• International Journal of Naval Architecture and Ocean Engineering
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• v.9 no.6
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• pp.693-704
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• 2017

Blended-Wing-Body Underwater Glider (BWBUG), which has excellent hydrodynamic performance, is a new kind of underwater glider in recent years. In the shape optimization of BWBUG, the lift to drag ratio is often used as the optimization target. However this results in lose of internal space. In this paper, the energy reserve is defined as the direct proportional function of the internal space of BWBUG. A motion model, which relates gliding range to steady gliding motion parameters as well as energy consumption, is established by analyzing the steady-state gliding motion. The maximum gliding range is used as the optimization target instead of the lift to drag ratio to optimizing the shape of BWBUG. The result of optimization shows that the maximum gliding range of initial design is increased by 32.1% though an Efficient Global Optimization (EGO) process.

• The KSFM Journal of Fluid Machinery
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• v.16 no.1
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• pp.24-31
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• 2013

The motion of living organisms such as birds, fishes, and insects, has been analyzed for the purpose of the design of MAV(Micro Air Vehicle) and NAV(Nano Air Vehicle). In this research, natural motion was considered to be applied to the determination of the geometry and motion of AUV(Autonomous Underwater Vehicle). The flapping motion of a number of hydrofoil shapes in AUV was studied, and at the same time, the optimization of the hydrofoil shape and flapping motion was executed that allow the highest thrust and efficiency. The harmonic motion of plunging and pitching of NACA 4 digit series models, was used for the numerical analysis. The meta model was made by using the kriging method in Optimization method and the experimental points of 49 were extracted for the OA(Orthogonal array) in DOE(Design of experiments). Parametric study using this experimental points was conducted and the results were applied to MGA(Micro Genetic Algorithm). The flow simulation model was validated to be an appropriate tool by comparing with experimental data and the optimized shape and motion of AUV was turned out to produce highest thrust and efficiency.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.788-793
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• 1995

For a linkage mechanism deiven by cam, cam profile is the major design factor and is determined by the motion type od cam follower. If a cam mechanism has additional kinematic linkages besides cam and follower then the follower motion should be specified form the motion of end linkage member so that cam would be able to generate the desired end linkage motion. In this paper, a cam-linkage mechanism is constructed with the combinations of modular linkage elements including cam and follower and as a resullt, a planar cam-linkage mechanism design software with the cam profile optimization function is developed and presented.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2126-2131
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• 2005

Interactions of a humanoid with a human are important, when the humanoid is requested to provide people with human-friendly services in unknown or uncertain environment. Such interactions may require more complicated and human-like behaviors from the humanoid. In this work the arm motions of a human are discussed as the early stage of human motion imitation by a humanoid. A motion capture system is used to obtain human-friendly arm motions as references. However the captured motions may not be applied directly to the humanoid, since the differences in geometric or dynamics aspects as length, mass, degrees of freedom, and kinematics and dynamics capabilities exist between the humanoid and the human. To overcome this difficulty a method to adapt captured motions to a humanoid is developed. The geometric difference in the arm length is resolved by scaling the arm length of the humanoid with a constant. Using the scaled geometry of the humanoid the imitation of actor's arm motions is achieved by solving an inverse kinematics problem formulated using optimization. The errors between the captured trajectories of actor arms and the approximated trajectories of humanoid arms are minimized. Such dynamics capabilities of the joint motors as limits of joint position, velocity and acceleration are also imposed on the optimization problem. Two motions of one hand waiving and performing a statement in sign language are imitated by a humanoid through dynamics simulation.

• The Journal of Korea Robotics Society
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• v.12 no.1
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• pp.19-25
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• 2017

A design methodology for parametric design optimization of washing machine door is presented. We develop a motion simulator and a robotic door to simulate the various motion of washing machine doors. The motion of the washing machine door is related to hinge parameters. Springs and dampers are usually used in the hinge of washing machine door for controlling motion of the door. A physical simulator of the door motion is used for finding candidate parameters of the hinge and a robotic door whose motion is controlled algorithmically is used for consumer tests. Through the consumer evaluation on the robotic motion, the optimized parameters are determined. We find the optimal parameters as a function of angle and angular velocity of the door.

• Journal of Internet Computing and Services
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• v.9 no.1
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• pp.55-67
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• 2008

This paper presents the assignment motion algorithm unrestricted for code optimization computationally. So, this algorithm is suppressed the unnecessary code motion in order to avoid the superfluous register pressure, we propose the assignment motion algorithm added to the final optimization phase. This paper improves an ambiguous meaning of the predicate. For mixing the basic block level analysis with the instruction level analysis, an ambiguity occurred in Knoop's algorithm. Also, we eliminate an ambiguity of it. Our proposal algorithm improves the runtime efficiency of a program by avoiding the unnecessary recomputations and reexecutions of expressions and assignment statements.

• The KIPS Transactions:PartA
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• v.8A no.1
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• pp.27-35
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• 2001

This paper presents the assignment motion algorithm unrestricted for code optimization computationally. So, this algorithm is suppressed the unnecessary code motion in order to avoid the superfluous register pressure, we propose the assignment motion algorithm added to the final optimization phase. This paper improves an ambiguous meaning of the predicated. For mixing the basic block level analysis with the instruction level analysis, an ambiguity occurred in knoop’s algorithm. Also, we eliminate an ambiguity of it. Our proposal algorithm improves the runtime efficiency of a program by avoiding the unnecessary recomputations and reexecutions of expressions and assignment statements.

• Ocean Systems Engineering
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• v.11 no.4
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• pp.301-312
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• 2021

An optimization framework has been established and applied to a shipshape parametric FPSO hull design. A single point moored (SPM) shipshape floating system suffers a significant level of the roll motion in both the wave frequencies and low wave frequencies, which presents a coupling effect with the horizontal weathervane motion. To guarantee the security of the operating instruments installed onboard, a parametric hull design of an FPSO has been optimized with improved hydrodynamics performance. With the optimized parameters of the various hull stations' longitudinal locations, the optimization through Genetic Algorithms (GAs) has been proven to provide a significantly reduced level of the 1st-order and 2nd-order roll motion. This work presents a meaningful framework as a reference in the process of an SPM shipshape floating system's design.

• The Journal of Korea Robotics Society
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• v.9 no.4
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• pp.197-205
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• 2014

As computer vision algorithms are developed on a continuous basis, the visual information from vision sensors has been widely used in the context of simultaneous localization and mapping (SLAM), called visual SLAM, which utilizes relative motion information between images. This research addresses a visual SLAM framework for online localization and mapping in an unstructured seabed environment that can be applied to a low-cost unmanned underwater vehicle equipped with a single monocular camera as a major measurement sensor. Typically, an image motion model with a predefined dimensionality can be corrupted by errors due to the violation of the model assumptions, which may lead to performance degradation of the visual SLAM estimation. To deal with the erroneous image motion model, this study employs a local bundle optimization (LBO) scheme when a closed loop is detected. The results of comparison between visual SLAM estimation with LBO and the other case are presented to validate the effectiveness of the proposed methodology.

• Proceedings of the KIPE Conference
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• 1997.07a
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• pp.336-340
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• 1997

This paper is a study about motor technic of motion and feedforward control in order to shape cutting control on the machine tool. The shape error caused by delay of the servo system in the direction of radius at the time of circular cutting is reduced by feedforward control, shape error generated by the position command delay is minimized by using the acceleration/deceleration time constant after the interpolation. The study was verified to optimization of motion control on experiments of a vertical machining center of the machine tool.