• International Journal of Control, Automation, and Systems
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• v.4 no.1
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• pp.42-52
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• 2006

In order to utilize hydrodynamic drag force on articulated robots moving in an underwater environment, an optimum motion planning procedure is proposed. The drag force acting on cylindrical underwater arms is modeled and a directional drag measure is defined as a quantitative measure of reaction force in a specific direction in a workspace. A repetitive trajectory planning method is formulated from the general point-to-point trajectory planning method. In order to globally optimize the parameters of repetitive trajectories under inequality constraints, a 2-level optimization scheme is proposed, which adopts the genetic algorithm (GA) as the 1st level optimization and sequential quadratic programming (SQP) as the 2nd level optimization. To verify the validity of the proposed method, optimization examples of periodic motion planning with the simple two-link planner robot are also presented in this paper.

• Nonlinear Functional Analysis and Applications
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• v.28 no.4
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• pp.1017-1034
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• 2023

In this paper, we work two different problems. First, we investigate a new class of fractional differential equations involving Caputo sequential derivative with some (e₁, e₂, θ)-periodic conditions. The existence and uniqueness of solutions are proven. The stability of solutions is also discussed. The second part includes studying traveling wave solutions of a conformable fractional Korteweg-de Vries-Burger (KdV Burger) equation through the Tanh method. Graphs of some of the waves are plotted and discussed, and a conclusion follows.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.383-388
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• 2005

Depth recovery in robot vision is an essential problem to infer the three dimensional geometry of scenes from a sequence of the two dimensional images. In the past, many studies have been proposed for the depth estimation such as stereopsis, motion parallax and blurring phenomena. Among cues for depth estimation, depth from lens translation is based on shape from motion by using feature points. This approach is derived from the correspondence of feature points detected in images and performs the depth estimation that uses information on the motion of feature points. The approaches using motion vectors suffer from the occlusion or missing part problem, and the image blur is ignored in the feature point detection. This paper presents a novel approach to the defocus technique based depth from lens translation using sequential SVD factorization. Solving such the problems requires modeling of mutual relationship between the light and optics until reaching the image plane. For this mutuality, we first discuss the optical properties of a camera system, because the image blur varies according to camera parameter settings. The camera system accounts for the camera model integrating a thin lens based camera model to explain the light and optical properties and a perspective projection camera model to explain the depth from lens translation. Then, depth from lens translation is proposed to use the feature points detected in edges of the image blur. The feature points contain the depth information derived from an amount of blur of width. The shape and motion can be estimated from the motion of feature points. This method uses the sequential SVD factorization to represent the orthogonal matrices that are singular value decomposition. Some experiments have been performed with a sequence of real and synthetic images comparing the presented method with the depth from lens translation. Experimental results have demonstrated the validity and shown the applicability of the proposed method to the depth estimation.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.49 no.6
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• pp.305-311
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• 2000

This paper presents a hybrid algorithm for solving optimal power flow(OPF) in order to enhance a systems capability to cope with outages, which is based on combined application of evolutionary computation and local search method. The efficient algorithm combining main advantages of two methods is as follows : Firstly, evolutionary computation is used to perform global exploitation among a population. This gives a good initial point of conventional method. Then, local methods are used to perform local exploitation. The hybrid approach often outperforms either method operating alone and reduces the total computation time. The objective function of the security constrained OPF is the minimization of generation fuel costs and real power losses. The resulting optimal operating point has to be feasible after outages such as any single line outage(respect of voltage magnitude, reactive power generation and power flow limits). In OPF considering security, the outages are selected by contingency ranking method(contingency screening model). The OPF considering security, the outages are selected by contingency ranking method(contingency screening model). The method proposed is applied to IEEE 30 buses system to show its effectiveness.

• The Korean Journal of Applied Statistics
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• v.35 no.1
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• pp.63-75
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• 2022

This paper proposes the so-called MOSUM-based sparse projection method for change points detection in high-dimensional time series. Our method is inspired by Wang and Samworth (2018), however, our method improves their method in two ways. One is to find change points all at once, so it minimizes sequential error. The other is localized so that more robust to the mean changes offsetting each other. We also propose data-driven threshold selection using block wild bootstrap. A comprehensive simulation study shows that our method performs reasonably well in finite samples. We also illustrate our method to stock prices consisting of S&P 500 index, and found four change points in recent 6 years.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.10
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• pp.120-129
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• 2002

An integrated structure and controller design approach for rotating cantilever beam is presented. An optimization method is developed for improving positioning performance considering the elastic deformations during high speed rotation and adopting the beam shape and the control gains as design variables. For this end, a dynamic model is setup by the finite element method according to the shape of the beam. The mass and stiffness of the beam are distributed in such a way that the closed-loop poles of the control system should be located leftmost in the complex s-plane. For optimization method, the simulated annealing method is employed which has higher probability to find the global minimum than the gradient-based down-hill methods. Sequential design and simultaneous design methods are proposed to obtain the optimal shape and controller. Simulations are performed with new designs by the two methods to verify the effectiveness of the approach and the results show that the settling time is improved for point-to-point position controls.

• Korean Journal of Computational Design and Engineering
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• v.21 no.4
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• pp.389-396
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• 2016

The necessity for environment-friendly material development has emerged in the recent automotive field due to stricter regulations on fuel economy and environmental concerns. Accordingly, the automotive industry is paying attention to carbon fiber reinforced plastic (CFRP) material with high strength and stiffness properties while the lightweight. In this study, we determine a shape of lower control arm (LCA) for maximizing the strength and stiffness by optimizing the thickness of each layer when the stacking angle is fixed due to the CFRP manufacturing problems. Composite materials are laminated in the order of $0^{\circ}$, $90^{\circ}$, $45^{\circ}$, and $-45^{\circ}$ with a symmetrical structure. For the approximate optimal design, we apply a sequential two-point diagonal quadratic approximate optimization (STDQAO) and use a process integrated design optimization (PIDO) code for this purpose. Based on the physical properties calculated within a predetermined range of laminate thickness, we perform the FEM analysis and verify whether it satisfies the load and stiffness conditions or not. These processes are repeated for successive improved objective function. Optimized CFRP LCA has the equivalent stiffness and strength with light weight structure when compared to conventional aluminum design.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.11
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• pp.1603-1611
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• 2010

The comparative study of regression-model-based approximate optimization techniques used in the strength design of an automotive knuckle component that will be under bump and brake loading conditions is carried out. The design problem is formulated such that the cross-sectional sizing variables are determined by minimizing the weight of the knuckle component that is subjected to stresses, deformations, and vibration frequency constraints. The techniques used in the comparative study are sequential approximate optimization (SAO), sequential two-point diagonal quadratic approximate optimization (STDQAO), and approximate optimization based on enhanced moving least squares method (MLSM), such as CF (constraint feasible)-MLSM and Post-MLSM. Commercial process integration and design optimization (PIDO) tools are utilized for the application of SAO and STDQAO. The enhanced MLSM-based approximate optimization techniques are newly developed to ensure constraint feasibility. The results of the approximate optimization techniques are compared with those of actual non-approximate optimization to evaluate their numerical performances.

• Journal of Mechanical Science and Technology
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• v.15 no.7
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• pp.876-888
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• 2001

For a large scaled optimization based on response surface methods, an efficient quadratic approximation method is presented in the context of the trust region model management strategy. If the number of design variables is η, the proposed method requires only 2η+1 design points for one approximation, which are a center point and tow additional axial points within a systematically adjusted trust region. These design points are used to uniquely determine the main effect terms such as the linear and quadratic regression coefficients. A quasi-Newton formula then uses these linear and quadratic coefficients to progressively update the two-factor interaction effect terms as the sequential approximate optimization progresses. In order to show the numerical performance of the proposed method, a typical unconstrained optimization problem and two dynamic response optimization problems with multiple objective are solved. Finally, their optimization results compared with those of the central composite designs (CCD) or the over-determined D-optimality criterion show that the proposed method gives more efficient results than others.

• Proceedings of the IEEK Conference
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• 2001.06e
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• pp.195-198
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• 2001

We developed the portable blood analysis system, which can be measured pH of the blood. This system is composed to electronic circuit, mechanism, and system software. Electronic circuit is composed to the sensor, pre-amp part, temperature regulation part, fluid sensing part, A/D(analog to digital) conversion part, main and peripheral device processing part. And the mechanism is composed to the flow cell and the liquid flow part. The liquid flow part is consisted of blood and washing control system under the control of the 6-channel solenoid valve and syringe rump. The system software is composed to measurement program, calibration program, washing and diagnostic program. The program of each routine is designed as sequential process for an efficiency. And the portable pH analysis system used two-point calibration method using the two types of corrective liquid. As a result, we obtained the calibration curve and calculated the value of pH. For verifying the system, we confirmed the output voltage of the sensor, and estimated reappearance of system using the standard liquid.