• Journal of the Korean Society for Precision Engineering
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• v.15 no.11
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• pp.130-136
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• 1998

This paper develops an efficient algorithm for the minimum distance calculation between two general polyhedra(convex and/or concave) in three-dimensional space. The polyhedra approximate objects using flat polygons which composed of more than three vertices. The algorithm developed in this paper basically computes minimum distance between two polygons(one polygon per object) and finds a set of two polygons which makes a global minimum distance. The advantage of the algorithm is that the global minimum distance can be computed in any cases. But the big disadvantage is that the minimum distance computing time is rapidly increased with the number of polygons which used to approximate an object. This paper develops a method to eliminate sets of two polygons which have no possibility of minimum distance occurrence, and an efficient algorithm to compute a minimum distance between two polygons in order to compensate the inherent disadvantage of the algorithm. The correctness of the algorithm is verified not only comparing analytically calculated exact minimum distance with one calculated using the developed algorithm but also watching a line which connects two points making a global minimum distance of a convex object and/or a concave object. The algorithm efficiently finds minimum distance between two convex objects made of 224 polygons respectively with a computation time of about 0.1 second.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1876-1879
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• 1997

This paper developes an efficient algorithm for the minimum distance calculation between general polyhedra(convex and/or concave). The polyhedron approximates and object using flat polygons which composed of more than three veritices. The algorithm developed in this paper basically computes minimun distance betwen two convex polygons and finds a set of polygons whcih makes a global minimum distance. The advantage of the algorithm is that the global minimum distance can be computed in any cases. But the big disadvantage is that minimum distance computing time is repidly increased with the number of polygons which used to approximate an object. This paper developes a method to eliminate unnecessary sets of polygons, and an efficinet algorithm to compute a minimum distance between two polygons in order to compensate the inherent disadvantage of the algorithm. It takes only a few times iteration to find minimum distance for msot polygons. The correctness of the algortihm are visually tested with a line which connects two points making a global minimum distance of simple convex object(box) and concave object(pipe). The algorithm can find minimum distance between two convex objects made of about 200 polygons respectively less than a second computing time.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1995.10b
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• pp.33-39
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• 1995

One dimensional optimization problem is considered, we propose a method to find the global minimum of one-dimensional function with on gradient information but only the finite number of input-output samples. We construct a learning network which has a good learning capability and of which global maximum(or minimum) can be calculated with simple calculation. By teaching this network to approximate the given function with minimal samples, we can get the global minimum of the function. We verify this method using some typical esamples.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.69-72
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• 1996

This paper considers a global resolution of kinematic redundancy under inequality constraints as a constrained optimal control. In this formulation, joint limits and obstacles are regarded as state variable inequality constraints, and joint velocity limits as control variable inequality constraints. Necessary and sufficient conditions are derived by using Pontryagin's minimum principle and penalty function method. These conditions leads to a two-point boundary-value problem (TPBVP) with natural, periodic and inequality boundary conditions. In order to solve the TPBVP and to find a global minimum, a numerical algorithm, named two-stage algorithm, is presented. Given initial joint pose, the first stage finds the optimal joint trajectory and its corresponding minimum performance cost. The second stage searches for the optimal initial joint pose with globally minimum cost in the self-motion manifold. The effectiveness of the proposed algorithm is demonstrated through a simulation with a 3-dof planar redundant manipulator.

• Proceedings of the IEEK Conference
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• 1998.10a
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• pp.1041-1044
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• 1998

In this paper the cellular neural networks with annealing capability is designed. The annealing capability helps the networks escape from the local-minimum points and quickly search for the global-minimum point. A 6$\times$6 CNN chip is designed using a $0.8\mu\textrm{m}$ CMOS technology, and the chip area is 2.89mm$\times$2.89mm. The simulation results for hole filling image processing show that the general CNN has a local-minimum problem, but the annealed CNN finds the global-minimum solutions very efficiently.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.858-863
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• 2004

In the optimized design of an actual structure, the design variable should be selected among any certain values or corresponds to a discrete design variable that needs to handle the size of a pre-formatted part. Various algorithms have been developed for discrete design. As recently reported, the sequential algorithm with orthogonal arrays(SOA), which is a local minimum search algorithm in discrete space, has excellent local minimum search ability. It reduces the number of function evaluation using orthogonal arrays. However it only finds a local minimum and the final solution depends on the initial value. In this research, the genetic algorithm, which defines an initial population with the potential solution in a global space, is adopted in SOA. The new algorithm, sequential algorithm with orthogonal arrays and genetic algorithm(SOAGA), can find a global solution with the properties of genetic algorithm and the solution is found rapidly with the characteristics of SOA.

• Journal of electromagnetic engineering and science
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• v.4 no.1
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• pp.1-7
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• 2004

In this paper the Individual tap - Least Mean Square(IT-LMS) algorithm is applied to the adaptive multipath channel equalization using hybrid-type Genetic Algorithm(GA) for achieving lower minimum Mean Squared Error(MSE). Owing to the global search performance of GA, LMS-type equalizers combined with it have shown preferable performance in both global and local search but those still have unsatisfying minimum MSE performance. In order to lower the minimum MSE we investigated excess MSE of IT-LMS algorithm and applied it to the hybrid GA equalizer. The high convergence rate and lower minimum MSE of the proposed system give us reason to expect that it will perform well in practical multi-path channel equalization systems.

• International Journal of Control, Automation, and Systems
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• v.4 no.4
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• pp.405-413
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• 2006

A novel approach based on genetic algorithms (GA) is developed to find a global minimum-jerk trajectory of a space robotic manipulator in joint space. The jerk, the third derivative of position of desired joint trajectory, adversely affects the efficiency of the control algorithms and stabilization of whole space robot system and therefore should be minimized. On the other hand, the importance of minimizing the jerk is to reduce the vibrations of manipulator. In this formulation, a global genetic-approach determines the trajectory by minimizing the maximum jerk in joint space. The planning procedure is performed with respect to all constraints, such as joint angle constraints, joint velocity constraints, joint angular acceleration and torque constraints, and so on. We use an genetic algorithm to search the optimal joint inter-knot parameters in order to realize the minimum jerk. These joint inter-knot parameters mainly include joint angle and joint angular velocities. The simulation result shows that GA-based minimum-jerk trajectory planning method has satisfactory performance and real significance in engineering.

• Journal of the Korean Operations Research and Management Science Society
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• v.38 no.4
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• pp.11-33
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• 2013

We analyzed the structures and properties of the global financial market networks using social network analysis approach. The Minimum Spanning Tree (MST) lengths and networks of the global financial markets based on the correlation coefficients have been analyzed. Firstly, similar to the previous studies on the global stock indices using MST length, the diversification effects in the global multi-asset portfolio can disappear during the crisis as the correlations among the asset class and within the asset class increase due to the system risks. Second, through the network visualization, we found the clustering of the asset class in the global financial markets network, which confirms the possible diversification effect in the global multi-asset portfolio. Meanwhile, we found the changes in the structure of the network during the crisis. For the last one, in terms of the degree centrality, the stock indices were the most influential to other assets in the global financial markets network, while in terms of the betweenness centrality, Gold, Silver and AUD. In the practical perspective, we propose the methods such as MST length and network visualization to monitor the change of the correlation risk for the risk management of the multi-asset portfolio.

• Proceedings of the Korean Information Science Society Conference
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• 2006.10a
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• pp.39-42
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• 2006

뉴럴네트워크에서 학습은 에러를 줄이는 방법으로 구현 된다. 이 때 parameter 공간에서 Risk function은 multi-minima potential로 표현 될 수 있으며 우리의 목적은 global minimum weight 좌표를 얻는 것이다. 이전의 연구로는 Attouch et al.의 damped oscillator 방정식을 이용한 방법이 있고, Qian의 critically damped oscillator를 통한 steepest descent의 momentum과 learning parameter 유도가 있다. 우리는 이 두 연구를 참고로 manifold 상에서 최단 경로인 geodesic을 Newton 역학의 Lagrangian에 적용함으로써 adaptive steepest descent 학습법을 얻었다. 우리는 이 새로운 방법을 Rosenbrock 과 Griewank 포텐셜들에 적용하여 그 성능을 알아 본다.