• The Journal of Korea Robotics Society
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• v.8 no.2
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• pp.92-103
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• 2013

Humanoid robot is the most intimate robot platform suitable for human interaction and services. Biped walking is its basic locomotion method, which is performed with combination of joint actuator's rotations in the lower extremity. The present work employs humanoid robot simulator and numerical optimization method to generate optimal joint trajectories for biped walking. The simulator is developed with Matlab based on the robot structure constructed with the Denavit-Hartenberg (DH) convention. Particle swarm optimization method minimizes the cost function for biped walking associated with performance index such as altitude trajectory of clearance foot and stability index concerning zero moment point (ZMP) trajectory. In this paper, instead of checking whether ZMP's position is inside the stable region or not, reference ZMP trajectory is approximately configured with feature points by which piece-wise linear trajectory can be drawn, and difference of reference ZMP and actual one at each sampling time is added to the cost function. The optimized joint trajectories realize three phases of stable gait including initial, periodic, and final steps. For validation of the proposed approach, a small-sized humanoid robot named DARwIn-OP is commanded to walk with the optimized joint trajectories, and the walking result is successful.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.28 no.7
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• pp.879-886
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• 2004

A numerical optimization has been carried out to determine the shape of the three-dimensional channel with oblique ribs attached on both walls to enhance turbulent heat transfer. The response surface based optimization is used as an optimization technique with Reynolds-averaged Navier-Stokes analysis of fluid flow and heat transfer. Shear stress transport (SST) turbulence model is used as a turbulence closure. Numerical results fur heat transfer rate show good agreements with experimental data. four dimensionless variables such as, rib pitch-to-rib height ratio, rib height-to-channel height ratio, streamwise rib distance on opposite wall to rib pitch ratio, and the attack angle of the rib are chosen as design variables. The objective function is defined as a linear combination of heat-transfer and friction-loss related coefficients with a weighting factor. D-optimal method is used to determine the training points as a means of design of experiment. Sensitivity of the objective parameters to each design variable has been analyzed. And, optimal values of the design variables have been obtained in a range of the weighting factor.

• Journal of Korea Water Resources Association
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• v.39 no.11 s.172
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• pp.977-984
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• 2006

The parameters in the Horton's model which has well known as typical infiltration model were determined by the use of the optimization technique. It was assumed the initial infiltration capacity in this model was related to the antecedent precipitation per 10 days with linear combination. And both the parameters of the ultimate infiltration capacity and the decay factor were determined uniquely on a basin. Thus the optimal model's parameters representative to a basin were obtained and the Horton's infiltration equations by rainstorm events were determined. The data of ten rainstorm events for this study were observed at the Jeonjeokbigyo station located at the Selmacheon experimental basin that was $8.5km^2$ wide in the Imjin river.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.22 no.2
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• pp.173-183
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• 1998

An optimization procedure to find the inlet concentration profile that yields the most uniform deposition rate in a cylindrical CVD chamber has been developed. Assuming that the chemical reaction time is negligibly small, a SIMPLE based finite-volume method is adopted to solve the fully elliptic equations for momentum, temperature, and concentration. The inlet concentration profile is expressed by a linear combination of Chebyshev polynomials and the coefficients of which are determined by the local random search technique. It is shown that the present method is very effective in improving the uniformity of the deposition rate, especially when Re is high and/or the wafer is placed close to the inlet. The optimal profiles have been obtained for various Re, Gr, and geometry combinations.

• Asian Pacific Journal of Cancer Prevention
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• v.17 no.4
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• pp.1861-1864
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• 2016

Although early diagnosis of thyroid nodule type is very important, the diagnostic accuracy of standard tests is a challenging issue. We here aimed to find an optimal combination of factors to improve diagnostic accuracy for distinguishing malignant from benign thyroid nodules before surgery. In a prospective study from 2008 to 2012, 345 patients referred for thyroidectomy were enrolled. The sample size was split into a training set and testing set as a ratio of 7:3. The former was used for estimation and variable selection and obtaining a linear combination of factors. We utilized smoothly clipped absolute deviation (SCAD) logistic regression to achieve the sparse optimal combination of factors. To evaluate the performance of the estimated model in the testing set, a receiver operating characteristic (ROC) curve was utilized. The mean age of the examined patients (66 male and 279 female) was $40.9{\pm}13.4years$ (range 15- 90 years). Some 54.8% of the patients (24.3% male and 75.7% female) had benign and 45.2% (14% male and 86% female) malignant thyroid nodules. In addition to maximum diameters of nodules and lobes, their volumes were considered as related factors for malignancy prediction (a total of 16 factors). However, the SCAD method estimated the coefficients of 8 factors to be zero and eliminated them from the model. Hence a sparse model which combined the effects of 8 factors to distinguish malignant from benign thyroid nodules was generated. An optimal cut off point of the ROC curve for our estimated model was obtained (p=0.44) and the area under the curve (AUC) was equal to 77% (95% CI: 68%-85%). Sensitivity, specificity, positive predictive value and negative predictive values for this model were 70%, 72%, 71% and 76%, respectively. An increase of 10 percent and a greater accuracy rate in early diagnosis of thyroid nodule type by statistical methods (SCAD and ANN methods) compared with the results of FNA testing revealed that the statistical modeling methods are helpful in disease diagnosis. In addition, the factor ranking offered by these methods is valuable in the clinical context.

• The Journal of the Acoustical Society of Korea
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• v.21 no.4E
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• pp.156-163
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• 2002

We apply independent component analysis (ICA) for extracting an optimal basis to the problem of finding efficient features for representing speech signals of a given speaker The speech segments are assumed to be generated by a linear combination of the basis functions, thus the distribution of speech segments of a speaker is modeled by adapting the basis functions so that each source component is statistically independent. The learned basis functions are oriented and localized in both space and frequency, bearing a resemblance to Gabor wavelets. These features are speaker dependent characteristics and to assess their efficiency we performed speaker identification experiments and compared our results with the conventional Fourier-basis. Our results show that the proposed method is more efficient than the conventional Fourier-based features in that they can obtain a higher speaker identification rate.

• Proceedings of the Korea Water Resources Association Conference
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• 2009.05a
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• pp.107-111
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• 2009

The parameters in the Horton's model which has well known as typical infiltration model were determined by the use of the optimization technique. It was assumed the initial infiltration capacity in this model was related to the antecedent precipitation per 10 days with linear combination. And both the parameters of the ultimate infiltration capacity and the decay factor were determined uniquely on a basin. Thus the optimal model's parameters representative to a basin were obtained and the Horton's infiltration equations by rainstorm events were determined. The data of ten rainstorm events for this study were observed at the Jeonjeokbigyo station located at the Selmacheon experimental basin that was $8.5\;km^2$ wide in the Imjin river.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.4
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• pp.1889-1910
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• 2017

This paper investigates a protocol so-called Adaptive Harvest Then Transmit (AHTT) for wireless powered communication networks (WPCNs) in multiple-input single-output (MISO) downlink systems, which assists in transmitting signals from a multi-antenna transmitter to a single-antenna receiver. Particularly, the power constrained relay is supplied with power by utilizing radio frequency (RF) signals from the source. In order to take advantage of multiple antennas, two different linear processing schemes, including Maximum Ratio Combining (MRC) and Selection Combination (SC) are studied. The system outage capacity and ergodic capacity are evaluated for performance analysis. Furthermore, the optimal power allocation is also considered. Our numerical and simulation results prove that the implementation of multiple antennas helps boost the energy harvesting capability. Therefore, this paper puts forward a new way to the energy efficiency (EE) enhancement, which contributes to better system performance.

• The KSFM Journal of Fluid Machinery
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• v.14 no.5
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• pp.55-62
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• 2011

Shape optimization of a Printed circuit heat exchanger (PCHE) has been performed by using three-dimensional Reynolds-Averaged Navier-Stokes (3-D RANS) analysis and surrogate modeling techniques. The objective function is defined as a linear combination of effectiveness of the PCHE term and pressure drop in the cold channels of the PCHE. The cold channel angle and the ellipse aspect ratio of the cold channel are used as design variables for the optimization. Design points are selected through Latin-hypercube sampling. The optimal point is determined through surrogate-based optimization method which uses 3-D RANS analyses at design points. The results of three types of surrogate model are compared each other. The results of the optimizations indicate improved performance in friction loss but low performance in effectiveness than the reference shape.

• 한국전산유체공학회:학술대회논문집
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• 2010.05a
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• pp.187-194
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• 2010

Shape optimization of an upper plenum of PBMR type gas cooled nuclear reactor has been performed by using three-dimensional Reynolds-Averaged Navier-Stokes (RANS) analysis and surrogate modeling technique. The objective function is defined as a linear combination of uniformity of flow distribution in the core and pressure drop in the upper plenum and the core. The ratio of thickness of slot to diameter of rising channels, ratio of height of upper plenum to diameter of rising channels, and ratio of eight of the slot at inlet to outlet, are used as design variables for optimization. Design points are selected through Latin-hypercube sampling. The optimal point is determined through surrogate-based optimization method which uses 3-D RANS analyses at design points. The results show that the optimum shape represent remarkably improved performance in flow uniformity and friction loss than the reference shape.