• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.6
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• pp.638-648
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• 1990

An effective resolved motion control method of redundant manipulators is proposed to minimize the energy consumption and to increase the dexterity while satisfying the physical actuator constraints. The method employs the neural optimization networks, where the computation of Jacobian matrix is not required. Specifically, end effector movement resulting from each joint differential motion is first separated into orthogonal and tangential components with respect to a given desired trajectory. Then the resolved motion is obtained by neural optimization networks in such a way that 1) linear combination of the orthogonal components should be null 2) linear combination of the tangential components should be the differential length of the desired trajectory, 3) differential joint motion limit is not violated, and 4) weighted sum of the square of each differential joint motion is minimized. Here the weighting factors are controlled by a newly defined joint dexterity measure as the ratio of the tangential and orthogonal components.

• Computational Structural Engineering
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• v.11 no.1
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• pp.161-170
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• 1998

A general formulation of the long cylinder tolerance design for the joint structure is here presented. The aim of this paper is to calculate the tolerance of joint by defining tolerance as a kind of uncertainty and to obtain the robustness of the joint structure. It is formulated on the bases of the minimum sensitivity theorem. The objective function is the tolerance sensitivity for the Von-Mises stress. It also took into full account the stress, displacement and weight constraints. PLBA(Pshenichny-Lim-Belegundu-Arora) algorithm is used to solve the constrained nonlinear optimization problem. The finite element analysis is performed with CST(Constant-Strain-Triangle) axisymmetric element. Sensitivities for design variables are calculated by the direct differentiation method. The numerical result is presented for the cylindrical structure where the joint tolerance is treated as random variables.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.10
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• pp.983-989
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• 2017

This paper presents the bearing strength for laminates in advanced composite materials in bolted joints. Bolted single lap joint tests were experimentally investigated with respect to stabilized and unstabilized lap joints. Stabilized bolted single lap joints refer to joints with out-of-plane rotational constraints. Unstabilized bolted single lap joints refer to joints with absence of out-of-plane deflection constraints. The bearing strength values of laminates in the bolted joint showed that the percentages of ply angle for 0, 45, -45, and 90 degrees were not affected. The bearing strength value in the unstabilized bolted joint was smaller than the bearing strength value in the stabilized bolted joint because of the influence of the out-of-plane behavior. The composite material studied in this paper is a carbon/epoxy unidirectional (UD) tape prepreg cured at $177^{\circ}C(350^{\circ}F)$. In the laminate reference system, the standard angles of 0, 45, -45, and 90 degrees were used for ply orientation within the laminate. A total of 112 bolted single lap joint tests were conducted on specimens from eight distinct laminates. The ASTM-D-5961M standards were adhered to for the stabilized and unstabilized bolted single lap joint tests.

• International Journal of Naval Architecture and Ocean Engineering
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• v.6 no.2
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• pp.459-470
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• 2014

During ship design, welding-induced distortions are roughly estimated as a function of the size of the component as well as the welding process and residual stresses are assumed to be locally in the range of the yield stress. Existing welding simulation methods are very complex and time-consuming and therefore not applicable to large structures like ships. Simplified methods for the estimation of welding effects were and still are subject of several research projects, but mostly concerning smaller structures. The main goal of this paper is the application of a multi-layer welding simulation to the block joint of a ship structure. When welding block joints, high constraints occur due to the ship structure which are assumed to result in accordingly high residual stresses. Constraints measured during construction were realized in a test plant for small-scale welding specimens in order to investigate their and other effects on the residual stresses. Associated welding simulations were successfully performed with fine-mesh finite element models. Further analyses showed that a courser mesh was also able to reproduce the welding-induced reaction forces and hence the residual stresses after some calibration. Based on the coarse modeling it was possible to perform the welding simulation at a block joint in order to investigate the influence of the resulting residual stresses on the behavior of the real structure, showing quite interesting stress distributions. Finally it is discussed whether smaller and idealized models of definite areas of the block joint can be used to achieve the same results offering possibilities to consider residual stresses in the design process.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.8 no.11
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• pp.3876-3895
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• 2014

Recently, Heterogeneous Network (HetNet) with Coordinated Multi-Point (CoMP) scheme is introduced into Long Term Evolution-Advanced (LTE-A) systems to improve digital services for User Equipments (UEs), especially for cell-edge UEs. However, Radio Resource Management (RRM), including Resource Block (RB) scheduling and Power Allocation (PA), in this scenario becomes challenging, due to the intercell cooperation. In this paper, we investigate the RRM problem for downlink transmission of HetNet system with Joint Processing (JP) CoMP (both joint transmission and dynamic cell selection schemes), aiming at maximizing weighted sum data rate under the constraints of both transmission power and backhaul capacity. First, joint RB scheduling and PA problem is formulated as a constrained Mixed Integer Programming (MIP) which is NP-hard. To simplify the formulation problem, we decompose it into two problems of RB scheduling and PA. For RB scheduling, we propose an algorithm with less computational complexity to achieve a suboptimal solution. Then, according to the obtained scheduling results, we present an iterative Karush-Kuhn-Tucker (KKT) method to solve the PA problem. Extensive simulations are conducted to verify the effectiveness and efficiency of the proposed algorithms. Two kinds of JP CoMP schemes are compared with a non-CoMP greedy scheme (max capacity scheme). Simulation results prove that the CoMP schemes with the proposed RRM algorithms dramatically enhance data rate of cell-edge UEs, thereby improving UEs' fairness of data rate. Also, it is shown that the proposed PA algorithms can decrease power consumption of transmission antennas without loss of transmission performance.

• Journal of Korean Institute of Industrial Engineers
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• v.42 no.6
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• pp.386-394
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• 2016

In this research, in order to optimize the multi-objective function effectively, we suggested the optimization model to maximize the total destruction of ground targets and minimize the total damage of aircrafts and cost of air munitions by using goal programming. To satisfy the various variables and constraints of this mathematical model, the concept of air strike package is applied. As a consequence, effective attack can be possible by identifying the prior ground targets more quickly. This study can contribute to maximize the ROK air force's combat power and preservation of high value air asset in the war.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.564-568
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• 1992

A neural optimization network is designed to solve the collsion-free inverse kinematics problem for redundant robot manipulators under the constraints of joint limits, maximum velocities and maximum accelerations. And the fuzzy rules are proposed to determine the weightings of neural optimization networks to avoid the collision between robot manipulator and obstacles. The inputs of fuzzy rules are the resultant distance, change of the distance and sum of the changes. And the output of fuzzy rules is defined as the capability of collision avoidance of joint differential motion. The weightings of neural optimization networks are adjusted according to the capability of collision avoidance of each joint. To show the validities of the proposed method computer simulation results are illustrated for the redundant robot with three degrees of freedom,

• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.591-596
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• 1999

In this paper, we present a joint quality control system to be able to accurately control the relative picture quality among the video programs in terms of PSNR. The joint quality control system allows variable bit rate (VBR) for each video program to maintain the pre-determined relative picture quality among the aggregated video programs while keeping a constant sum of the bit rates for all programs to be transmitted over a single constant bit rate (CBR) channel. This is achieved by simultaneous controlling the video encoders to generate VBR video streams at the central controller. Furthermore we also suggest buffer regulation method based on the analysis of the constraints imposed by sender/receiver buffer sizes and total transmission rate. Through various simulation results, it is found that our quality control systems guarantee that the video buffers do not overflow and underflow and the quality control errors do not exceed 0.1 ㏈.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.1
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• pp.223-235
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• 1993

VTR(Video Tape Recorder) has very complicated mechanisms composed of various cams, links, gears and so on. To satisfy kinematic requirements of VTR components, various geometric constraints between rigid bodies and a translational cam design program are developed. Mechanisms of VTR are divided into functional groups like a control part, a loading part and a tape guide part. Each group is modeled for kinematic and dynamic analysis. Finally, all groups are combined together for a complete VTR model and loads required for each function of VTR controls are studied. Detailed description of developed programs are presented and result are discussed.

• Journal of Communications and Networks
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• v.14 no.3
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• pp.257-266
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• 2012

A decode-and-forward two-way relay system benefits from orthogonal frequency division multiplexing (OFDM) and relay transmission. In this paper, we consider a decode-and-forward two-way relay system over OFDMwith two strategies: A joint subcarrier matching algorithm and a power allocation algorithm operating with a total power constraint for all subcarriers. The two strategies are studied based on average capacity using numerical analysis by uniformly allocating power constraints for each subcarrier matching group. An optimal subcarrier matching algorithm is proposed to match subcarriers in order of channel power gain for both transmission sides. Power allocation is defined based on equally distributing the capacity of each hop in each matching group. Afterward, a modified water-filling algorithm is also considered to allocate the power among all matching groups in order to increase the overall capacity of the network. Finally, Monte Carlo simulations are completed to confirm the numerical results and show the advantages of the joint subcarrier matching, power allocation and water filling algorithms, respectively.