• International Journal of Control, Automation, and Systems
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• v.6 no.3
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• pp.401-412
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• 2008

This paper discusses a design methodology of cooperative path planning for dynamical multi-agent systems with spatial and temporal constraints. The cooperative behavior of the multi-agent systems is specified in terms of the objective function in an optimization formulation. The path of achieving cooperative tasks is then generated by the optimization formulation constructed based on a differential flatness approach. Three scenarios of multi-agent tasking are proposed at the cooperative task planning framework. Given agent dynamics, both spatial and temporal constraints are considered in the path planning. The path planning algorithm first finds trajectory curves in a lower-dimensional space and then parameterizes the curves by a set of B-spline representations. The coefficients of the B-spline curves are further solved by a sequential quadratic programming solver to achieve the optimization objective and satisfy these constraints. Finally, several illustrative examples of cooperative path/task planning are presented.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.411-421
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• 2005

The development and implementation of an appropriate methodology for the accurate geometric description of track models is proposed in the framework of multibody dynamics and it includes the representation of the track spatial geometry and its irregularities. The wheel and rail surfaces are parameterized to represent any wheel and rail profiles obtained from direct measurements or design requirements. A fully generic methodology to determine, online during the dynamic simulation, the coordinates of the contact points, even when the most general three dimensional motion of the wheelset with respect to the rails is proposed. This methodology is applied to study specific issues in railway dynamics such as the flange contact problem and lead and lag contact configurations. A formulation for the description of the normal contact forces, which result from the wheel-rail interaction, is also presented. The tangential creep forces and moments that develop in the wheel-rail contact area are evaluated using : Kalker linear theory ; Heuristic force method ; Polach formulation. The methodology is implemented in a general multibody code. The discussion is supported through the application of the methodology to the railway vehicle ML95, used by the Lisbon metro company.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.8
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• pp.779-785
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• 2009

This paper is concerned with a computational approach for topology optimization of geometrically nonlinear structures following specific load-displacement trajectories. In our previous works, attention was paid to stabilize topology optimization involving large displacement and a method called the element connectivity parameterization was developed. Here, we aimed to extend the element connectivity parameterization method to find an optimal geometrically nonlinear structure yielding a specific load-displacement trajectory. In contrast to designing a stiffest structure, the trajectory design problem requires special consideration in topology optimization formulation and solution procedure. Some numerical problems were considered to test the developed element connectivity parameterization based formulation.

• Journal of Pharmaceutical Investigation
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• v.40 no.5
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• pp.297-304
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• 2010

The present work focuses on preparation of olanzapine, orally dispersing tablets by direct compression method. Effect of super disintegrant crospovidone, disintegration time, drug content on in vitro release has been studied. A factorial design was employed in formulating a prompt dispersible tablet. The selected independent variables crospovidone and fmelt showed significant effect on dependent variables i.e. disintegration time and percent drug dissolved. Disintegration time and percent drug dissolved decreased with increase in the level of crospovidone. The similarity factor $f_2$ was found to be 97.48 for the developed formulation indicating the release was similar to that of the marketed formulation. Pharmacokinetics of olanzapine after single-dose oral administration of orally disintegrating tablet in normal volunteers were evaluated and the results showed that PK parameters (Cmax, Tmax, AUC) of the designed ODT matrix were similar to those of commercial product, Zyprexa Zydis$^{(R)}$ as a reference.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.18 no.2
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• pp.129-142
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• 2014

We propose a variational segmentation model based on statistical information of intensities in an image. The model consists of both a local region-based energy and a global region-based energy in order to handle misclassification which happens in a typical statistical variational model with an assumption that an image is a mixture of two Gaussian distributions. We find local ambiguous regions where misclassification might happen due to a small difference between two Gaussian distributions. Based on statistical information restricted to the local ambiguous regions, we design a local region-based energy in order to reduce the misclassification. We suggest an algorithm to avoid the difficulty of the Euler-Lagrange equations of the proposed variational model.

• Computers and Concrete
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• v.1 no.2
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• pp.131-150
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• 2004

We present in this work a coupled phenomenological chemo-mechanical model that represents the degradation of concrete-like materials. The chemical behaviour is described by the nowadays well known simplified calcium leaching approach. And the mechanical damage behaviour is described by a continuum damage model which involves the gradient of the damage quantity. The coupled nonlinear problem at hand is addressed within the context of the finite element method. For the equation governing the calcium dissolution-diffusion part of the problem, special care is taken to treat the highly nonlinear calcium conductivity and solid calcium functions. The algorithmic design is based on a Newton-type iterative scheme where use is made of a recently proposed relaxed linearization procedure. And for the equation governing the damage part of the problem, an augmented Lagrangian formulation is used to take into account the damage irreversibility constraint. Finally, numerical simulations are compared with experimental results on cement paste.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.11
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• pp.963-969
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• 2002

Design method of a robust impedance control is proposed for the kinematically redundant manipulators. To achieve this objective, we first use the momentum feedback disturbance observer(MFDOB) scheme which can handle the nonlinear dynamics of a manipulator in Joint space. An extended task space formulation to describe the behaviors of task and null spaces of redundant manipulator is employed. Using the extended task space formulation and disturbance observer scheme, a robust impedance control method is designed. The performance of the proposed extended impedance controller is verified through experiments with a planar three links direct-drive manipulator.

• Proceedings of the Korea Inteligent Information System Society Conference
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• 2005.11a
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• pp.379-390
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• 2005

In this paper, we introduce a new combinatorial auction mechanism - N-Bilateral Optimized Combinatorial Auction (N-BOCA). N-BOCA is a flexible iterative combinatorial auction model that offers optimized trading for multi-suppliers and multi-purchasers in the supply chain. We design the N-BOCA system from the perspectives of architecture, protocol, and trading strategy. Under the given N-BOCA architecture and protocol, auctioneers and bidders have diverse decision strategies for winner determination. This needs flexible modeling environments. Hence, we propose an optimization modeling agent for bid and auctioneer selection. The agent has the capability to automatic model formulation for Integer Programming modeling. Finally, we show the viability of N-BOCA through prototype and experiments. The results say both higher allocation efficiency and effectiveness compared with I-to-N general combinatorial auction mechanisms.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.12 no.12
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• pp.2253-2258
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• 2008

To design micro flow sensor varying depending on temperature of driving heater in the detector of Oxide semiconductor, Markov chain MCM(MCMCM), which is a kind of stochastic and microscopic method, was introduced. The formulation for the thermal transfer equation based on the FDM to obtain the MCMCM solution was performed and investigated, in steady state case. MCMCM simulation was successfully applied, so that its application can be expanded to a three-dimensional model with inhomogeneous material and complicated boundary.

• Geomechanics and Engineering
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• v.18 no.6
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• pp.639-650
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• 2019

Time-domain commercial codes are widely used to evaluate the seismic behavior of tunnels. Those tools offer a good insight into the performance and the failure mechanism of tunnels under earthquake loading. Viscous damping is generally employed in the dynamic analysis to consider damping at very small strains in some cases, and the Rayleigh damping is commonly used one. Many procedures to obtain the damping parameters have been proposed but they are seldom discussed. This paper illustrates the influence of the Rayleigh damping formulation on the tunnel visco-elastic behavior under earthquake. Four Rayleigh damping determination procedures and three soil shear velocity profiles are accounted for. The results show significant differences in the free-field and in the tunnel response caused by different procedures. The difference is somewhat decreased when the soil site fundamental frequency is increased. The conventional method which consists of using solely the first soil natural mode to determine the viscous damping parameters may lead to an unsafe seismic design of the tunnel. In general, using five times site fundamental frequency to obtain the damping formulation can provide relatively conservative results.