• Journal of Institute of Control, Robotics and Systems
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• v.15 no.4
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• pp.426-432
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• 2009

In this paper, redundancy resolution of UVMS (underwater vehicle-manipulate. system) is addressed. In general, UVMS has redundant DOFs (degrees of freedom) as many as DOFs of manipulator and these redundant DOFs can be used to optimize the configuration of UVMS while satisfying given tasks. We propose a performance index for redundancy resolution which minimizes the restoring moments of UVMS. The restoring moment can cause unintentional change of poses of UVMS. If the restoring moments remain small, control effort for keeping the poses of UVMS decreases. This means that energy consumption can be reduced by minimizing the restoring moments during conducting tasks. Proposed performance measure is optimized by gradient projection method. Generated trajectories by this redundancy resolution are tracked by robust PID controller. Numerical simulations are presented to demonstrate performance of the proposed algorithm.

• 전기의세계
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• v.22 no.4
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• pp.17-24
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• 1973

In the view point of practical engineering the identification problem may be considered as a problem to determine the optimal model in the sense of minimizing a given criterion function using the input-output records of the plant. In the system identification the statistical approach has been known to be very effective when the topological structure of the system and the statistical characteristics of the observation noises are known a priori. But in the practical situation there are many cases when the inforhation about the observation noises or the system noises are not available a priori. Here, the authors propose a new identification method which can be used effectively even in the cases when the variances of observation noises are unknown a priori. In the method, the identification of unknown parameters of a linear diserete system is achieved by minimizing the improved quadratic criterion function which is composed of the term of square equation errors and the term to eliminate the affection of observation noises. The method also gives the estimate of noise variance. Numerical computations for several examples show that the proposed procedure gives satisfactory results even when the short time observation data are provided.

• Journal of the Korea Institute of Building Construction
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• v.6 no.1 s.19
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• pp.79-86
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• 2006

Recently, the construction companies show lots of interest in reducing the construction duration of apartment housing project in Korea. Therefore, the purpose of this study is to investigate the success factors of scheduling using the TACT technique in wall type apartment house construction for managing the construction schedule effectively. For appling the tact scheduling technique to wall type apartment house construction, the success factors can be summarized as follows : (1) zoning the horizontal and vortical work area properly, (2) preparing the flow chart of finishing works, (3) minimizing the undefined activity like chipping off the concrete wall, (4) reordering the construction activities for keeping up the continuity of works in winter season, (5) dividing the amount of work for minimizing the delay time of any activity, etc.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.14 no.7
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• pp.590-594
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• 2001

The residual DC properties in the in-plane switching (IPS) liquid crystal displays(LCDs) which have different concentrations of cynao NLCs and different resistivities of fluorine NLCs were studied. We also propose a new residual DC measurement method, named 'light minimum/maximum method'. We confirmed the precision of residual DC measurement by light minimum/maximum method compared with the flicker minimizing method and found that new measurement method of residual DC is more accurate than that of the conventional flicker minimizing method since the resolution level of measurements is in 0.1V.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.577-578
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• 2008

This paper proposes new analog ZQ calibration scheme. Proposed analog ZQ calibration scheme is for minimizing the reflection which degrade the signal integrity. And this scheme is for minimizing CIO capacitance. It is simulated under 1.5v supply voltage and samsung 0.18um process. Power consumption of proposed analog ZQ calibration circuit was improved by 32%. Under all skew, temperature from $30^{\circ}C$ to $90^{\circ}C$ and Monte carlo simulation, quantization error of RZQ(=$240{\Omega}$) is less han 1.07%.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.74.1-74
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• 2001

In this paper, we deal with an allocation model of vertical type container yard for minimizing the total ATC work time and the equivalence of ATC work´s load in each block on automated container terminal. Firstly, a layout of automated container terminal yard is shown. The characteristic of equipment which is operated in the terminal and basic assumption are given. Next, an allocation model which concerns with minimizing the total work time and the equivalence of work´s load is proposed for the effectiveness of ATC work in automated container terminal. Also, a weight values on critical function are suggested to adjust the critical values by evaluating the obtained allocation plan. To find the solution of allocation model in given terminal yard situation, a GA is applied, where the real information of container is used ...

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.419-424
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• 1991

In this paper, a fuel minimizing closed loop explicit inertial guidance algorithm for the orbit injection of a rocket is developed. In this formulation, the fuel burning rate and magnitude of thrust are assumed constant, and the motion of a rocket is assumed to be subject to the average inverse-square gravity, but with negligible atmospheric effects. The optimum thrust angle for obtaining the given velocity vector in the shortest time with minimizing fuel consumption is first determined, and then the additive thrust angle for targeting the final position vectors is determined by using Pontryagin's Maximum Principle. To establish the real time processing, many algorithms of the onboard guidance software are simplified. Simulations for the explicit guidance algorithm, for the 2nd-stage flight of the N-1 rocket, are carried out. The results show that the guidance algorithm works well in the presence of the maximum .+-.10 % initial velocity and altitude error. The effects of the guidance cycle time is also examined.

• Proceedings of the IEEK Conference
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• 2003.07b
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• pp.1161-1164
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• 2003

We have developed an optimization algorithm based formulation for performing efficient time driven simultaneous place and route for FPGAs. Field programmable gate array(FPGAs) provide of drastically reducing the turn-around time for digital ICs, with a relatively small degradation in performance. For a variety of application specific integrated circuit application, where time-to-market is most critical and the performance requirement do not mandate a custom or semicustom approach, FPGAs are an increasingly popular alternative. This has prompted a substantial amount of specialized synthesis and layout research focused on maximizing density, minimizing delay, and minimizing design time.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2003.05a
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• pp.1071-1076
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• 2003

Evolutionary algorithm is recognized as a promising approach to solving multi-objective combinatorial optimization problems. When no preference information of decision makers is given, multi-objective optimization problems have been commonly used to search for diverse and good Pareto optimal solution. In this paper we propose a new multi-objective evolutionary algorithm based on competitive coevolutionary algorithm, and demonstrate the applicability of the algorithm. The proposed algorithm is designed to promote both population diversity and rapidity of convergence. To achieve this, the strategies of fitness evaluation and the operation of the Pareto set are developed. The algorithm is applied to job shop scheduling problems (JSPs). The JSPs have two objectives: minimizing makespan and minimizing earliness or tardiness. The proposed algorithm is compared with existing evolutionary algorithms in terms of solution quality and diversity. The experimental results reveal the effectiveness of our approach.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2006.05a
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• pp.1133-1138
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• 2006

This paper considers a hybrid flow shop scheduling problem for the objective of minimizing the number of tardy jobs. The hybrid flow shop consists of two stages in series, each of which has multiple identical parallel machines, and the problem is to determine the allocation and sequence of jobs at each stage. A branch and bound algorithm that gives the optimal solutions is suggested that incorporates the methods to obtain the lower and upper bounds. Dominance properties are also derived to reduce the search space. To show the performance of the algorithm, computational experiments are done on randomly generated problems, and the results are reported.