• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.69-72
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• 1996

This paper considers a global resolution of kinematic redundancy under inequality constraints as a constrained optimal control. In this formulation, joint limits and obstacles are regarded as state variable inequality constraints, and joint velocity limits as control variable inequality constraints. Necessary and sufficient conditions are derived by using Pontryagin's minimum principle and penalty function method. These conditions leads to a two-point boundary-value problem (TPBVP) with natural, periodic and inequality boundary conditions. In order to solve the TPBVP and to find a global minimum, a numerical algorithm, named two-stage algorithm, is presented. Given initial joint pose, the first stage finds the optimal joint trajectory and its corresponding minimum performance cost. The second stage searches for the optimal initial joint pose with globally minimum cost in the self-motion manifold. The effectiveness of the proposed algorithm is demonstrated through a simulation with a 3-dof planar redundant manipulator.

• Bulletin of the Korean Mathematical Society
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• v.49 no.4
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• pp.705-714
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• 2012

In this paper, we study nonlinear equation arising in MEMS modeling electrostatic actuation. We will prove the local and global existence of solutions of the generalized parabolic MEMS equation. We present that there exists a constant ${\lambda}^*$ such that the associated stationary problem has a solution for any ${\lambda}$ < ${\lambda}^*$ and no solution for any ${\lambda}$ > ${\lambda}^*$. We show that when ${\lambda}$ < ${\lambda}^*$ the global solution converges to its unique maximal steady-state as $t{\rightarrow}{\infty}$. We also obtain the condition for the existence of a touchdown time $T{\leq}{\infty}$ for the dynamical solution. Furthermore, there exists $p_0$ > 1, as a function of $p$, the pull-in voltage ${\lambda}^*(p)$ is strictly decreasing with respect to 1 < $p$ < $p_0$, and increasing with respect to $p$ > $p_0$.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2006.11a
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• pp.693-696
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• 2006

Global optimization is a method for finding more reliable models in various fields, such as financial engineering, pattern recognition, process optimization. In this study, we compare and analyze the performance of the state-of-the-art global optimization techniques, which include Genetic Algorithm (DE,SCGA), Simulated Annealing (ASA, DSSA, SAHPS), Tabu & Direct Search (DTS, DIRECT), Deterministic (MCS, SNOBIT), and Trust-Region algorithm. The test functions for the experiments are Benchmark problems in Hedar & Fukushima (2004), which are evaluated with respect to efficiency and accuracy. Through the experiment, we analyse the computational complexity of the methods and finally discuss the pros and cons of them.

• Journal of Power Electronics
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• v.15 no.6
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• pp.1559-1566
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• 2015

The brushless DC motor (BLDCM) has many advantages. As a result, it is widely used in electric vehicle (EV) drive systems. To improve the reliability of the motor control system, a position sensorless control strategy based on a sliding mode observer (SMO) is proposed. The global fast terminal sliding mode observer (GFTSMO) is proposed to enhance the control performance of the SMO control system. The advantages of the linear sliding mode and the nonsingular terminal sliding mode (NTSM) are combined in the control strategy. The convergence speed of the system state is enhanced. The motor commutation point is obtained with the observation of the back EMF, and the instantaneous torque value of the motor is calculated. Therefore, the position sensorless control of the BLDCM is realized. Experimental results show that the proposed control strategy can improve the convergence speed, dynamic characteristics and robustness of the system.

• Carbon letters
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• v.12 no.4
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• pp.194-206
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• 2011

Carbon nanomaterials in organic photovoltaic (OPV) cells have attracted a great deal of interest for the development of high-efficiency, flexible, and low-cost solar cells. Due to the complicated structure of OPV devices, the electrical properties and dispersion behavior of the carbon nanomaterials should be controlled carefully in order for them to be used as materials in OPV devices. In this paper, a fundamental theory of the electrical properties and dispersion behavior of carbon nanomaterials is reviewed. Based on this review, a state-of-the-art OPV device composed of carbon nanomaterials, along with issues related to such devices, are discussed.

• Journal of Environmental Science International
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• v.20 no.6
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• pp.755-765
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• 2011

Nitrous oxide ($N_2O$) is one of six greenhouse gases listed up in the Kyoto Protocol, and it effects a strong global warming because of its much greater global warming potential (GWP), by 310 times over a 100-year time horizon, than $CO_2$. Although such $N_2O$ emissions from both natural and anthropogenic sources occur, the latter can be controlled using suitable abatement technologies, depending on them, to reduce $N_2O$ below acceptable or feasible levels. This paper has extensively reviewed the anthropogenic $N_2O$ emission sources and their related compositions, and the state-of-the-art non-catalytic and catalytic technologies of the emissions controls available currently to representative, large $N_2O$ emission sources, such as adipic acid production plants. Challengeable approaches to this source are discussed to promote establishment of advanced $N_2O$ emission control technologies.

• International Journal of CAD/CAM
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• v.6 no.1
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• pp.89-97
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• 2006

This paper presents a novel approach for non-iterative surface smoothing with feature preservation on arbitrary meshes. Laplacian operator is performed in a global way over the mesh. The surface smoothing is formulated as a quadratic optimization problem, which is easily solved by a sparse linear system. The cost function to be optimized penalizes deviations from the global Laplacian operator while maintaining the overall shape of the original mesh. The features of the original mesh can be preserved by adding feature constraints and barycenter constraints in the system. Our approach is simple and fast, and does not cause surface shrinkage and distortion. Many experimental results are presented to show the applicability and flexibility of the approach.

• Rapid Communication in Photoscience
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• v.2 no.1
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• pp.34-37
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• 2013

Two novel antenna complexes of $Eu^{III}$ with 1-naphthoic acid (NA) as primary ligand and two aromatic N-donor ligands namely N-hexyl-N-(pyridin-2-yl) pyridin-2-amine (1) and 4-((dipyridin-2-ylamino)methyl)benzoic acid (2) have been synthesized and characterized by various spectroscopic techniques. The room-temperature (298 K) photoluminescence spectrum of $Eu^{III}$ complexes composed of typical line like emissions, assigned to transitions between the first excited state $^5D_0$ to the $^7F_J$ (J = 0-4), resulting in red emission along with the residual emission from the 1-naphthoic acid moiety in the blue region. The determined CIE color coordinate value for the complex 2 is (x = 0.36, y = 0.34), which is in white region.

• The Pure and Applied Mathematics
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• v.24 no.4
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• pp.201-209
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• 2017

We prove convergence properties of the global solutions to the cooperative cross-diffusion system with the intra-specific cooperative pressures dominated by the inter-specific competition pressures and the inter-specific cooperative pressures dominated by intra-specific competition pressures. Under these conditions the $W^1_2-bound$ and the time global existence of the solution for the cooperative cross-diffusion system have been obtained in [10]. In the present paper the convergence of the global solution is established for the cooperative cross-diffusion system with large diffusion coefficients.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.6
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• pp.554-557
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• 2008

We analyze the stability property of a class of nonlinear time-delay systems with time-varying delays. We present a time-delay independent sufficient condition for the global asymptotic stability. In order to prove the sufficient condition, we exploit the inherent property of the considered systems instead of applying the Krasovskii or Razumikhin stability theory that may cause the mathematical difficulty of analysis. We prove the sufficient condition by constructing two sequences that represent the lower and upper bound variations of system state in time, and showing the two sequences converge to an identical point, which is the equilibrium point of the system. The simulation results illustrate the validity of the sufficient condition for the global asymptotic stability.