• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.365-370
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• 2012

Most path planning algorithms for a marine robot in the ocean environment have been developed without considering the robot's heading angle. As a result, the robot has a difficulty in following the path correctly. In this paper, we propose a limit-cycle circle set that applies to the $Theta^*$ algorithm. The minimum turning radius of a marine robot is calculated using a limit-cycle circle set, and circles of this radius is used to generate a configuration space of an occupancy grid map. After applying $Theta^*$ to this configuration space, the limit-cycle circle set is also applied to the start and end nodes to find the appropriate path with specified heading angles. The benefit of this algorithm is its fast computation time compared to other 3-D ($x,y,{\theta}$) path planning algorithms, along with the fact that it can be applied to the 3-D kinematic state of the robot. We simulate the proposed algorithm and compare it with 3-D $A^*$ and 3-D $A^*$ with post smoothing algorithms.

• Journal of Korean Association for Spatial Structures
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• v.5 no.4 s.18
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• pp.61-70
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• 2005

In paper the discrete optimum design program was developed using the continuous and discrete optimum algorithms based on the SUMT and genetic algorithms. In this paper, the objective function is the weight of structures and the constraints are limits state design limits method. The design variables are diameter and thick of steel pipe. Design examples are given to show the applicability of the optimum design using the continuous and discrete optimum algorithms based on the SUMT and genetic algorithms of this study.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.10
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• pp.1561-1570
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• 1997

This study explores the treatment of the max-value cost function over a parameter interval in parametric optimization. To avoid the computational burden of the transformation treatment using an artificial variable, a direct treatment of the original max-value cost function is proposed. It is theoretically shown that the transformation treatment results in demanding an additional equality constraint of dual variables as a part of the Kuhn-Tucker necessary conditions. Also, it is demonstrated that the usability and feasibility conditions on the search direction of the transformation treatment retard convergence rate. To investigate numerical performances of both treatments, typical optimization algorithms in ADS are employed to solve a min-max steady-state response optimization. All the algorithm tested reveal that the suggested direct treatment is more efficient and stable than the transformation treatment. Also, the better performing of the direct treatment over the transformation treatment is clearly shown by constrasting the convergence paths in the design space of the sample problem. Six min-max transient response optimization problems are also solved by using both treatments, and the comparisons of the results confirm that the performances of the direct treatment is better than those of the tranformation treatment.

• Earthquakes and Structures
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• v.7 no.6
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• pp.1119-1139
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• 2014

A damage-based seismic design procedure for steel frame structures is formulated as an optimization problem, in which minimization of the initial construction cost is treated as the objective of the problem. The performance constraint of the design procedure is to achieve "repairable" damage state for earthquake demands that are less severe than the design ground motions. The Park-Ang damage index is selected as the seismic damage measure for the quantification of structural damage. The charged system search (CSS) algorithm is employed as the optimization algorithm to search the optimum solutions. To improve the time efficiency of the solution algorithm, two simplifying strategies are adopted: first, SDOF idealization of multi-story building structures capable of estimating the actual seismic response in a very short time; second, fitness approximation decreasing the number of fitness function evaluations. The results from a numerical application of the proposed framework for designing a twelve-story 3D steel frame structure demonstrate its efficiency in solving the present optimization problem.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.464-467
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• 1995

Autonomous Mobile Robot(AMR) is a field of study which is under active research along with rapid development of the engineering technology. The main reasons for the high interest in AMR are because of its ability to change work space freely and its capability to replace human being for difficult and dangerous jobs. Also the fact that AMR provides a variety of research fields, such as path planning, navigation algorithm, sensor fusion, image processing, and controller design is part of the reason for its popularity. But relatively few researches are concerned with controller. So in this paper, a control strategy of mobile robot with nonholonomic constraint for tracking ordered discontinuous motion is proposed. The proposed control strategy has been designed as a state feedback shape to allow the AMR to obtain continuous velocity and track the path which is composed of discontinuous motions. In order to design such controller, 3 states have been reduced to 2 states through coordinate projection. These ideas are tested for validity through simulation and simulation result is compared with experiments result.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.6
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• pp.714-723
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• 1999

This paper presents a short-term scheduling algorithm for the operation of steelmaking processes. The scope of the problem covers refining of the hot iron transferred form a blast furnace, ladle treatment, continuous casting, hot-rolling, and coiling for the final products that should satisfy the given demand. The processing time at each unit depends on how much the batch amount is treated, and te dedicated intermediate storage with finite capacity between the units is considered. Resource constraints and initial amount of each state are incorporated into the presented scheduling model for the algorithm of on-line scheduling. We propose amixed integer linear programming (MILP) model with two objectives for the scheduling. The first is to maximize the total profit while atisfying the due date constraint for each product. And the second is to minimize the total processing time, makespan, while satisfying the demand for each product. Especially, we observe the effect of penalizing the intermediate storage and the inventory level of the final product on the scheduling results.

• The Magazine of the IEIE
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• v.25 no.5
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• pp.31-41
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• 1998

With the advent of portable electronic systems, power consumption has recently become a major issue in circuit and system design. Furthermore, the sophisticated fabrication technology makes it possible to embed more functions and features in a VLSI chip, consequently calling for both higher performance and lower power to deal with the ever growing complexity of system algorithms than in the past. VLSI designers should cope with two conflicting constraints, high performance and low power, offering an optimum trade off of these constraints to meet requirements of system. Historically, VLSI designers have focused on performance improvement, and power dissipation was not a design criteria but an afterthought. This design paradigm should be changed, as power is emerging as the most critical design constraint. In VLSI design, low power design can be accomplished through many ways, for instance, process, circuit/logic design, architectural design, and etc.. In this paper, a few low power design examples, which have been used in 8 bit micro-controller core, and can be used also in 4/16/32 bit micro-controller cores, are presented in the areas of circuit, logic and architectural design. We first propose a low power guidelines for micro-controller design in SAMSUNG, and more detailed design examples are followed applying 4 specific design guidelines. The 1st example shows the power reduction through reduction of number of state clocks per instruction. The 2nd example realized the power reduction by applying RISC(Reduced Instruction Set Computer) concept. The 3rd example is to optimize the algorithm for ALU(Arithmetic Logic Unit) to lower the power consumption, Lastly, circuit cells designed for low power are described.

• Journal of the Korean Society of Industry Convergence
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• v.4 no.4
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• pp.403-411
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• 2001

A criterion for evaluation of burners has changed recently, and the environmental problems are raised as a global issue. Burners with higher thermal efficiency and lower oxygen in the exhaust gas, evaluated better. To comply with environmental regulations, burners must satisfy the $NO_x$ and CO regulation. Consequently. 'good burner' means one whose thermal efficiency is high under the constraint of $NO_x$ and CO consistency. To make existing burner satisfy recent criterion, it is highly recommended to develop a feedback control scheme whose output is the consistency of $NO_x$ and CO. This paper describes the development of a real time flame diagnosis technique that evaluate and diagnose the combustion states, such as consistency of components in exhaust gas, stability of flame in the quantitative sense. In this paper, it was proposed on the flame diagnosis technique of burner using Neuro- Fuzzy algorithm. This study focuses on the relation of the color of the flame and the state of combustion. Neuro- Fuzzy learning algorithm is used in obtaining the fuzzy membership function and rules. Using the constructed inference algorithm, the amount of $NO_x$ and CO of the combustion gas was successfully inferred.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.3
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• pp.1167-1187
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• 2020

With the development of medical imaging technology, image registration has been widely used in the field of disease diagnosis. The registration between different modal images of brain magnetic resonance (MR) is particularly important for the diagnosis of brain diseases. However, previous registration methods don't take advantage of the prior knowledge of bilateral brain symmetry. Moreover, the difference in gray scale information of different modal images increases the difficulty of registration. In this paper, a multimodal medical image registration method based on image segmentation and symmetric self-similarity is proposed. This method uses modal independent self-similar information and modal consistency information to register images. More particularly, we propose two novel symmetric self-similarity constraint operators to constrain the segmented medical images and convert each modal medical image into a unified modal for multimodal image registration. The experimental results show that the proposed method can effectively reduce the error rate of brain MR multimodal medical image registration with rotation and translation transformations (average 0.43mm and 0.60mm) respectively, whose accuracy is better compared to state-of-the-art image registration methods.

• Journal of Welding and Joining
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• v.21 no.5
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• pp.575-581
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• 2003

It has been well known that the ductile cracking of steel would be accelerated by triaxial stress state. Recently, the characteristics of critical crack initiation of steels are quantitatively estimated using the two-parameters, that is, equivalent plastic strain and stress triaxiality, criterion. This study is paid to the fundamental clarification of the effect of geometrical heterogeneity and strength mismatching, which can elevate plastic constraint due to heterogeneous plastic straining, and loading rate on ductile crack initiation behavior. Also, the ductile crack initiation testing were conducted under static and dynamic loading using round bar specimens with circumferential notch and strength mis-matching. The result showed that the nominal strain at ductile crack initiation of circumferential notch specimens small then the round bar specimens for effect of geometrical discontinuity. Also, the nominal strain at ductile crack initiation was decreased with decrease of notch root radius of curvature.