• Architectural research
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• v.17 no.1
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• pp.31-40
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• 2015

A simple force-finding process based on an optimization technique is proposed for tensegrity structures. For this purpose, the inverse problem of form-finding process is formulated. Therefore, the position vector of nodes and element connectivity information are provided as priori. Several benchmark tests are carried out to demonstrate the performance of the present force-finding process. In particular, the force density distributions of simplex tensegrity are thoroughly investigated with the important parameters such as the radius, height and twisting angle of simplex tensegrity. Finally, the force density distribution of arch tensegrity is produced by using the present force-finding process for a future reference solution.

• Proceedings of the KIEE Conference
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• 1995.07b
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• pp.874-876
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• 1995

Force and compliance control has been used in the control of legged walking vehicles to achieve superior terrain adaptability on rough terrains. The compliance control requires distribution of the vehicle load over the supporting legs. However, the constraint equations for ground reaction forces of supporting legs are generally underdetermined, allowing an infinite number of solutions. Thus, it is possible to apply an optimization criteria in solving the force setpoint problem. It has been observed that the previous force setpoint optimization methods sometimes cause a system stability problem and/or the load distribution among supporting legs is not well balanced due to a memory effect on the solution trajectory, This paper presents an iterative force setpoint method to solve this problem using an interpolation technique. By simulation it was shown that an excessive load unbalance among supporting legs and the memory effect in the force trajectory are alleviated much with the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1790-1795
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• 1991

The optimal load distribution for two cooperating robots is studied in this paper, and a new solution approach utilizing force ellipsoid is proposed. The load distribution problem is formulated as a nonlinear optimization problem with a quadratic cost function. The limit on instantaneous power is considered in the problem formulation as the joint torque constraints. The optimal solution minimizing energy consumption is obtained using the concept of force ellipsoid and the nonlinear optimization theory. The force ellipsoid provides a useful geometrical insight into the load distribution problem. Despite the presence of the joint torque constraints, the optimal solution is obtained almost as a closed form, in which the joint torques are given in terms of a single scalar parameter that can be obtained numerically by solving a scalar equation.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.3
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• pp.614-620
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• 2009

The force distribution in multi-legged robots is a constrained, optimization problem. The solution to the problem is the set points of the leg contact forces for a particular system task. In this paper, an efficient and general formulation of the force distribution problem is developed using linear programming. The considered walking robot is a quadruped robot with a locked-joint failure, i.e., a joint of the failed leg is locked at a known place. For overcoming the drawback of marginal stability in fault-tolerant gaits, we define safety margin on friction constraints as the objective function to be maximized. Dynamic features of locked-joint failure are represented by equality and inequality constraints of linear programming. Unlike the former study, our result can be applied to various forms of walking such as crab and turning gaits. Simulation results show the validity of the proposed scheme.

• Steel and Composite Structures
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• v.34 no.6
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• pp.853-862
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• 2020

In recent years, due to the many advantages cable-stayed bridges have often constructed in medium and long span. These advantages can be listed as an aesthetically pleasing appearance, economic and easy construction, etc. The main structural elements of cable-stayed bridges are listed as deck, pylon, cables and foundation. Perhaps one of the most vital and expensive of these structural elements is stay-cables. Stay-cables ensure the allowable displacement and distribution of bending moments along the bridge deck with prestressing force. Therefore the optimum design of the stay-cables and prestressing force are very important in achieving the performance expected from the cable-stayed bridges. This paper aims to obtain the stay-cables size and prestressing force optimization of the cable-stayed bridge. For this purpose, single pylon and fan type cable configuration Manavgat Cable-Stayed Bridge was selected as an example. The three dimensional (3D) finite element model (FEM) of the bridge was created with SAP2000. Analysis of the 3D FEM of the bridge was conducted under the different combined effects of the self-weight of the structural element, prestressing force of stay-cable and live load. Stay-cable stress and deck displacement were taken into account as constraints for the optimization problem. To optimize this existing bridge a metaheuristic algorithm named Jaya was used in the optimization process. 3D FEM of the selected bridge was repeatedly analyzed by using Open Applicable Programming Interface (OAPI) properties of SAP2000. To carry out the optimization process the developed program which integrates the Jaya algorithm and the required codes for calling SAP2000 is coded in MATLAB. At the end of the study, the total weight of the stay-cables was reduced more than 40% according to existing stay cables under loads taken into account.

• Wind and Structures
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• v.16 no.6
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• pp.541-560
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• 2013

The aim of the paper is to use optimization and advanced numerical computation of a sail fiber-reinforced composite model to increase the performance of a yacht under wind action. Designing a composite-shell system against the wind is a very complex problem, which only in the last two decades has been approached by advanced modeling, optimization and computer fluid dynamics (CFDs) based methods. A sail is a tensile structure hoisted on the rig of a yacht, inflated by wind pressure. Our objective is the multiple criteria optimization of a sail, the engine of a yacht, in order to obtain the maximum thrust force for a given load distribution. We will compute the best possible yarn thickness orientation and distribution in order to minimize the total fiber volume with some displacement constraints and in order to leave the most uniform stress distribution over the whole structure. In this paper our attention will be focused on computer simulation, modeling and optimization of a sail-shape mathematical model in different regatta and wind conditions, with the purpose of improving maneuverability and speed made good.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.5
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• pp.896-901
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• 2008

This paper addresses the foot force distribution problem for quadruped robots with a failed leg. The quadruped robot has fault-tolerant straight-line gaits with one leg in locked-joint failure, and has discontinuous motion with respect to the robot body. The proposed method is operated in two folds. When the robot body stands still, we use the feature that there are always three supporting legs, and by incorporating the theory of zero-interaction force, we calculate the foot forces analytically without resort to any optimization technique. When the robot body moves, the conventional pseudo-inverse algorithm is applied to obtain the foot forces for supporting legs. Simulation results show the validity of the proposed scheme.

• Journal of the Society of Naval Architects of Korea
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• v.49 no.2
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• pp.174-181
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• 2012

In this paper, the Flow Control Fin(FCF) optimization has been carried out using computational fluid dynamics(CFD) techniques. This study focused on evaluation for the performance of the FCF attached in the stern part of the ship. The main advantage of FCF is to enhance the resistance performance through the lift generation with a forward force component on the foil section, and the propulsive performance by the uniformity of velocity distribution on the propeller plane. This study intended to evaluate these functions and to find optimized FCF form for minimizing viscous resistance and equalizing wake distribution. Four parameters of FCF are used in the study, which were angle and position of FCF, longitudinal location, transverse location, and span length in the optimization process. KRISO 300K VLCC2(KVLCC2) was chosen for an example ship to demonstrate FCF for optimization. The optimization procedure utilized genetic algorithms (GAs), a gradient-based optimizer for the refinement of the solution, and Non-dominated Sorting GA-II(NSGA-II) for Multiobjective Optimization. The results showed that the optimized FCF could enhance the uniformity of wake distribution at the expense of viscous resistance.

• Journal of Mechanical Science and Technology
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• v.19 no.3
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• pp.731-742
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• 2005

A magnetic bearing even with multiple coil failure can produce the same decoupled magnetic forces as those before failure if the remaining coil currents are properly redistributed. This fault-tolerant, force invariance control can be achieved with simply replacing the distribution matrix with the appropriate one shortly after coils fail, without modifying feedback control law. The distribution gain matrix that satisfies the necessary constraint conditions of decoupling linearized magnetic forces is determined with the Lagrange Multiplier optimization method.

• Journal of Hydrogen and New Energy
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• v.23 no.5
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• pp.468-475
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• 2012

A proper stacking force and assembly are important to the performance of fuel cell. Improper assembly pressure may lead to leakage of fuels and high interfacial contact resistance, excessive assembly pressure may result in damage to the gas diffusion layer and other components. The pressure distribution of gas diffusion layer is important to make interfacial contact resistance less for stack performance. To analyze the influence of design parameter factors for pressure distribution, and to optimize stack design, DOE (Design of Experiment) was used for polymer electrolyte membrane fuel cell stack pressure test. As commonly known, the higher clamping force improves the fuel cell stack performance. However, non-uniformity of stress distribution is also increased. It shows that optimization between clamping force and stress distribution is needed for well designed structure of fuel cell stack. In this study, stack design optimization method is suggested by using FEM (Finite Element Methode) and DOE for light-weighted fuel cell stack.