithm (RCGA) is used. Operators of genetic algorithms are composed of a reproduction, crossover and mutation. In order to approximate the walking gait, the each joint angle is defined as a 4-th order polynomial of which coefficients are chromosomes. Constraints are divided into equality and inequality. Firstly, equality constraints consist of position conditions at the end of stride period and each joint angle and angular velocity condition for periodic walking. On the other hand, inequality constraints include the knee joint conditions, the zero moment point conditions for the x-direction and the tip conditions of swing leg during the period of a stride for walking a staircase.

• Journal of Electrical Engineering and Technology
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• 제13권3호
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• pp.1099-1109
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• 2018

For practical consideration, economic dispatch (ED) problems in power system have non-smooth cost functions with equality and inequality constraints that makes the problems complex constrained nonlinear optimization problems. This paper proposes a new constraint handling method for equality and inequality constraints which is employed to solve ED problems, where the incremental rate is employed to enhance the modification process. In order to prove the applicability of the proposed method, the study cases are tested based on the classical particle swarm optimization (PSO) and differential evolution (DE) algorithm. The proposed method is evaluated for ED problems using six different test systems: 6-, 15-, 20-, 38-, 110- and 140-generators system. Simulation results show that it can always find the satisfactory solutions while satisfying the constraints.

• 한국철도학회논문집
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• 제13권4호
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• pp.419-424
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• 2010

본 논문은 전철변전소를 대상으로 상태추정을 통하여 계측기 오차 등에 의해 손상된 측정값의 신뢰도를 높이는 새로운 방법에 대하여 기술하였다. 일반적인 전력계통의 상태추정과는 달리 전철변전소에서는 종종 관제점에서 측정값의 함수를 계통 상태변수로 정의하기가 곤란한 경우가 있으며, 계통의 토폴로지 변경에 따라 상태변수를 재설정하는 경우에 측정값 함수의 일부가 상태변수 그 자체를 나타내게 되어 상태추정이 곤란하였다. 본 논문에서 제시하는 방법은 기존의 방법에서 문제가 되는 관제점의 측정값 함수와 상태변수와의 관계를 등식제약조건을 이용하여 해결하는 것으로서, 이들 제약조건은 스코트 변압기의 전압 및 전류 특성과 모선 연결조건 등으로부터 간결하면서도 다양하게 유도될 수 있다. 제시된 방법은 표준 샘플변전소를 대상으로 하여 그 유효성을 입증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.486-490
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• 1993

In addtion to a basic motion task, redundant manipulators can achieve some additional tasks by optimizing proper performance criteria. Some of performance criteria can be transformed to inequality constraints. So the redundancy resolving problem can be reformulated as a local optimization problem with equality constraints for the end effector and inequality constraints for some performance criteria. In this article, we propose a method for solving the inverse kinematics of a manipulator with redundancy using the Kuhn-Tucker theorem to incorporate inequality constraints. With proper choice of inequality constraints, the proposed method gives a way of optimizing multiple criteria in redundant manipulators.

• Journal of Astronomy and Space Sciences
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• 제21권3호
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• pp.209-220
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• 2004

Some methods have been presented to get optimal formation trajectories in the step of configuration or reconfiguration, which subject to constraints of collision avoidance and final configuration. In this study, a method for optimal formation trajectory-planning is introduced in view of fuel/time minimization using parameter optimization technique which has not been applied to optimal trajectory-planning for satellite formation flying. New constraints of nonlinear equality are derived for final configuration and constraints of nonlinear inequality are used for collision avoidance. The final configuration constraints are that three or more satellites should be placed in an equilateral polygon of the circular horizontal plane orbit. Several examples are given to get optimal trajectories based on the parameter optimization problem which subjects to constraints of collision avoidance and final configuration. They show that the introduced method for trajectory-planning is well suited to trajectory design problems of formation flying missions.