• 전기학회논문지
• /
• 제65권6호
• /
• pp.1045-1051
• /
• 2016

This paper introduces a new optimal design method using a bacterial survival strategies for a ectromagnet of Maglev transportation vehicle. Usually, an electromagnetic suspension which has more advantages than electro dynamic suspension is used in Maglev systems. However, the structural constraints must be considered in the optimal design of an electromagnet for electromagnetic suspend system. In this paper, the optimal design method of a electromagnet based on a bacterial survival strategies optimization algorithm to design the electromagnet satisfying the structural constraints. The effectiveness of the proposed method was verified by Matlab simulations and the simulation results show that the proposed method is more efficient than conventional methods.

• Journal of Mechanical Science and Technology
• /
• 제19권spc1호
• /
• pp.320-327
• /
• 2005

A new mechanism for hyper redundant manipulator (HRM) is presented, which comprises of serially assembled compound three-bar linkages (CTL). The CTL mechanism has some unique properties. This paper presents the forward and inverse kinematics of this mechanism and shows the simulation of the HRM havig 9 CTL units. The recursive algorithm of the inverse kinematics that the author originally developed is employed. It is fast and stable ; moreover, it enables us to obtain a solution in which the end-point of the HRM is controlled by a portion of joints. It also presents the method of the dynamical analysis. There exist kinematical constraints in the proposed closed linkage mechanism. In the dynamic analysis constraints are sufficiently sustained by the constraint stabilization method that the author developed. The mechanical structure of the HRM having some CTL units that is under construction is shown.

• 대한수학회지
• /
• 제37권4호
• /
• pp.625-643
• /
• 2000

In this paper we formulate an optimal control problem governed by time-delay Volterra integral equations; the problem includes control constraints as well as terminal equality and inequality constraints on the terminal state variables. First, using a special type of state and control variations, we represent a relatively simple and self-contained method for deriving new necessary conditions in the form of Pontryagin minimum principle. We show that these results immediately yield classical Pontryagin necessary conditions for control processes governed by ordinary differential equations (with or without delay). Next, imposing suitable convexity conditions on the functions involved, we derive Mangasarian-type and Arrow-type sufficient optimality conditions.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2000년도 추계학술대회논문집A
• /
• pp.795-800
• /
• 2000

In a parallel manipulator, there are three constraints that determine workspace: link length constraint, passive joint angle constraint, and interference among links. Generally, the link length constraint is the most dominant. The interference among links is, however, also an important parameter in designing a desired parallel manipulator. In this study, the interference among links is mathematically modeled by considering the links as a line and a cylinder of radius of twice the link radius, and a new algorithm is suggested to check if arbitrary two links interfere each other or not. The workspace of a cubic parallel manipulator is illustrated in a 2D space satisfying the three constraints.

• 한국정보처리학회논문지
• /
• 제6권6호
• /
• pp.1646-1655
• /
• 1999

본 논문에서는 최적의 control dominated ASIC 설계를 위한 VHDL 중간 표현 그래프 CDDG(Control Dominated Data Graph)와 최소 제한조건 스케쥴링 알고리즘을 제안한다. CDDG는 VHDL 동작 기술의 조건 분기 및 반복구조 등을 효과적으로 나타낼 수 있는 제어 흐름 그래프로서 하드웨어 설계의 특성을 지원하기 위한 데이터 종속 관계, 하드웨어 자원 제한 및 시간 제한 조건이 표현된다. 제안된 스케쥴링 알고리즘은 CDDG의 부그래프로 표현된 제한조건에 대해, 부그래프들의 최소화하는 과정과 회로 동작의 허용 시간을 검사하는 최대 시간 제한의 검색 및 각 연산 노드들의 동작시간을 결정하는 과정으로 수행된다. 벤치마크 데이터를 사용하여 실험한 결과, 제안된 알고리즘이 기존의 알고리즘에 비해 우수함을 확인하였다.

• 한국정보처리학회:학술대회논문집
• /
• 한국정보처리학회 2005년도 추계학술발표대회 및 정기총회
• /
• pp.87-90
• /
• 2005

XML(eXtensible Markup Language)은 웹 상의 데이터를 표현하고, 교환하기 위한 표준 언어로써 XML 로 표현된 문서를 관계형 데이터베이스 관리시스템(RDBMS)에 저장하고 관리하는 기법에 대한 연구[1][2][3]가 활발히 진행되어 왔다. 이러한 연구들은 DTD(Document Type Definition)를 입력 받아 해당 DTD 에서 관계형 스키마를 추론하는 기법을 사용한다. 하지만, 기존의 연구들은 DTD 간소화 절차를 적용하기 때문에 DTD 내에서 추론될 수 있는 의미적인 부분들이 스키마 생성 시에 보존이 되지 못한다. 또한, 기존의 연구들은 XML 데이터의 내용(content)와 구조(structure) 정보만을 저장하는데 초점이 맞춰져 있기 때문에, XML 문서 저장 시 데이터의 무결성을 보장하기 위해 저장프로시져나 트리거를 이용해야 하는 번거로움이 생긴다. 본 논문에서는 [3]의 연구에서 제시한 Inlining 기법을 기반으로 기존의 Inlining 기법의 문제점인 DTD 에서 추론할 수 있는 의미적인 부분의 손실을 관계형 스키마로 보존하는 방법과 효율적인 릴레이션 생성을 위해 개선된 Inlining 기법을 제시한다.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
• /
• 제14권3호
• /
• pp.296-300
• /
• 2008

최근에 개발된 Nonnegative tensor factorization(NTF)는 비음수 행렬 분해(NMF)의 multiway(multilinear) 확장형이다. NTF는 CANDECOMP/PARAFAC 모델에 비음수 제약을 가한 모델이다. 본 논문에서는 Tucker 모델에 비음수 제약을 가한 nonnegative Tucker decomposition(NTD)라는 새로운 텐서 분해 모델을 제안한다. 제안된 NTD 모델을 least squares, I-divergence, $\alpha$-divergence를 이용한 여러 목적함수에 대하여 fitting하는 multiplicative update rule을 유도하였다.

• 한국공작기계학회논문집
• /
• 제13권2호
• /
• pp.25-32
• /
• 2004

This paper presents a new optimization technique of acceleration curve for dynamic structure's movement in which high speed and low vibration are desirable. This technique is based on a genetic algerian with a penalty function for acceleration optimization under the assumption that an initial profile of acceleration curves constitutes the first generation of the genetic algorithm. Especially the penalty function consists of the violation of constraints and the number of violated constraints. The optimized acceleration of the crane through the genetic algorithm and commercial dynamic analysis software has shown to have accurate movement and low vibration compared to the conventional accelerations with jerk discontinuity.

• 한국정밀공학회지
• /
• 제18권5호
• /
• pp.112-119
• /
• 2001

A variety of input shaper has been proposed to reduce the residual vibration of flexible structures. Multi-hump input shaper is known to be robust for parameter variations. However, existing approach should solve the more complicated nonlinear simultaneous equations to improve the robustness of the input shaper with the additional constraints. In this paper, by proposing a graphical approach which uses convolution of shaper, the multi-hump convolution input shaper could be designed even if the constraints are added for further robustness. With a mass-damper-spring model, the better performance is obtained using the proposed new multi-hump convolution input shaper.

• 제어로봇시스템학회논문지
• /
• 제12권5호
• /
• pp.497-504
• /
• 2006

This paper presents a new technique that derives the dynamic acceleration bounds of multiple cooperating robot systems from given individual torque limits of robots. A set of linear algebraic homogeneous equation is derived from the dynamic equations of multiple robots with friction contacts. The mobility of the robot system is analyzed by the decomposition of the null space of the linear algebraic equation. The acceleration bounds of multiple robot systems are obtained from the joint torque constraints of robots by the medium of the decomposed null space. As the joint constraints of the robots are given in the infinite norm sense, the resultant acceleration bounds of the systems are described as polytopes. Several case studies are presented to validate the proposed method in this paper.