• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.44.2-44
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• 2001

This paper presents a new concept for controlling of under actuated robot manipulators with avoiding obstacles using switching computed torque method (SCTM). One fundamental approach of this algorithm is to use the partly stable controllers (PSCs) in order to fulfill the ultimate control objective. Here, we use genetic algorithms (GA)in order to employ the optimum control action for a given time frame with the available set of elemental controllers, depending on which links/variables are controlled, i.e. the selection of optimum switching sequence of the control actions. The proposed approach models links of the robot using evolving ellipses and then introduces a penalty scheme for the objective function of GA when it detects collisions. An under actuated robot manipulator, which has three detrees-of-freedom is taken into consideration so as to illustrate the design procedure. Simulation results show the e.ectiveness of the proposed method.

• Journal of Mechanical Science and Technology
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• v.18 no.2
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• pp.253-261
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• 2004

A simple and effective filtering method to control the member size of an optimized structure is proposed for topology optimization. In the present approach, the original objective sensitivities are replaced with their relative values evaluated within a filtering area. By adjusting the size of the filtering area, the member size of an optimized structure or the level of its topological complexity can be controlled even within a given finite element mesh. In contrast to the checkerboard-free filter, the present filter focuses on high-frequency components of the sensitivities. Since the present filtering method does not add a penalty term to the objective function nor require additional constraints, it is not only efficient but also simple to implement. Mean compliance minimization and eigenfrequency maximization problems are considered to verify the effectiveness of the present approach.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 1999.03b
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• pp.253-256
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• 1999

The Streamline Upwind Petrov-Galerkin(SUPG) finite element method is used to solve the two-dimensional laminar and turbulent flow. The flow is simulated by averaged Navier-Stokes equations with a penalty function approach and the lograithmic(k-$\varepsilon$) turbulent model is employed to take into account its turbulent behavior. The near-wall viscous sub-layer model is employed to approach the dominant viscous effects in the near wall zones. To find a good-enough initial guess of the Newton-Raphson iteration solving Nonlinear Matrix the Incremental method is considered for momentum and the Incomplete logarithmic turbu-lent equations for Turbulence. The validation of our method is investigated in comparision with published experimental data.

• Proceedings of the KSR Conference
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• 2005.11a
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• pp.191-196
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• 2005

In this study, to describe vehicle-track-bridge dynamic interaction phenomena with 1/4 vehicle model, nonlinear Hertzian contact spring and nonlinear contact damper are introduced. In this approach external loads acting on 1/4 vehicle model are self weight of vehicle and geometry information of running surface. The constraint equation on contact surface is implemented by Penalty method. Also, to improve the numerical stability and to maintain accuracy of solution, the artificial damper and the reaction from constraint violation are introduced. A nonlinear time integration method, in this study, Newmark method is adopted for both equations of vehicles and structure. And to reduce the error caused by inadequate time step size, adaptive time-stepping technique is partially introduced. As the nonlinear Hertzian contact spring has no resistance to tensile force, the bouncing phenomena of wheelset can be described. Thus, it is expected that more versatile dynamic interaction phenomena can be described by this approach and it can be applied to various railway dynamic problems.

• Structural Engineering and Mechanics
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• v.34 no.5
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• pp.597-609
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• 2010

A problem formulation and solution methodology for design optimization of laminated thin-walled composite beams of generic section is presented. Objective functions and constraint equations are given in the form of beam stiffness. For two different problems one for open section and the other for closed section, the objective function considered is bending stiffness about x-axis. Depending upon the case, one can consider bending, torsional and axial stiffnesses. The different search and optimization algorithm, known as Evolution Strategies (ES) has been applied to find the optimal fibre orientation of composite laminates. A multi-level optimization approach is also implemented by narrowing down the size of search space for individual design variables in each successive level of optimization process. The numerical results presented demonstrate the computational advantage of the proposed method "Evolution strategies" which become pronounced to solve optimization of thin-walled composite beams of generic section.

• Journal of Korea Society of Industrial Information Systems
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• v.4 no.2
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• pp.81-87
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• 1999

This paper discusses a bicriterion approach to sequencing with time/cost trade-offs. The first problem is to minimize the total flow time and the maximum tardiness. And second is to the maximum tardiness and resource allocation costs. This approach, which produces an efficient flintier of possible schedules, has the advantage that it does not require the sequencing criteria to be measurable in the same units as the m allocation cost. The basic single machine model is used to treat a class of problems in which the sequencing objective is to minimize the maximum completion penalty. It is further assumed that resource allocation costs can be represented by linear time/cost function.

• Proceedings of the KIEE Conference
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• 1998.11a
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• pp.223-225
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• 1998

This paper presents a new approach for power flow calculation, which minimizes the transmission losses in power systems with the control of voltage magnitudes on P-V nodes. In this approach, the transmission losses are re-distributed to each P-V node, at each iteration, to reduce the effect of slack. The steepest descent method is adopted, in this study, to minimize the transmission losses augmented with penalty functions to account for voltage constraints. IEEE 14 and 30 buses test systems were used for the performance demonstration of the proposed method in this paper. The simulation results showed that the proposed method can reduce transmission losses and improve voltage profiles of power systems.

• Geophysics and Geophysical Exploration
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• v.9 no.4
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• pp.299-303
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• 2006

Geologic noise, especially located at shallow depth, can be a great obstacle in the interpretation of geophysical data. Thus, it is important to suppress geologic noise in order to accurately detect major anomalous bodies in the survey area. In the inversion of geophysical data, model parameters at shallow depth, which have small size and low contrast of physical property, can be regarded as one of geologic noise. The least-squares method with smoothness constraint has been widely used in the inversion of geophysical data. The method imposes a big penalty on the large model parameter, while a small penalty on the small model parameter. Therefore, it is not easy to suppress small anomalous boies. In this study, we developed a new inversion scheme which can effectively suppress geologic noise by imposing a big penalty on the slowly varying model parameter and a small penalty on the largely varying model parameter. We call the method MTE (main-target emphasizing) inversion. Applying the method to the inversion of 2.5D small loop EM data, we can ensure that it is effective in suppressing small anomalous boies and emphasizing major anomalous bodies in the survey area.

• International Journal of Control, Automation, and Systems
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• v.6 no.6
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• pp.928-938
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• 2008

This study presents an approach for approximation an unknown function from a numerical data set based on the synthesis of a neuro-fuzzy model. An adaptive input data space parting method, which is used for building hyperbox-shaped clusters in the input data space, is proposed. Each data cluster is implemented here as a fuzzy set using a membership function MF with a hyperbox core that is constructed from a min vertex and a max vertex. The focus of interest in proposed approach is to increase degree of fit between characteristics of the given numerical data set and the established fuzzy sets used to approximate it. A new cutting procedure, named NCP, is proposed. The NCP is an adaptive cutting procedure using a pure function $\Psi$ and a penalty function $\tau$ for direction the input data space parting process. New algorithms named CSHL, HLM1 and HLM2 are presented. The first new algorithm, CSHL, built based on the cutting procedure NCP, is used to create hyperbox-shaped data clusters. The second and the third algorithm are used to establish adaptive neuro- fuzzy inference systems. A series of numerical experiments are performed to assess the efficiency of the proposed approach.

• Journal of Communications and Networks
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• v.9 no.1
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• pp.56-66
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• 2007

Mobile ad-hoc networks (MANETs) have attracted great research interest in recent years. Among many issues, lack of motivation for participating nodes to collaborate forms a major obstacle to the adoption of MANETs. Many contemporary collaboration enforcement techniques employ reputation mechanisms for nodes to avoid and penalize malicious participants. Reputation information is propagated among participants and updated based on complicated trust relationships to thwart false accusation of benign nodes. The aforementioned strategy suffers from low scalability and is likely to be exploited by adversaries. In this paper, we propose a novel approach to address these problems. With the proposed technique, no reputation information is propagated in the network and malicious nodes cannot cause false penalty to benign hosts. Nodes classify their one-hop neighbors through direct observation and misbehaving nodes are penalized within their localities. Data packets are dynamically rerouted to circumvent selfish nodes. As a result, overall network performance is greatly enhanced. This approach significantly simplifies the collaboration enforcement process, incurs low overhead, and is robust against various malicious behaviors. Simulation results based on different system configurations indicate that the proposed technique can significantly improve network performance with very low communication cost.