• Journal of the Society of Naval Architects of Korea
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• v.43 no.2 s.146
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• pp.156-163
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• 2006

The accuracy of estimates of hydrodynamic coefficients can be increased by using sensitivity-maximizing inputs. In this study, sensitivity-maximizing actuator commands of a submersible, which are sequences of bang-bang type commands, were obtained using Genetic Algorithm (GA) optimization technique. By comparing the total sensitivity values, deduced actuator inputs were found to be superior to the other sea trials. Based on the sensitivity distribution of conventional sea trials and sensitivity distribution results through deduced input scenario a review of submersibles' manoeuvring equations of motion was conducted .

• International Journal of Control, Automation, and Systems
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• v.4 no.3
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• pp.318-324
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• 2006

The mobile manipulator is expected to work in partially defined or unstructured environments. In our global/local approach to path planning, joint trajectories are generated for a desired Cartesian space path, designed by the global path planner. For a local path planner, inverse kinematics for a redundant system is used. Joint displacement limit for the manipulator links is considered in the motion planner. In an event of failure to obtain feasible trajectories, the task cannot be accomplished. At the point of failure, a deviation in the Cartesian space path is obtained and a replanner gives a new path that would achieve the goal position. To calculate the deviation, a nonlinear optimization problem is formulated and solved by standard Sequential Quadratic Programming (SQP) method.

• Journal of the Korea Computer Graphics Society
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• v.11 no.4
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• pp.28-33
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• 2005

군중 장면의 실시간 처리를 위해서는 기하 처리 부분 뿐만 아니라 모션 처리 부분까지 다단계 표현 기법 연구가 필요하다. 우리는 모션 처리 부분에서 사용되는 운동학 연산 간소화를 위해, 선택적 주의와 최적화 기법을 통한 모션 다단계 기법을 제안한다. 선택적 주의 기법으로 잘 알려진 가우시안 거리 기법을 응용하여, 우리는 한 모션에서 각 관절의 중요도를 수치화할 수 있다. 또한 운동학 연산에서 제외된 관절에 의해 손상된 각 단계의 모션에 대하여, 비선형 최적화 기법을 통해 최대한 손상을 막은 모션으로 수정할 수 있다. 우리는 제안한 다단계 표현 기법을 통해 표현된 모션의 어색한 정도를 설문조사를 통해 객관적으로 검토하였고, 피실험 자들이 관절각이 어느 정도 적은 상태를 유지하는 모션에 대해서는 다단계 표현 기법을 통한 군중 장면과 원본 군중 장면의 차이점을 파악하지 못했음을 발견하였다. 또한 제안한 기법을 사용하여 군중 장면을 렌더링하면 전체 처리 시간이 약 16% 정도, 운동한 연산 시간이 약 70% 절감됨을 알 수 있었다.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.2
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• pp.373-381
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• 2009

In this paper, a humanoid robot is simulated and implemented to walk up a staircase using the blending polynomial and genetic algorithm. Using recently developed kinematics for a biped robot, four schemes for walking up a staircase are newly proposed and simulated separately. For the two schemes of landing a swaying leg on the upper stair, the joint trajectories of seven motors are particularly optimized to generate an energy-minimal motion with the guarantee of walking stability. The proposed scheme of walking upstair is validated by an experiment with a small humanoid robot.

• Journal of Electrical Engineering and Technology
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• v.8 no.2
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• pp.385-392
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• 2013

An uncalibrated visual servo control method for tracking a target is presented. We define the robot-positioning problem as an unconstrained optimization problem to minimize the image error between the target feature and the robot end-effector feature. We propose a method to find the residual term for more precise modeling using the secant approximation method. The composite image Jacobian is estimated by the proper method for eye-to-hand configuration without knowledge of the kinematic structure, imaging geometry and intrinsic parameter of camera. This method is independent of the motion of a target feature. The algorithm for regulation of the joint velocity for safety and stability is presented using the cost function. Adaptive regulation for visibility constraints is proposed using the adaptive parameter.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.49 no.3
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• pp.159-164
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• 2000

This paper treats the optimization of rotor construction in the permanent magnet synchronous motor (PMSM) for electric vehicle (EV). While the field system of PMSM has generally one magnet per pole, we replace the magnet into plural sub-magnets. The dimensions of each sub-magnet are determined by the concept of pulse width modulation (PWM). By adopting the proposed rotor construction, we can not only reduce the space harmonics of the air-gap field but also provide space for rotor bars (i.e., damper windings) around the direct-axis. From the investigation by hybrid EE-BE (coupled finite element and boundary element) method coupled with both electric circuit and motion equation, we verify that the construction is effective for practical use.

• Journal of Sensor Science and Technology
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• v.20 no.4
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• pp.249-253
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• 2011

This paper describes the fabrication and characteristics of vibration-driven electromagnetic energy harvester without spring to use at low frequency like a human body motion. The implemented energy harvester consists of NdFeB magnets, copper coil. The optimization of induced voltage was done by the various widths of coil, number of the turns, size of fixed and moving magnets and thicknesses of the cylinder. The fabricated energy harvester is capable of producing up to 15.0 $V_{pp}$ for basic model and 28.80 $V_{pp}$ for improved model at 5.0 Hz resonance frequency and 0.75 g acceleration level. The basic model and improved model are provided a maximum power of 6.375 mWand 25.831 mW at 1 KHz of load resistance in rectifier circuit.

• 한국방재학회:학술대회논문집
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• 2008.02a
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• pp.317-320
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• 2008

Between traffic-induced vibration of a bridge and fatigue damage of its attached structures are very closely related. But any evaluation and design method considering the fatigue damage is not established yet. As an experimental method of evaluation of the fatigue durability, a method based on cumulative damage using a stress range histogram has been often used. However, to use the method, the fatigue durability of unmeasured points could not be evaluated. Then, in this paper, dynamic analysis of a sign frame on a bridge is carried out based on the vibration data of the bridge. And model optimization was performed for good agreement between measured responses and computed responses. As a result, we could get stress range histograms and calculate fatigue durability of unmeasured points.

• Transactions of the Korean Society of Automotive Engineers
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• v.8 no.2
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• pp.33-40
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• 2000

In order to investigate the exhaust structure and secondary oxidation of unburned hydrocarbon (HC) in the exhaust port, a numerical simulation was performed with 3-dimensional flow model and oxidation mechanism optimized for port oxidation. To predict the exhaust and oxidation process with consideration of flow, mixing, and temperature, 3-dimensional flow model and HC oxidation model were used with a commercial computational program, STAR-CD. The flow model were with moving grid for valve motion, which could predict the change of flow field with respect to valve lift. Optimization was performed to predict the HC oxidation with temperature range of 1200~1500K, low HC and oxygen concentration, existence of intermediate species, as typical in port oxidation. The constructed model could predict the port oxidation process with oxidation degree of 14~48% according to the engine operation conditions.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2006.05a
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• pp.395-398
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• 2006

this paper provides a novel method to start the linear engine coupled linear generator from dead stop to its final steady state operation. This method depends mainly to use the linear generator mounted on the shaft of the linear engine to provide the required thrust force to move and oscillate the linear engine from bottom to top dead centers. It is a cost effective approach to start the internal linear combustion engine using its coupled tubular permanent magnet linear generator proposed here. This linear generator operates in this case in motoring mode, providing the required thrust force by feeding this linear generator phases with currents by using a three phase PWM inverter controlled by position feedback scheme. In order to provide the desired thrust force with specific value and direction, a position feedback is required to control the free piston engine motion through controlling the inverter switches using PWM control scheme.