• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.180-185
• /
• 2003

In order to enhance dexterity in execution of robot tasks, a redundant number of degrees-of-freedom (DOF) is adopted for design of robotic mechanisms like robot arms and multi-fingered robot hands. Associated with such redundancy in the number of DOFs relative to the number of physical variables necessary and sufficient for description of a given task, an extra performance index is introduced for controlling such a redundant robot in order to avoid arising of an ill-posed problem of inverse kinematics from the task space to the joint space. This paper shows that such an ill-posedness of DOF redundancy can be resolved in a natural way by using a novel concept named “stability on a manifold”. To show this, two illustrative robot tasks 1) robotic handwriting and 2) control of an object posture via rolling contact by a multi-DOF finger are analyzed in details.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.10
• /
• pp.1006-1013
• /
• 2011

In this paper, we propose an optimal posture control law for an unmanned bicycle by deriving linear bicycle model from fully nonlinear differential equations. We calculate each equilibrium point of a bicycle under any given turning radius and angular speed of rear wheel. There is only one equilibrium point when a bicycle goes straight, while there are a lot of equilibrium points in case of turning. We present an optimal equilibrium point which makes the leaning input minimum when a bicycle is turning. As human riders give rolling torque by moving center of gravity of a body, many previous studies use a movable mass to move center of gravity like humans do. Instead we propose a propeller as a new leaning input which generates rolling torque. The propeller thrust input makes bicycle model simpler and removes input magnitude constraint unlike a movable mass. The proposed controller can hold optimal equilibrium points using both steering input and leaning input. The simulation results on linear control for circular motion are demonstrated to show the validity of the proposed approach.

• Journal of Korean Institute of Industrial Engineers
• /
• v.24 no.4
• /
• pp.649-660
• /
• 1998

Steel making in Mini Mill consists of three major processing stages: molten steel making in an electric arc fuenace, slab casting in a continuous caster, and hot rolling in a finishing mill. Each processing stage has its own lot grouping criterion. However, these criteria in three stages are conflicting with each other. Therefore, delveloping on efficient lot grouping algorithm to enhance the overall productivity of the Mini Mill is an extremely difficult task. The algorithm proposed in this paper is divided into three steps hierarchically: change grouping, cast grouping, and roll grouping. An efficient charge grouping heuristic is developed by exploiting the characteristics of the orders, the processing constraints and the requirements for the downstream stages. In order to maximaize the productivity of the continuous casters, each cast must contain as many charges as possible. Based on the constraint satisfaction problem technique, an efficient cast grouping heuristic is developed. Each roll consists of two casts satisfying the constraints for rolling. The roll grouping problem is formulated as a weighted non-bipartite matching problem, and an optimal roll grouping algorithm is developed. The proposed algorithm is programmed with C language and tested on a SUN Workstation with real data obtained from the H steel works. Through the computational experiment, the algorithm is verified to yield quite satisfactory solutions within a few minutes.

• Journal of Korean Society of Transportation
• /
• v.20 no.4
• /
• pp.135-150
• /
• 2002

The basic assumption of analytical Dynamic Traffic Assignment models is that traffic demand and network conditions are known as a priori and unchanging during the whole planning horizon. This assumption may not be realistic in the practical traffic situation because traffic demand and network conditions nay vary from time to time. The rolling horizon implementation recognizes a fact : The Prediction of origin-destination(OD) matrices and network conditions is usually more accurate in a short period of time, while further into the whole horizon there exists a substantial uncertainty. In the rolling horizon implementation, therefore, rather than assuming time-dependent OD matrices and network conditions are known at the beginning of the horizon, it is assumed that the deterministic information of OD and traffic conditions for a short period are possessed, whereas information beyond this short period will not be available until the time rolls forward. This paper introduces rolling horizon implementation to enable a multi-class analytical DTA model to respond operationally to dynamic variations of both traffic demand and network conditions. In the paper, implementation procedure is discussed in detail, and practical solutions for some raised issues of 1) unfinished trips and 2) rerouting strategy of these trips, are proposed. Computational examples and results are presented and analyzed.

• Journal of Bio-Environment Control
• /
• v.25 no.3
• /
• pp.193-199
• /
• 2016

The research discussed experimental results on slip resistance force of rafter-purlin connection of plastic greenhouse and suggested a test method for evaluating slip resistance performance of the connection. Slip resistance forces were measured by four kinds of constraint conditions for specimens, for example, fixing or rolling the end of specimen. According to tests, it is noticed that constraint condition is able to significantly affect the slip resistance force. From a post-hoc comparison result, slip resistance force of test under fixing ends condition was larger than those under the other three constraint conditions. But the slip resistance force results in the fixing ends condition had greater measure of dispersion and three times of standard deviation than those from other constraint conditions. Based on the results obtained, effect of constraint condition for specimen on the slip test should be studied to enhance reliability of evaluation test of the slip resistance performance.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.9 no.1
• /
• pp.122-130
• /
• 2001

In order to improve the efficiency of the design process and the quality of the resulting design, this study proposes a design method for determining design variables of an automotive wheel-bearing unit of double-row angular-contact ball bearing type by using a genetic algorithm. The desired performance of the wheel-bearing unit is to maximize system life while satisfying geometrical and operational constraints without enlarging mounting spae. The use of gradient-based optimization methods for the design of the unit is restricted because this design problem is characterized by the presence of discrete design variables such as the number of balls and standard ball diameter. Therefore, the design problem of rolling element bearings is a constrained discrete optimization problem. A genetic algorithm using real coding and dynamic mutation rate is used to efficiently find the optimum discrete design values. To effectively deal with the design constraints, a ranking method is suggested for constructing a fitness function in the genetic algorithm. A computer program is developed and applied to the design of a real wheel-bearing unit model to evaluate the proposed design method. Optimum design results demonstrate the effectiveness of the design method suggested in this study by showing that the system life of an optimally designed wheel-bearing unit is enhanced in comparison with that of the current design without any constraint violations.

• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.6
• /
• pp.714-723
• /
• 1999

This paper presents a short-term scheduling algorithm for the operation of steelmaking processes. The scope of the problem covers refining of the hot iron transferred form a blast furnace, ladle treatment, continuous casting, hot-rolling, and coiling for the final products that should satisfy the given demand. The processing time at each unit depends on how much the batch amount is treated, and te dedicated intermediate storage with finite capacity between the units is considered. Resource constraints and initial amount of each state are incorporated into the presented scheduling model for the algorithm of on-line scheduling. We propose amixed integer linear programming (MILP) model with two objectives for the scheduling. The first is to maximize the total profit while atisfying the due date constraint for each product. And the second is to minimize the total processing time, makespan, while satisfying the demand for each product. Especially, we observe the effect of penalizing the intermediate storage and the inventory level of the final product on the scheduling results.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.7 no.2
• /
• pp.52-59
• /
• 2008

The objective of this study is to develop an automatic object changer unit to improve processing problems existed in the conventional horizontal machining center. To achieve this goal, this study designed a horizontal transfer as the second project continued to the first project that designed a upward and downward traverse unit. A horizontal traverse unit shows a symmetric structure and consists of frame, which consists of four unit tools, motor and reducer, which are fixed at a frame, operation unit with pinions, first traverse unit, and second traverse unit. Constraint conditions based on the operation mechanism with these elements were configured and obtained following results after modeling a model for a traverse motor. In the kinematic expression of sliding motion with one degree of freedom, the sliding motion is constrained. Also, the rack 3 installed at a frame is used to configure possible kinematic constraint conditions of the rack 2 according to the rolling motion of the pinion 2 in the first traverse unit. In addition, the moment of inertia that is a type of kinetic energy in a converted horizontal traverse unit in the side of the reducer can be applied to introduce the moment of inertia of a converted horizontal traverse unit in the side of the reducer by using the sum of kinetic energy in the rack and pinion, which is a part of the horizontal traverse unit. Also, the equation of motion of the converted upward and downward traverse unit in the side of the motor using the equation of motion of the motor. Furthermore, the horizontal traverse unit predetermines the mass of the first and second traverse unit and applied load including the radius and reduction ratio of the pitch circle in the pinion 1 and applied load to the rack 2. Then, a proper motor can be determined using several parameters in the upward and downward traverse unit in order to verify such predetermined specifications. In future studies later this study, a simulation that verifies the results of the previous two stages of studies using a finite element method.

• Korean Journal of Construction Engineering and Management
• /
• v.5 no.2 s.18
• /
• pp.211-218
• /
• 2004

In a large owner organization, a program manager of multiple maintenance and remodeling projects has experienced increasing scale and complexity of coordinating the M/R projects with in-house technicians who belong to multiple trade shops. This paper proposes a dual-level hierarchical planning strategy that consists of a program master plan in the long-term horizon and a master construction schedule in an operational scheduling window. A rolling horizon approach to the program master plan is proposed to deal with the external uncertainty of unknown stream of project requests. A resource-constrained scheduling algorithm is developed to generate the master construction schedule in a scheduling window. During development of the algorithm, more emphasis is placed on long-term organizational resource continuity, especially flow management of program constraint resources, than ephemeral events of an individual activity and project. Monte Carlo simulation experiments of three scheduling windows are used to evaluate the relative performance of the proposed scheduling algorithm against three popular scheduling heuristics for resource-constrained multiple projects.

• Composites Research
• /
• v.32 no.1
• /
• pp.29-36
• /
• 2019

The purpose of this paper is to suggest a lightweight design for the aluminum extrusion carbody structure of a double deck high-speed train using material substitution and size optimization method. In order to conduct material substitution, the topology optimization was used to determine the application parts of sandwich composites at the carbody structures. The results of analysis showed that sandwich composites could be applied at roof and 2nd underframe. The size optimization was used to determine thickness of the aluminum extruded and carbon/epoxy composite. The design variable, state constraint and objective function were formulated to solve the size optimization, and then, the feasible design was presented by these conditions. The results of the lightweight design showed that the weight of double deck high-speed train hybrid carbody could be reduced by 2.18(17.70%) tons.