• Steel and Composite Structures
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• v.25 no.4
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• pp.403-413
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• 2017

The fabric braided braking hose that delivers the driver's braking force to brake cylinder undergoes the large deformation cyclic motion according to the steering and bump/rebound motions of vehicle. The cyclic large deformation of braking hose may give rise to two critical problems: the interference with other adjacent vehicle parts and the micro cracking stemming from the fatigue damage accumulation. Hence, both the hose deformation and the fatigue damage become the critical issue in the design of braking hose. In this context, this paper introduces a multi-objective optimization method for minimizing the both quantities. The total length of hose and the helix angles of fabric braided composite layers are chosen for the design variables, and the maximum hose deformation and the critical fatigue life cycle are defined by the individual single objective functions. The trade-off between two single objective functions is made by introducing the weighting factors. The proposed optimization method is validated and the improvement of initial hose design is examined through the benchmark simulation. Furthermore, the dependence of optimum solutions on the weighting factors is also investigated.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.4
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• pp.187-194
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• 2002

In this paper, a motion control algorithm is developed using a fuzzy control and the optimization of performance function, which makes a robot arm avoid an unexpected obstacle when the end-effector of the robot arm is moving to the goal position. During talc motion, if there exists no obstacle, the end-effector of the robot arm moves along the predefined path. But if these exists an obstacle and close to talc robot arm, the fuzzy motion controller is activated to adjust the path of the end-effector of the robot arm. Then, the robot arm takes the optimal posture far collision avoidance with the obstacle. To show the feasibility of the developed algorithm, numerical simulations are carried out with changing both the positions and sites of obstacles. It was concluded that the proposed algorithm gives a good performance for obstacle avoidance.

• Structural Engineering and Mechanics
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• v.28 no.6
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• pp.677-694
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• 2008

A vibration power minimization model is developed, based on the mobility matrix method, for a vibration isolation system consisting of a vibrating source placed on an elastic support structure through multiple resilient mounts. This model is applied to investigate the design optimization of an X-Y motion stage-based vibration isolation system used in semiconductor wire-bonding equipment. By varying the stiffness coefficients of the resilient mounts while constraining the dynamic displacement amplitudes of the X-Y motion stage, the total power flow from the X-Y motion stage (the vibrating source) to the equipment table (the elastic support structure) is minimized at each frequency interval in the concerned frequency range for different stiffnesses of the equipment table. The results show that when the equipment table is relatively flexible, the optimal design based on the proposed vibration power inimization model gives significantly little power flow than that obtained using a conventional vibration force minimization model at some critical frequencies. When the equipment table is rigid enough, both models provide almost the same predictions on the total power flow.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.1
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• pp.39-47
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• 2005

In this paper, a method of station keeping strategy using relative orbital motion and numerical optimization technique is presented for geostationary spacecraft. Relative position vector with respect to an ideal geostationary orbit is generated using high precision orbit propagation, and compressed in terms of polynomial and trigonometric function. Then this relative orbit model is combined with optimization scheme to propose a very efficient and flexible method of station keeping planning. Proper selection of objective and constraint functions for optimization can yield a variety of station keeping methods improved over the classical ones. Results from the nonlinear simulation have been shown to support such concept.

• Journal of the Institute of Convergence Signal Processing
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• v.10 no.1
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• pp.32-39
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• 2009

In this paper, the method of region segmentation using genetic algorithm is proposed for an improvement of efficiency in moving picture coding. A genetic algorithm is the method that searches a large probing space using only a function value for a optimal combination consecutively. By progressing both motion presumption and region segmentation at once, we can assign the motion vector in a image to a small block or a pixel respectively, and transform the capacity of coding and a signal to noise rate into a problem of optimization. That is to say, there is close correlation between region segmentation and motion presumption in motion-compensated prediction coding. This is to optimize the capacity of coding and a S/N ratio. This is to arrange the motion vector in each block of picture according to the state of optimization. Therefore, we examined both the data type of genetic algorithm and the method of data processing to obtain the results of optimal region segmentation in this paper. And we confirmed the validity of a proposed method using the test pictures by means of computer simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.8
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• pp.753-757
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• 2015

This paper introduces an experimental rescue robot, HUBO T-100 and presents the optimal motion control method. The objective of the rescue robot is to extract patients or wounded soldiers in the battlefield and hazardous environments. Another mission is to dispose and transport an explosive ordnance to safe places. To execute these missions, the upper body of the rescue robot is humanoid in form to execute various kinds of tasks. The lower body features a hybrid tracked/legged design, which allows for a variety of mode of locomotion, depending on terrain conditions in order to increase traversability. The weight lifting motion is one of the most important task for performing rescue related missions because the robot must lift an object or impaired person lying on the ground for transferring. Here, dynamics based motion optimization is employed to minimize joint torques while maintaining stability simultaneously. Physical experiments with a real humanoid robot, HUBO T-100, are presented to verify the proposed method.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.2
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• pp.31-37
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• 2017

This paper investigates the effect of the rotational motion of a driving fluid generated by a rotational motion device at the inlet of a driving nozzle for a gas-liquid ejector, which is the main device used for ozonated ship ballast water treatment. An experimental apparatus was constructed to study the pressure and suction flow rate of each port of the ejector according to the back pressure. Experimental data were acquired for the ejector without rotational motion. Based on the data, a finite element model was then developed. The rotational motion of the driving fluid could improve the suction efficiency of the ejector based on the CFD model. Based on the CFD results, structure optimization was performed for the internal shape of the rotation induction device to increase the suction flow rate of the ejector, which was performed using the kriging technique and a metamodel. The optimized rotation induction device improved the ejector efficiency by about 3% compared to an ejector without rotational motion of the driving fluid.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.4
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• pp.167-175
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• 2016

We present a method for improving adaptability of Learning from Demonstration (LfD) strategy by combining the LfD and Particle Swarm Optimization (PSO). A trajectory generated from an LfD is modified with PSO by minimizing a fitness function that considers constraints. Finally, the final trajectory is suitable for a task and adapted for constraints. The effectiveness of the method is shown with a target reaching task with a manipulator in three-dimensional space.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.11
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• pp.3398-3407
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• 1996

In this paper, we derive an algorithm and develope a computer program which analyze rapidly and precisely the inverse kinematics of robotic mechanism with spatial complex chain structure based on the relative coordinates. We represent the inverse kinematic problem as an optimization problem with the kinematic constraint equations. The inverse kinematic analysis algorithm, therefore, consists of two algorithms, the main, an optimization algorithm finding the motion of independent joints from that of an end-effector and the sub, a forward kinematic analysis algorithm computing the motion of dependent joints. We accomplish simulations for the investigation upon the accuracy and efficiency of the algorithm.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2339-2341
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• 1998

This paper is concerned with an energy optimization for the walking of IWR biped robot. The movement of balancing joints are determined by ZMP(Zero Moment Point) and dynamic properties caused by motion of a swing leg. Therefore, ZMP positions have an important role in walking and guarnateeing the stability of a robot. A genetic algorithm is utilized for solving this problem and finding ZMP with a minimum energy at each sampling time during the walk. In this study, we performed an energy optimization with desired ZMP trajectories and motion of balancing joints.