• 드라이브 ㆍ 컨트롤
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• 제14권4호
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• pp.45-50
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• 2017

The gas spring is a hydropneumatic adjusting element, consisting of a pressure tube, a piston rod, a piston and a connection fitting. The gas spring is filled with compressed nitrogen within the cylinder. The filling pressure acts on both sides of the piston and because of area difference it produces an extension force. Therefore, a gas spring is similar in function compare to mechanical coil spring. Conversely, optimization is a process of finding the best set of parameters to reach a goal while not violating certain constraints. The AMESim software provides NLPQL (Nonlinear Programming by Quadratic Lagrangian) and GA (genetic algorithm) for optimization. The NLPQL method builds a quadratic approximation to the Lagrange function and linear approximations to all output constraints at each iteration, starting with the identity matrix for the Hessian of the Lagrangian, and gradually updating it using the BFGS method. On each iteration, a quadratic programming problem is solved to find an improved design until the final convergence to the optimum design. In this study, we conducted optimization design of the gas spring reaction force with NLPQL.

• 한국정밀공학회지
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• 제21권10호
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• pp.137-146
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• 2004

This is the second of two companion papers concerned with the analysis and design of a pneumatic vibration isolation system. The properties of the system are clarified by observation of the transmissibility surface calculated by the models and algorithm developed in the first paper of this research. It Is shown that the nonlinear model proposed in this research is more closer to experimental results than the linear model that have been used in previous studies. The design optimization of the major design variables that affect the performance of the system is achieved by using the condition for attenuation, disturbance rejection and maximum damping in resonance peak. The design space search method is adopted for the optimization of the orifice area. The models, transmissibility calculation algorithms and design optimization techniques developed in this research are shown to be greatly helpful to the optimal design of the pneumatic vibration isolation system by experiment.

• 대한기계학회논문집A
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• 제32권1호
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• pp.29-34
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• 2008

The efforts of reflecting the system's uncertainties in design step have been made and robust optimization or reliability-based design optimization are examples of the most famous methodologies. In their formulation, the mean and standard deviation of a performance function and constraints expressed by probability conditions are involved. Therefore, it is essential to effectively and accurately calculate them and, in addition, the sensitivity results are required to obtain when the nonlinear programming is utilized during optimization process. We aim to obtain the new and efficient sensitivity formulation, which is based on integral form, on statistical moments such as the mean and standard deviation, and probability constraints. It does not require the additional functional calculation when statistical moments and failure or satisfaction probabilities are already obtained at a design point. Moreover, some numerical examples have been calculated and compared with the exact solution or the results of Monte Carlo Simulation method. The results seem to be very satisfactory.

• 한국항공우주학회지
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• 제33권1호
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• pp.11-19
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• 2005

본 연구에서는 진동 운동하는 익형의 동적실속 특성을 향상시키기 위하여, 고정 앞전 Droop과 Gurney 플랩의 크기와 위치에 대한 최적설계를 수행하였다. 고정 앞전 Droop이 모멘트 특성의 개선에 효율적이나 양력특성의 저하를 유발 할 수 있다. 반면에 Gurney 플랩은 양력특성의 향상을 가져오지만, 모멘트특성을 악화시키는 특성이 있다. 고정앞전 Droop의 설계변수는 상호 보완적인 특성을 갖는 위치와 각도를 설정하였으며, Gurney 플랩은 그 길이를 설계변수로 설정하였다. 또한, 동적실속과 같이 비선형성이 강한 문제의 설계를 위해서 고차 다항식의 반응면 기법과 민감도 기반의 최적설계 기법을 사용하였다. 최적화는 양력과 모멘트 특성이 동시에 개선되도록 수행 하였다. 설계 결과 동적실속의 양력, 모멘트 및 항력특성의 향상을 가져올 수 있었으며, 가변 앞전 Droop과 Gurney 플랩을 결합한 능동제어장치에 버금가는 동적실속 제어 효과를 갖을 수 있음을 확인하였다.

• International Journal of Aeronautical and Space Sciences
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• 제3권2호
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• pp.1-12
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• 2002

This paper considers the robust and optimal three-axis attitude stabilization of rigid spacecraft with inertia uncertainties. The attitude motion of rigid spacecraft described in terms of either the Cayley-Rodrigues parameters or the Modified Rodrigues parameters is considered. A class of robust nonlinear control laws with relaxed feedback gain structures is proposed for attitude stabilization of rigid spacecraft with inertia uncertainties. Global asymptotic stability of the proposed control laws is shown by using the LaSalle Invariance Principle. The optimality properties of the proposed control laws are also investigated by using the Hamilton-Jacobi theory. A numerical example is given to illustrate the theoretical results presented in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.38.5-38
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• 2001

In this paper, we propose new digital optimal control approach for controlling continuous-time nonlinear chaotic systems, which show very complex behavior and cannot be easily controlled by conventional control methods. Most real systems are represented as continuous-time system, whereas some control methods should be implemented under the condition of computer-based platforms, which are discrete-time systems. To achieve the control objective for chaotic systems successfully, the sampled-data controller, which considers the inter-sample behavior of the continuous-time systems effectively, should be needed. The proposed optimal controller is designed based on the linearized estimation model of chaotic systems. By the computer simulation, we show the control ...

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 추계학술대회논문집A
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• pp.515-520
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• 2001

Due to the high power to weight ratio and fast response under heavy load, the hydraulic systems are still applied to the development of many industrial facilities such as heavy duty construction vehicles, aerospace/military weapon actuating systems and motion simulators. Unlike the other actuators, single-rod hydraulic cylinder exhibits a lot different dynamic characteristics between the extending and retracting stroke because of the difference in pressure acting areas. In this research, in order to overcome this nonlinear feature, $H_{\infty}$ optimal controller was designed and implemented with DSP board that was specifically developed for the experiment. From the experimental result, we could confirm that the overall performance of single-rod hydraulic servo system is similar with the results as we expected in the design stage.

• 한국자동차공학회논문집
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• 제4권1호
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• pp.110-122
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• 1996

The objective of this study is to understand the dynamic characterictics of OHV type valve trains and to design and optimal cam profile which will improve engine performance. A numerical model for valve train dynamics is presented, which aims at both accuracy and computational efficiency. The lumped mass model and distributed parameter model were used to describe the valve train dynamics. Nonlinear characterictics in the valve spring behavior were included in the model. Comprehensive experiments were carried out concerning the valve train dynamics, and the model was tuned based on the test results. The dynamic model was used in designing an optimal cam profile. Because the objective function has many local minima, a conventional local optimizer cannot be used to find an optimal solution. A modified adaptive random search method is successfully employed to solve the problem. Cam lobe area could be increased up to 7.3% without any penalties in kinematic and dynamic behaviors of the valve train.

• 드라이브 ㆍ 컨트롤
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• 제15권3호
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• pp.1-7
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• 2018

Humanoid robots have fascinated many researchers since they appeared decades ago. For the requirement of both accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Humanoid robots are highly nonlinear, coupled, complex systems, accordingly the calculation of robot model is difficult and even impossible if precise model of the humanoid robots are unknown. Therefore, it is difficult to control using traditional model-based techniques. To realize model-free torque control, time-delay control (TDC) for humanoid robot was proposed with time-delay estimation technique. Using optimal walking trajectory obtained by particle swarm optimization, TDC with proposed scheme is implemented on whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the proposed TDC for humanoid robots.

• 한국생산제조학회지
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• 제18권6호
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• pp.590-597
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• 2009

The final quality of the workpiece is affected by the grinding process that has been conducted in final manufacturing stage. However the quality-satisfaction of ground workpiece depends on the skill of an expert in this process. Therefore, the process models of grinding have been developed to predict the states according to grinding process. In this paper, in order to find the optimized grinding condition to reduce the manufacturing expense and to meet requirements of ground workpiece optimization algorithm using E.S.(Evolutionary Strategy) is proposed. The proposed algorithm has been employed to find the optimal grinding and dressing condition using the grinding process models and nonlinear grinding constraints. The optimized results also presents the guide line of grinding process. The effectiveness of the proposed algorithm is verified through the experimental results.