• Journal of the Korean Society for Precision Engineering
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• v.21 no.7
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• pp.115-123
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• 2004

This paper deals with the gait optimization of via points on biped robot. ZMP(Zero Moment point) is the most important index in a biped robot's dynamic walking stability. To stable walking of a biped robot, leg's trajectory and a desired ZMP trajectory is required, balancing motion is solved by FDM(Finite Difference Method). In this paper, optimal index is defined to dynamically stable walking of a biped robot, and genetic algorithm is applied to optimize gait trajectory and balancing motion of a biped robot. By genetic algorithm, the index of walking parameter is efficiently optimized, and dynamic walking stability is verified by ZMP verification equation. Genetic algorithm is only applied to balancing motion, and is totally applied to whole trajectory. All of the suggested motions of biped robot are investigated by simulations and verified through the real implementation.

• Journal of KSNVE
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• v.7 no.4
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• pp.645-653
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• 1997

For high performance rotating machinery, unstable vibrations may occur caused by hydrodynamic forces such as oil film forces, clearance excitation forces generated by the working fluid, and etc. In order to improve the availability one has to take into account the vibrations very accurately. When designing a rotating machinery, the stability behavior and the resonance response can be obtained by calculation of the complex eigenvalues. A suitable modifications of seal and/or bearing design may effectively improve the stability and the response of a rotor system. This paper deals with the optimum length and clearance of seals and bearings to minimize the resonance response(Q factor) and to maximize the logarithmic decrement in the operating speed under the constraints of design variables. Also, for an avoidance of resonance region from the operating speed, an optimization technique has been used to yield the critical speeds as far from the operating speed as possible. The optimization method is used by the genetic algorithm, which is a search algorithm based on the mechanics of natural selection and natural genetics. The results show that the optimum design of seals and bearings can significantly improve the resonance and the stability of the pump rotor system.

• Proceedings of the KIEE Conference
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• 2007.11b
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• pp.165-167
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• 2007

This paper presents a analysis method for power system stability using a Modified Genetic-based Power System Stabilized(MGPSS). The proposed MGPSS parameters are optimized using Modified Genetic Algorithm(MGA) in order to maintain optimal operation of generator under the various operating conditions. To improve the convergence characteristics, real variable string is adopted. The results tested on a single machine infinite bus system verify that the proposed controller has better dynamic performance than conventional controller.

• Structural Engineering and Mechanics
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• v.41 no.3
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• pp.339-348
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• 2012

The slope stability analysis is usually done using the methods of calculation to rupture. The problem lies in determining the critical failure surface and the corresponding factor of safety (FOS). To evaluate the slope stability by a method of limit equilibrium, there are linear and nonlinear methods. The linear methods are direct methods of calculation of FOS but nonlinear methods require an iterative process. The nonlinear simplified Bishop method's is popular because it can quickly calculate FOS for different slopes. This paper concerns the use of inverse analysis by genetic algorithm (GA) to find out the factor of safety for the slopes using the Bishop simplified method. The analysis is formulated to solve the nonlinear equilibrium equation and find the critical failure surface and the corresponding safety factor. The results obtained by this approach compared with those available in literature illustrate the effectiveness of this inverse method.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.4B
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• pp.305-313
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• 2011

This paper presents a P2P (Peer-to-Peer) overlay multicast tree construction algorithm to support stable multimedia service over the Internet. While constructing a multicast tree, it takes into account not only the link delay, but also peer stability. Since peers actually show dynamic and unstable behavior over P2P-based network, it is essential to consider peer stability. Furthermore, the weighting factor between link delay and peer stability is adaptively controlled according to the characteristics of the multicast tree. Basically, Genetic algorithm is employed to obtain a near optimal solution with low computational complexity. Finally, simulation results are provided to show the performance of the proposed algorithm.

• Microbiology and Biotechnology Letters
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• v.16 no.4
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• pp.327-333
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• 1988

For optimal production of recombinant human interleukin-2 (IL-2) in E. coli the effect of fermentation conditions on cell growth, IL-2 production, and stability of recombinant cells were investigated. Among the complex nutrients tested in this work, yeast extract, peptone and corn steep liquor were found to be effective for recombinant cell growth. The recombinant cells were maintained stably under repression condition (3$0^{\circ}C$), but the stability of recombinant cells were drastically reduced upon induction of IL-2 expression (42$^{\circ}C$) even under the selection pressure. Addition of antibiotics to the culture medium resulted in the cell growth inhibition without significant improvement in recombinant stability. When the expression of IL-2 gene was induced at different growth phases, highest IL-2 production was achieved by the induction of IL-2 at the middle-exponential growth phase. It was found that the production of IL-2 significantly inhibited the cell growth and the ex-pression of other genes in the plasmid.

• Journal of Electrical Engineering and Technology
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• v.6 no.2
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• pp.182-191
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• 2011

Genetic algorithms (GA) and particle swarm optimization (PSO) are the most famous optimization techniques among various modern heuristic optimization techniques. These two approaches identify the solution to a given objective function, but they employ different strategies and computational effort; therefore, a comparison of their performance is needed. This paper presents the application and performance comparison of the PSO and GA optimization techniques for a static synchronous series compensator-based controller design. The design objective is to enhance power system stability. The design problem of the FACTS-based controller is formulated as an optimization problem, and both PSO and GA optimization techniques are employed to search for the optimal controller parameters.

• Journal of Plant Biotechnology
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• v.6 no.2
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• pp.119-124
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• 2004

For long-term conservation of germ plasm, somatic embryos of sweet potato are important because shoot tips are not amenable to liquid nitrogen storage. Somatic embryos from different genotypes were used for induction of somatic embryogenesis in a large number of genotypes. Somatic embryogenesis was induced on 2,4-D medium in all the 11 genotypes, collected from geographically distinct locations. Genetic fidelity of the regenerated plants was confirmed by morphological and RAPD markers.

• Proceedings of the KIEE Conference
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• 1997.11a
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• pp.119-121
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• 1997

This paper suggests a design method of the robust model following PD control system using genetic algorithm. This PD control system is designed by applying genetic algorithm with reference model to the optimal determination of proportional and derivative gains that are given by PD servo controller. These proportional and derivative gains are optimized simultaneously in the search domain guaranteeing the robust stability of closed-loop system satisfying different stability margins. The effectiveness of this PD control system is verified by computer simulation.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.6
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• pp.803-812
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• 2017

This paper proposes a local path planning method for stable autonomous driving in rough terrain. There are various path planning techniques such as candidate paths, star algorithm, and Rapidly-exploring Random Tree algorithms. However, such existing path planning has limitations to reflecting the stability of unmanned ground vehicles. This paper suggest a path planning algorithm that considering the stability of unmanned ground vehicles. The algorithm is based on the genetic algorithm and assumes to have probability based obstacle map and elevation map. The simulation result show that the proposed algorithm can be used for real-time local path planning in rough terrain.