• Journal of the Korean Society for Precision Engineering
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• v.17 no.7
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• pp.189-195
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• 2000

For free motions, vibration suppression of flexible manipulators has been one of the hottest research topics. However, for constrained motions, a little effort has been devoted for vibration suppression control. Using the dependency of elastic deflections of links on contact force under static conditions, vibrations for constrained planar two-link flexible manipulators have been suppressed successfully by controlling the contact force. However, for constrained spatial multi-link flexible manipulators, the vibrations cannot be suppressed by only controlling the contact force. So, the aim of this paper is to clarify the vibration mechanism of a constrained, multi-DOF, flexible manipulator and to devise the suppression method. We apply a concise hybrid position/force control scheme to control a flexible manipulator modeled by lumped-parameter modeling method. Finally, a comparison between simulation and experimental results is presented to show the performance of our method.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.52-57
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• 1993

Conventional active control algorithm for duct system is developed without considering problems of constrained structure. Therefore it destroys the constrained structures of the weights or parameters. A new LMS algorithm, which does keep the constraints, is proposed for systems with known constrained structure. It is based on error-back propagation. The stability analysis and simulation example are also included.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.376-382
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• 1991

In the analysis of constrained holonomic systems, the Lagange multiplier method yields a system of second-order ordinary differential equations of motion and algebraic constraint equations. Conventional holonomic or nonholonomic constraints are defined as geometric constraints in this paper. Previous works concentrate on the geometric constraints. However, if the total energy of a dynamic system can be computed from the initial energy plus the time integral of the energy input rate due to external or internal forces, then the total energy can be artificially treated as a constraint. The violation of the total energy constraint due to numerical errors can be used as information to control these errors. It is a necessary condition for accurate simulation that both geometric and energy constraints be satisfied. When geometric constraint control is combined with energy constraint control, numerical simulation of a constrained dynamic system becomes more accurate. A new convenient and effective method to implement energy constraint control in numerical simulation is developed based on the geometric interpretation of the relation between constraints in the phase space. Several combinations of energy constraint control with either Baumgarte's Constraint Violation Stabilization Method (CVSM) are also addressed.

• International Journal of Precision Engineering and Manufacturing
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• v.2 no.4
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• pp.61-68
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• 2001

A new approach for motion control of constrained mechanical systems is proposed in this paper. The approach uses a new equations of motion which is proposed by Udwadia and Kalaba and named Udwadia-Kalaba's equations of motion in this paper. This paper reveals that the Udwadia-Kalaba's equations of motion is more adequate to model constrained mechanical systems rather than the famous Lagrange's equations of motion at least for control purpose. The proposed approach coverts most of constraints including holonomic and nonholonomic constraints. Comparison of simulation results of two systems which are well-known in the literature show the superiority of the proposed approach. Furthermore, a special constrained mechanical system which includes nonlinear generalized velocities in its constraint equations, which has been considered to be difficult to control, can be controlled easily. It shows the possibility of the proposed approach to being a general framework for motion control of constrained mechanical systems with various kinds of constraints.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.160-163
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• 1996

This paper deals with MCMBPC(Multivariable Constrained Model Based Predictive Controller) for nonlinear boiler system with noise and disturbance. MCMBPC is designed by linear state space model obtained from some operating point of nonlinear boiler system and Kalman filter is used to estimate the state with noise and disturbance. The solution of optimization of the cost function constrained on input and/or output variables is achieved using quadratic programming, viz. singular value decomposition (SVD). The controller designed is shown to have excellent tracking performance via simulation applied to nonlinear dynamic drum boiler turbine model for 16OMW unit.

• ETRI Journal
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• v.24 no.3
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• pp.239-246
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• 2002

We investigate an alternative blind adaptive multiuser detection scheme based on a non-canonical linearly constrained constant modulus (LCCM) criterion and prove that, under the constrained condition, the non-canonical linearly constrained constant modulus algorithm (LCCMA) can completely remove multiple -access interference. We further demonstrate that the non-canonical LCCM criterion function is strictly convex in the noise-free state, and that under the constrained condition, it is also strictly convex even where small noise is present. We present a simple method for selecting the constant as well as a stochastic gradient algorithm for implementing our scheme. Numerical simulation results verify the scheme's efficiency.

• JSTS:Journal of Semiconductor Technology and Science
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• v.15 no.3
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• pp.423-426
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• 2015

Current verification methods for on-chip memory have been implemented using coverpoints that are generated based on a single operation. These coverpoints cannot consider the influence of other memory banks in a busy state. In this paper, we propose a method in which the coverpoints account for all operations executed on different memory banks. In addition, a new constrained random vector generation method is proposed to reduce the required random vectors for the multi-operation-based coverpoints. The simulation results on NAND flash memory show 100% coverage with 496,541 constrained random vectors indicating a reduction of 96.4% compared with conventional random vectors.

• Journal of Electrical Engineering and Technology
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• v.12 no.3
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• pp.1064-1072
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• 2017

The power of controlled generators in microgrids randomly fluctuate because of the stochastic volatility of the outputs of photovoltaic systems and wind turbines as well as the load demands. To address and dispatch these stochastic factors for daily operations, a dynamic economic dispatch model with the goal of minimizing the generation cost is established via chance-constrained programming. A Monte Carlo simulation combined with particle swarm optimization algorithm is employed to optimize the model. The simulation results show that both the objective function and constraint condition have been tightened and that the operation costs have increased. A higher stability of the system corresponds to the higher operation costs of controlled generators. These operation costs also increase along with the confidence levels for the objective function and constraints.

• Fibers and Polymers
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• v.4 no.4
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• pp.169-175
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• 2003

A simulation system for versatile garment drape has been developed. Using this system, the shape of a garment can be simulated in consideration of fabric physical properties as well as the interaction between fabrics and other objects. Each fabric piece in a garment is modeled using a geometrically constrained particle system and its behavior is calculated from an implicit numerical integration algorithm in a relatively short time. The system consists of three modules including a preprocessor for the preparation of fabric patterns and external objects, a postprocessor for the results of three-dimensional visualization, and a drape simulation engine. It can be used for the design process of textile goods, garments, furniture, or upholsteries.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.27 no.1A
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• pp.73-79
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• 2002

In this paper, two interference suppression schemes (LCCMA, HIC) applied to the MC-CDMA system were proposed. The proposed schemes have advantages that it don't requires the other's spreading code and can be used even in mobile. The proposed HIC combines the proposed interference suppressor with PIC. Simulation is performed in various environments using the Monte Carlo method. Simulation results show that there is 1.4~3 times capacity increase in corresponding simulation environments. Also this scheme can take advantage of path diversity whereas the system using EGC, MRC, and PIC cannot. Therefore, as the number of path increase, a considerable performance improvement can be attained.