• 한국통신학회논문지
• /
• 제29권3C호
• /
• pp.419-425
• /
• 2004

본 논문은 카메라로 찍은 투사 사영(Perspective Projection)의 한 영상으로부터 물체의 크기와 위치를 계산하기 위해서 3 개의 소실 점만을 사용해서 계산하는 새로운 방법을 제안한다. 우리의 접근 방법은 투사 사영의 영상으로부터 초점 거리(Focal Length), 회전 행렬(Rotation Matrix) 등의 정보들 없이 3개의 소실 점만을 가지고 계산하는 방법이다. 물체는 꼭지점(vertices)의 좌표가 크기 벡터 v 의 선형 함수로서 표현할 수 있는 다각형으로써 모델이 된다는 것을 가정한다. 이 재구성의 입력은 영상에서 특징 점과 모델에서 특징 점 사이 대응점의 집합으로 표현할 수 있다. 이 매개 변수 모델의 각각 크기를 최적화하기 위해서, 재구성의 최적화는 동일하게 매개 변수 공간을 샘플링에 의한 최적화기에 대하여 다중 시작점(multiple starting points)을 발생하는 다중 시작(multi-start) 방법을 가지는 표준 비선형 최적화 기법을 효과적으로 해결할 수가 있다.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1997년도 추계학술대회 논문집
• /
• pp.507-512
• /
• 1997

This paper presents a method of finding optitnal joint torques of two robots when they hold an object simultaneously. Although the importance of the multiple cooperating robot system increases for more flcviblc ni;mufacturing automation, dynamic solutions to multi-robot system forming closcd kinematic chain is not easy to find. Newton-Eulcr approach is used for the dynamic formulation of two robots fonn~ng closcd kincmatic chains gmsping a rigid body object. The nrcthodology to optimize the joint torques to satisfy given criterta and obtain bettcr control of the system is discussed. The scheme is illustrated by an example.

• Smart Structures and Systems
• /
• 제22권1호
• /
• pp.81-94
• /
• 2018

Automatic Generation Control (AGC) has functionally controlled the interchange power flow in order to suppress the dynamic oscillations of frequency and tie-line power deviations as a perturbation occurs in the interconnected multi-area power system. Furthermore, Flexible AC Transmission Systems (FACTS) can effectively assist AGC to more enhance the dynamic stability of power system. So, Static Synchronous Series Compensator (SSSC), one of the well-known FACTS devices, is here applied to accurately control and regulate the load frequency of multi-area multi-source interconnected power system. The research and efforts made in this regard have caused to introduce the Fractional Order Proportional Integral Derivative (FOPID) based SSSC, to alleviate both the most significant issues in multi-area interconnected power systems i.e., frequency and tie-line power deviations. Due to multi-objective nature of aforementioned problem, suppression of the frequency and tie-line power deviations is formularized in the form of a multi-object problem. Considering the high performance of Multi Objective Bees Algorithm (MOBA) in solution of the non-linear objectives, it has been utilized to appropriately unravel the optimization problem. To verify and validate the dynamic performance of self-defined FOPID-SSSC, it has been thoroughly evaluated in three different multi-area interconnected power systems. Meanwhile, the dynamic performance of FOPID-SSSC has been accurately compared with a conventional controller based SSSC while the power systems are affected by different Step Load Perturbations (SLPs). Eventually, the simulation results of all three power systems have transparently demonstrated the dynamic performance of FOPID-SSSC to significantly suppress the frequency and tie-line power deviations as compared to conventional controller based SSSC.

• 한국산업융합학회 논문집
• /
• 제22권2호
• /
• pp.87-93
• /
• 2019

This research deals with posture optimization for humanoid robot against external forces using genetic algorithm and neural network. When the robot takes a motion to push an object, the torque of each joint is generated by reaction force at the palm. This study aims to optimize the posture of the humanoid robot that will change this torque. This study finds an optimized posture using a genetic algorithm such that torques are evenly distributed over the all joints. Then, a number of different optimized postures are generated from various the reaction forces at the palm. The data is to be used as training data of MLP(Multi-Layer Perceptron) neural network with BP(Back Propagation) learning algorithm. Humanoid robot can find the optimal posture at different reaction forces in real time using the trained neural network include non-training data.

• 한국추진공학회지
• /
• 제4권2호
• /
• pp.21-30
• /
• 2000

본 연구에서는 램 가속기의 성능 향상을 위한 수치최적화를 수행하였다. 일정한 형상과 질량을 가진 탄체를 최초의 속도 $V_o$로부터 목표 속도 $V_e$로 가속시킬 때까지의 최소의 램 가속관 길이를 탐색하는 것을 목표로 하였고 $H_2$, $O_2$, $N_2$로 구성된 예 혼합기의 각 화학종의 몰수를 설계변수로서 채택하였다. 목적함수와 구속조건은 설계 과정에서 선형화 하여 구배법과 SLP기법을 적용하였다. 내부유동은 이차원 비점성 유동을 가정하고 화학반응의 해석은 8단계 7화학종 모델을 적용하였다. 가속관 길이의 결정을 위하여 램 가속관 내부의 유동은 준 정상상태로 가정하고 몇 개의 동일 구간으로 분할하여 각 속도에서의 추력 계수와 가속도를 동시에 구하여 전 속도 영역에 대하여 수치 적분하였다. 본 연구를 통하여 7회의 설계 반복으로 가속관의 길이를 19% 감소시켰다. 본 연구의 결과로부터 다단계, 다 화학종의 램 가속기의 설계최적화 문제에 직접적으로 적용할 수 있음을 확인하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제15권11호
• /
• pp.3892-3912
• /
• 2021

The recent rapid growth of mobile network traffic places multi-access edge computing in an important position to reduce network load and improve network capacity and service quality. Contrasting with traditional mobile cloud computing, multi-access edge computing includes a base station cooperative cache layer and user cooperative cache layer. Selecting the most appropriate cache content according to actual needs and determining the most appropriate location to optimize the cache performance have emerged as serious issues in multi-access edge computing that must be solved urgently. For this reason, a cache placement algorithm based on comprehensive utility in big data multi-access edge computing (CPBCU) is proposed in this work. Firstly, the cache value generated by cache placement is calculated using the cache capacity, data popularity, and node replacement rate. Secondly, the cache placement problem is then modeled according to the cache value, data object acquisition, and replacement cost. The cache placement model is then transformed into a combinatorial optimization problem and the cache objects are placed on the appropriate data nodes using tabu search algorithm. Finally, to verify the feasibility and effectiveness of the algorithm, a multi-access edge computing experimental environment is built. Experimental results show that CPBCU provides a significant improvement in cache service rate, data response time, and replacement number compared with other cache placement algorithms.

• EDISON SW 활용 경진대회 논문집
• /
• 제5회(2016년)
• /
• pp.455-462
• /
• 2016

Recently, followed by rapid growth of robotics field, multi-linkage mechanism which can even pass by rough road is getting lots of attention. In this paper, I focused on Jansen mechanism. It's a kinematics object which is named after Dutch artist Theo jansen. Jansen mechanism embraces structure and mechanism which creates locomotion with the combination of the power and simple structure. Theo jansen suggests a 'Holy number'. It's an ideal ratio of leg components length. However, if there's desired gait locomotion, you have to adjust the ratio and the length. But even slight change of the length could cause a big change at the end-point. To solve this problem, I suggest a reverse engineering method to get a ratio of each links by nonlinear optimization with pre-set desired trajectory. First, we converted a movement of the joint of Jansen mechanism to vectors by kinematics analysis of multi-linkage structure. And we showed the trajectory at the end-point. After that, we set desired trajectory which we found most ideal. Then we got the length of the leg components which draws a trajectory as same as trajectory we set, using Multi-objective genetic algorithm toolbox in MATLAB. Result is verified by Edison designer and mSketch. And we analyzed if it could pass through the obstruction which is set dynamically.

• 한국지반공학회논문집
• /
• 제25권9호
• /
• pp.93-100
• /
• 2009

본 연구에서 역해석에 이용한 직접법은 실제 변위와 목적함수의 차이를 최소화하고 미지변수를 보정하는 최적화가 핵심 과정이다. 연구과정이 복수의 지층을 단계별로 역해석하여 각 지반의 미지변수를 역해석하기 때문에 지층 간 미지변수의 간섭 효과를 최소화 할 수 있는 추가적인 최적화가 필요하다. 따라서 효율적이고 정확한 최적화를 위해서 목적함수의 편미분 계산과정이 없이 최적해를 구할 수 있는 직접탐색법(direct search method)을 사용하였다. 본 연구의 목적은 지하구조체가 포함된 지층을 상부와 하부의 지층으로 모형화하고, 다중 미지변수를 역해석하는 기법을 개발하는 데에 목적을 둔다. 또한 단계별 역해석된 미지변수의 상호 간섭 오차를 최소화하기 위해서 반복 역해석을 실시하고, 실제 존재하는 터널에 대하여 적용성에 대해 검토하였다. 그 결과, 단층 모형화보다 다층 모형화 결과가 실제 지하구조물거동을 정확히 나타냈으며 다층 경계부에 위치한 지하구조물의 다층지반 모형화를 통한 역해석이 유효함을 확인하였다.

• 대한조선학회논문집
• /
• 제44권2호
• /
• pp.139-147
• /
• 2007

The ultimate goal of structural design is to find the optimal design results which satisfies both safety and economy at the same time. Optimum design has been studied for the last several decades and is being studied. in this study, an optimum algorithm which is based on the genetic algorithm has been applied to the multi-object problem to obtain the optimum solutions which minimizes structural weight and construction cost of panel blocks in ship structures at the same time. Mathematical problems are dealt at first to justify the reliability of the present optimum algorithm. And then the present method has been applied to the panel block model which can be found in ship structures. From the present findings it has been seen that the present optimum algorithm can reasonably give the optimum design results.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2001년도 춘계학술대회논문집E
• /
• pp.373-379
• /
• 2001

When a train runs into a tunnel at high-speed, aerodynamic drag suddenly increases and the booming noise is generated at the exit of tunnel. The noise shape is very important to reduce the aerodynamic drag in tunnel as well as on open ground, and the micro-pressure wave that is a source of booming noise is dependent on nose shape, especially on area distribution. In this study, the nose shape has been optimized employing the response surface methodology and the axi-symmetric compressible Navier-Stokes equations. The optimal designs have been executed imposing various conditions of the aerodynamic drag and the micro-pressure wave on object functions. The results show that the multi-objective design was successful to decrease micro-pressure wave and aerodynamic drag of trains.