• Transactions of The Korea Fluid Power Systems Society
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• v.2 no.3
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• pp.1-5
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• 2005

There are two types of solenoid actuator for force and position control of the fluid power system. One is an on-off solenoid actuator and the other is an electro-magnetic proportional actuator. They have some different characteristics for attraction force according to solenoid shape. Attraction force of the on-off solenoid actuator only depends on flux density. And the stroke-force characteristics of the proportional solenoid actuator are determined by the shape of the control cone. In this paper, steady state characteristics of the solenoid actuator for electro-hydraulic proportional valve determined by the shape of control cone are analyzed using finite element method and it is confirmed that the proportional solenoid actuator has a constant attractive force in the control region independently on the stroke position. And the shape of control cone is optimized using 1+1 evolution strategy to get a constant force. In the optimization algorithm, control cone length, thickness and taper length are used as a design parameter.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.13 no.12
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• pp.930-937
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• 2003

This research deals with how to select connection positions of two substructures to be synthesized. The goal of this research is to find optimal connection positions in order to maximize the fundamental natural frequency of the synthesized structure. The natural frequencies of a connected structure are obtained by modal-force equations. Optimal connection positions can be selected through optimization process. In the optimization process, the natural frequencies of a connected structure are set to object function value and connection positions become design variables. The method described above is applied to synthesis problems of plates, which is initially conducted for FE models and verified through experiments. Especially in experiments. FRF(frequency response function) s are obtained by means of the Modal Testing technique to be used in modal-force equations for synthesizing. Once the substructures are synthesized. the Modal Testing technique is again applied to spot-welded structure using the result from the optimization procedure. It is found that the fundamental natural frequency of the synthesized structure with the optimized result gives higher value than those with the initially given connection positions.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.05a
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• pp.65-71
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• 2003

This research deals with how to select connection positions of two substructures to be synthesized. The goal of this research is to find optimal connection positions in order to maximize the fundamental natural frequency of the synthesized structure. The natural frequencies of a connected structure are obtained by modal-force equations. Optimal connection positions can be selected through optimization process. In the optimization process, the natural frequencies of a connected structure are set to object function value and connection positions become design variables. The method described above is applied to synthesis problems of plates, which is initially conducted for FE models and verified through experiments. Especially in experiments, FRE(frequency Response function)s are obtained by means of the Modal Testing technique to be used in modal-force equations for synthesizing. Once the substructures are synthesized, the Modal Testing technique is again applied to spot-welded structure using the result from the optimization procedure. It is found that the fundamental natural frequency of the synthesized structure with the optimized result gives higher value than those with the initially given connection positions.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.4
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• pp.403-413
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• 1990

A collision free trajectory control for multiple mobile robots in obstacle-resident workspace is proposed. The proposed method is based on the concept of neural optimization network which has been applied to such problems which are too complex to be handled by traditional analytical methods, and gives good adaptibility for unpredictable environment. In this paper, the positions of the mobile robot are taken as the variables of the neural circuit and the differential equations are derived based on the performance index which is the weighted summation of the functions of the distances between the goal and current position of each robot, between each pair of robots and between the goal and current position of each robot, between each pair of robots and between obstacles and robots. Also is studied the problem of local minimum and of detour in large radius around obstacles, which is caused by inertia of mobile robots. To show the validity of the proposed method an example is illustrated by computer simulation, in which 6 mobile robots with mass and friction traverse in a workspace with 6 obstacles.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.553-557
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• 1994

We propose a design method that uses H$_{\infty}$ optimization method to suppress oscillation of a shaft between motor and load for high precision (0.001 % of reference input) position controls. PI speed control loop was introduced as a minor loop. Standard problem is used for the modeling of the system and Glover-Doyle's algorithm is used for the optimization in the H$_{\infty}$ space. Friction is considered to be an important factor that makes it difficult for the system to reach steady state in short time. In this paper, we propose a hybrid controller that includes PI speed feedback loop, which is expected to have a role to reject torque disturbance like friction.n.n.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.683-686
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• 2000

A new approach to the task of aligning a robot using camera is presented in this paper. We apply an elitist GA to find the joints angles of manipulator to reach target position instead of using nonlinear least error method. Since it employs parallel search and have good performance in solving optimization problems. In order to improve convergence speed, the floating coding method and geometry constraint conditions are used. Experiments are carried out to exhibit the effectiveness of vision-based control using elitist genetic algorithm.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.626-629
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• 1997

In this study, position optimization of insulation rods and suspension rods in discharge electrode frame of electrostatic precipitator(EP) is performed using finite element analysis(FEA). The object of the optimization is to minimize the difference of altitudes in unevenly sagged horizontal structure and to regulate the size of materials within the allowable stress bounds. Uppermost horizontal channel of discharge electrode frame is highly stressed and uniformity of lowest horizontal angle depends on the position of rods. Ten types of frame are analyzed and one recommended model is presented.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.33A no.6
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• pp.62-71
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• 1996

In this paper, we design tripel-mode channel filter using iris optimization technique and investigate its response. The cavity diameter is determined to resonate three orthogonal modes coincidently and inter-cavity iris is optimized in which one slot control one TE-TE mode and other TM-TM mode couplings simultaneously. Since the electric/magnectic field is variable due to slot position, the center position of the slot which handle coupling coefficients of two modes should be designe dwith optimizatin technique presented here. The implemented triple-mode filter in this paper saves its mass and volume upto 33% relating to the dual-mode filter, caused by the reduced number of cavities.

• Transactions of the Society of Information Storage Systems
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• v.3 no.2
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• pp.73-80
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• 2007

Atomic Force Microscopy (AFM)방식을 이용한 Scanning probe Data Storage (SDS) 시스템은 array cantilever 를 이용하여 나노 단위로 데이터 읽기, 쓰기를 하는 시스템이다. 따라서 미디어가 있는 stage 의 x 축과 y 축 및 두 축간 coupling 을 고려한 제어기 설계가 요구된다. 본 논문은 SDS 시스템의 축간 coupling 을 고려하지 않은 기존의 제안된 LQG 에 PI 를 추가한 제어기 구조를 사용한다. 두 축간 coupling 공진의 영향을 최소화 하기 위해 convex optimization 으로 설계된 최적의 position profile를 기준 입력신호로 사용한다. 제안된 제어기를 SDS 시스템에 적용하여 모의실험을 하고 그 결과 position profile 로 인해 각 축간 coupling 공진 영향이 감소하여 tracking performance 가 기존의 LQG 제어기 보다 향상된 것을 확인한다.

• Journal of the Korea Institute of Military Science and Technology
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• v.3 no.2
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• pp.42-52
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• 2000

A torque control method of a switched reluctance motor for the position control of a tank gun is presented. One of the widely used torque control scheme, torque sharing function method, is investigated and a new torque sharing function method is proposed that extends the definition region of the conventional TSF to both the positive and negative torque production regions. By using this definition, all kinds of the control inputs that consider switching on/off angle control as well as the current profiling can be described. A parametrized representation of the current profiles is proposed by using a series of B-spline functions, which reduces memory requirement and enables additional controllers. Optimal determination of the TSFs are also investigated for various control objectives. Moreover, the comparison study of each objective is presented. Since this method generalizes all of the possible control input, the current and torque profiles obtained from the optimization are the most suitable control input that satisfy the objectives.