• 한국정밀공학회지
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• 제23권4호
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• pp.75-82
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• 2006

In this paper, we propose an optimal trajectory for biped robots to move up-and-down stairs using a genetic algorithm and a computed-torque control for biped robots to be dynamically stable. First, a Real-Coded Genetic Algorithm (RCGA) which of operators are composed of reproduction, crossover and mutation is used to minimize the total energy. Constraints are divided into equalities and inequalities: Equality constraints consist of a position condition at the start and end of a step period and repeatability conditions related to each joint angle and angular velocity. Inequality constraints include collision avoidance conditions of a swing leg at the face and edge of a stair, knee joint conditions with respect to the avoidance of the kinematic singularity, and the zero moment point condition with respect to the stability into the going direction. In order to approximate a gait, each joint angle trajectory is defined as a 4-th order polynomial of which coefficients are chromosomes. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot that consists of seven links in the sagittal plane. The trajectory is more efficient than that generated by the modified GCIPM. And various trajectories generated by the proposed GA method are analyzed in a viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.

• 한국정밀공학회지
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• 제22권7호
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• pp.112-121
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• 2005

This paper is concerned with smooth trajectory generation of biped robot which has inverted pendulum type balancing weight. Genetic algorithm is used to generate the trajectory of the leg and balancing weight. Balancing trajectory can be determined by solving the second order differential equation under the condition that the reference ZMP (Zero moment point) is settled. Reference ZMP effect on gait pattern absolutely but the problem is how to determine the reference ZMP. Genetic algorithm can find optimal solution under the high order nonlinear situation. Optimal trajectory is generated when use genetic algorithm which has some genes and a fitness function. In this paper, minimization of balancing joints motion is used for the fitness function and set the weight factor of the two balancing joints at the fitness function. Inverted pendulum type balancing weight is very similar with human and this model can be used fur humanoid robot. Simulation results show ZMP trajectory and the walking experiment made on the real biped robot IWR-IV.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제9권8호
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• pp.3090-3102
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• 2015

The accuracy of an augmented reality (AR) application is highly dependent on the resolution of the object's image and the device's computational processing capability. Naturally, a mobile smart device equipped with a high-resolution camera becomes the best platform for portable AR services. AR applications require significant energy consumption and very fast response time, which are big burdens to the smart device. However, there are very few ways to overcome these burdens. Computation offloading via mobile cloud computing has the potential to provide energy savings and enhance the performance of applications executed on smart devices. Therefore, in this paper, adaptive mobile computation offloading of mobile AR applications is considered in order to determine optimal offloading points that satisfy the required quality of experience (QoE) while consuming minimum energy of the smart device. AR feature extraction based on SURF algorithm is partitioned into sub-stages in order to determine the optimal AR cloud computational offloading point based on conditions of the smart device, wireless and wired networks, and AR service cloud servers. Tradeoffs in energy savings and processing time are explored also taking network congestion and server load conditions into account.

• 대한조선학회지
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• 제25권1호
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• pp.11-20
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• 1988

From the engineering point of view, a synthesis as well as an analysis technique is explored to search for the improved design of grillage which is common in ship structure. As an approximate analysis method for the grillage, an interaction reaction method is developed and compared with the finite element method. It is found that the discrepancy between these two methods is so negligible that the percent method could be used effectively for the grillage analysis. As an optimization technique, a feasible direction method could be used is combined with the intersection reaction method in order to design a minimum weight optimal grillage. The feasible direction method shows a good numerical performance although it requires more calculation times compared with the direct search method. Finally, the application of multiple objective optimization method to grillage is investigated in order to resolve conflicts existed between the multiple objectives which is a common characteristic of structure design problem. Goal programming method is extended to handle a nonlinear property of constraints and objective functions. It seems that the nonlinear goal programming could help not only to establish a relative importance of each objective, but also enable the designer to choose the best combination of design variables.

• 한국분무공학회지
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• 제28권2호
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• pp.62-67
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• 2023

Recently, the global automobile industry is aiming for a transition from internal combustion locomotives to zero-emission vehicles. Electric vehicles powered by battery energy can operate at peak performance and improve fuel economy by applying multiple motors or multi-speed transmissions. In order to design a two-speed transmission, it is necessary to evaluate and analyze the application system and performance of electric vehicles. In this study, control performance optimization of a twostage battery electric vehicle equipped with an AMT-based automatic transmission was performed and performance according to control pattern changes was analyzed. In order to improve the operating efficiency of the motor, the shift control that sets the optimal operating point according to the vehicle speed and required torque was derived from the motor efficiency map. The performance of battery energy consumption and transmission loss energy according to the hysteresis interval was analyzed and optimized. The hysteresis interval applied to the optimal shift map acted as a factor in reducing the frequency and loss of shifts. It has been shown that keeping the hysteresis interval at about 4 km/h can reduce energy consumption while reducing the number of shifts.

• 한국측량학회지
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• 제9권1호
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• pp.75-82
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• 1991

본 연구는 자체검정 번들조정법에서 과대오차를 처리하기 위한 최적의 Robust 추정법과 축척추정량(S.E)를 조사하는데 목적을 두고 있다. 과대오차의 검출에 있어서 여러가지 경중률을 적용하기 위하여 5가지 Robust 추정법과 3가지 축척추정량을 사용하였으며, 2가지 기준점배치형태(고밀도, 저밀도)와 3가지 과대오차(4$\sigma o$. 20$\sigma o$. 50$\sigma o$)는 비교분석을 위해 이용되었다. 그 결과, Robust 추정법중 Anscombe 추정법이 가장 좋은 정확도를 보여 주고 있으며, 기준점 배치형태에 따른 축척추정량의 적용을 분석한 결과 기준점 배치밀도가 높은 경우는 Type II 축척추정량이, 기준점 배치밀도가 낮은 경우는 Type III 축척추정량이 안정되고 정확한 결과값을 나타내었다. 따라서 정밀한 구조물 해석에 있어서 과대오차의 영향을 제거하고 정확도를 향상시킬 수 있는 최적 축척추정량을 이용한 Robust 번들조정법의 활용이 기대된다.

• 한국항공운항학회지
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• 제22권2호
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• pp.27-33
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• 2014

There are several methods to improve the flight efficiency of HALE(High Altitude Long Endurance) UAV(Unmaned Aerial Vehicle). Airframe structural point of view, weight reduction of the airframe structure is the most important method to improve the flight efficiency. In order to reduce the weight of airframe structures, new concepts which are different from traditional airframe structure design such as the mylar wing skin should be introduced. The spar is the most important component in a mylar skin wing structure, so the spar weight reduction is the key point for reduction of the wing structural weight. In this study, design trade-off study for the front spar of the HALE UAV wing is conducted in order to reduce the weight. Design and analysis procedure of high aspect ratio wing spar are introduced. Several front spar structures are designed and trade-off study regarding the weight and strength for the each spar are performed. Spar design configurations are verified by the static strength test. Finally, optimal front spar design is decided and applied to the HALE UAV wing design.

• 한국산학기술학회논문지
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• 제20권7호
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• pp.166-172
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• 2019

금속 일체형 판재 도어 임팩트 빔 개발을 위해 단면 형상의 최적설계를 진행하였다. 기존의 도어 임팩트는 충격을 흡수하는 강관과 양쪽에 브라켓을 용접하여 자동차에 설치하는 구조로 이루어졌다. 하지만, 브라켓을 설치하기 위한 용접작업은 생산성을 떨어뜨리고 생산단가를 증가시키는 과정이다. 이러한 단점을 극복하기 위해 일체형 판재 도어 임팩트 빔의 개발은 반드시 필요한 공정이다. 본 논문에서는 일체형 판재 도어 임팩트의 단면 형상을 수치해석의 방법으로 제안하는 연구를 진행하였다. 외부 충격에 대한 반력 하중 및 생산성을 고려하여 엔지니어의 직관적인 설계 형상 6가지에 대하여 수치해석을 진행하였다. 객관적인 비교를 위해 3점 굽힘 하중 실험을 모사하는 유한요소해석을 진행하였다. 형상과 치수가 상이한 6가지의 단면 형상 중 최적의 형상을 선정하고, 상세 설계를 위해 단면형상의 높이와 폭의 치수를 변화시키며 해석을 진행하였다. 이를 통해, 일체형 판재 도어 임팩트의 최적의 단면 형상을 제안하였다.

• 한국지능시스템학회논문지
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• 제24권1호
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• pp.46-51
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• 2014

공학적 시스템 최적설계의 가장 중요한 과정은 설계변수와 시스템 응답과의 관계를 파악하는 것이다. 시스템 최적화의 경우 반응표면법이 주로 사용되고 있다. 반응표면법의 최적화 과정은 대표적인 후보대안을 이용하여 설계공간을 구성하고, 설정된 설계 공간에서 설계 최적점을 찾는다. 설계공간의 구성에 따라 최적점이 변화되므로 합리적인 최적점을 찾기 위해서는 설계공간의 구성이 매우 중요하다. 따라서 본 연구에서는 설계변수와 시스템응답의 관계를 신경반응표면을 이용하여 설계공간을 구성하고, 구성된 설계 공간 안에서 다목적유전자 알고리즘을 이용하여 최적 형상을 예측 할 수 있는 '신경반응표면을 이용한 공학 구조물 설계 프레임워크 구축'을 시도하였다. 구축된 프레임워크의 유용성을 확인하기 위해 비선형 수학함수 문제를 적용하였다. 구축된 프레임워크를 통해 공학문제의 최적화 과정에서 시간의 제약을 해결하고, 효과적인 최적설계가 가능함을 확인할 수 있었다. 향후에는 본 연구의 결과를 바탕으로 실제 조선해양공학 최적화 문제에 적용을 시도할 것이다.

• 물과 미래
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• 제25권2호
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• pp.47-60
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• 1992

북한강 수계에 위치한 화천댐과 소양강댐을 홍수시 연계운영을 위하여 Incremental DP를 사용하여 최적운영모형을 개발하였다. 목적함수로는 의암댐 합류점의 첨두 유량을 최소화하는 것으로 하였으며 수리-수문학적 제약조건은 홍수시 댐조작에 관한 법령, 각 댐 및 하도특성을 고려하여 설정하였다. 특히, 2차 홍수에 대비하여 홍수가 끝나는 시점의 수위가 제한수위가 되도록 하였다. 또한 Incremental DP 모형의 운영결과와 Simulation 및 DP에 의한 단일댐 운영결과를 조절률과 이용률의 관점에서 비교하였고, 합류점의 첨두유량을 Feedback Loop를 이용한 Simulation 결과와 비교하였다. 운영결과 조절률과 이용률이 Simulation 및 DP에 의한 단일댐 운영결과보다 다소 낮게 나타났고, 합류점 유량이 Feedback Loop에 결과보다 크게 나타났는데 이는 홍수말기의 수위에 관한 제약조건 때문이다.