• Journal of the Korean Society of Manufacturing Process Engineers
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• v.16 no.2
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• pp.114-123
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• 2017

This paper introduces a novel obstacle-climbing robot that moves on the facade of buildings and its climbing mechanism. A winch system set on the top of the building makes the vertical motion of the robot while it climbs obstacles that protrude from the wall surface. The obstacle-climbing robot suggested in this research is composed of a main platform and three modular climbing units. Various sensors installed on each climbing unit detect the obstacles, and the robot controller coordinates the three units and the winch to climb the obstacles using the obstacle-climbing mechanism. To evaluate the performance of the developed robot prototype, a test bed, which consists of an artificial wall and an obstacle, was manufactured. The obstacle size and the time required to climb the obstacle were selected as the performance indices, and extensive experiments were carried out. As a result, it was confirmed that the obstacle-climbing robot can climb various-sized obstacles with a reasonable speed while it moves on the wall surface.

• Journal of the Korean Operations Research and Management Science Society
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• v.22 no.3
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• pp.37-58
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• 1997

An AI approach with tabu search is designed to solve multi-level knapsack problems. The approach performs intelligent actions with memories of historic data and learning effect. These action are developed ont only by observing the attributes of the optimal solution, the solution space, and its corresponding path to the optimal, but also by applying human intelligence, experience, and intuition with respect to the search strategies. The approach intensifies, or diversifies the search process appropriately in time and space. In order to create a good neighborhood structure, this approach uses two powerful choice rules that emphasize the impact of candidate variables on the current solution with respect to their profit contribution. "Pseudo moves", similar to "aspirations", support these choice rules during the evaluation process. For the purpose of visiting as many relevant points as possible, strategic oscillation between feasible and infeasible solutions around the boundary is applied. To avoid redundant moves, short-term (tabu-lists), intemediate-term (cycle-detection), and long-term (recording frequency and significant solutions for diversfication) memories are used. Test results show that among the 45 generated problems (these problems pose significant or insurmountable challenges to exact methods) the approach produces the optimal solutions in 39 cases.lutions in 39 cases.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.3092-3094
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• 1999

This paper deals with the gait generation of Biped Walking Robot (IWR-III) to have a continuous walking pattern like human. For this, trajectory planning with the consideration of kick action is done in each walking step, and the coordinate transformation is done for simplifying the kinematics. The trunk moves continuously for all walking time and moves toward Z-axis. Balancing motion is acquired by FDM(Finite Difference Method) during the walking. By combining 4-types of pre-defined steps, multi-step walking is done. Using numerical simulator, dynamic analysis and system stability is confirmed. Walking motion is visualized by 3D-Graphic simulator. As a result, the motion of balancing joints can be reduced by the trunk ahead effect during kick action, and impactless smooth walking is implemented by the experiment.

• Journal of applied mathematics & informatics
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• v.37 no.3_4
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• pp.163-176
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• 2019

Given a distribution of pebbles on the vertices of a connected graph G, a pebbling move is defined as the removal of two pebbles from some vertex and the placement of one of those pebbles at an adjacent vertex. The t-pebbling number, $f_t(G)$, of a connected graph G, is the smallest positive integer such that from every placement of $f_t(G)$ pebbles, t pebbles can be moved to any specified vertex by a sequence of pebbling moves. A graph G has the 2t-pebbling property if for any distribution with more than $2f_t(G)$ - q pebbles, where q is the number of vertices with at least one pebble, it is possible, using the sequence of pebbling moves, to put 2t pebbles on any vertex. In this paper, we determine the t-pebbling number for the middle graph of a complete binary tree $M(B_h)$ and we show that the middle graph of a complete binary tree $M(B_h)$ satisfies the 2t-pebbling property.

• Communications of the Korean Mathematical Society
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• v.37 no.4
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• pp.1221-1248
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• 2022

In this paper we study the theory of knotoids and braidoids and the theory of pseudo knotoids and pseudo braidoids on the torus T. In particular, we introduce the notion of mixed knotoids in S², that generalizes the notion of mixed links in S³, and we present an isotopy theorem for mixed knotoids. We then generalize the Kauffman bracket polynomial, <; >, for mixed knotoids and we present a state sum formula for <; >. We also introduce the notion of mixed pseudo knotoids, that is, multi-knotoids on two components with some missing crossing information. More precisely, we present an isotopy theorem for mixed pseudo knotoids and we extend the Kauffman bracket polynomial for pseudo mixed knotoids. Finally, we introduce the theories of mixed braidoids and mixed pseudo braidoids as counterpart theories of mixed knotoids and mixed pseudo knotoids, respectively. With the use of the L-moves, that we also introduce here for mixed braidoid equivalence, we formulate and prove the analogue of the Alexander and the Markov theorems for mixed knotoids. We also formulate and prove the analogue of the Alexander theorem for mixed pseudo knotoids.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.21 no.6
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• pp.115-131
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• 2022

Carbon dioxide (CO₂) emissions from the transportation sector in South Korea accounts for 16.5% of all CO₂ emissions, and road transportation accounts for 96.5% of this sector's emissions in South Korea. Hence, constant research is being carried out on methods to reduce CO₂ emissions from this sector. With the emerging use of smart crossings, attempts to monitor individual vehicles are increasing. Moreover, the potential commercial deployment of autonomous vehicles increases the possibility of obtaining individual vehicle data. As such, CO₂ emission research was conducted at five signalized intersections in the Gangnam District, Seoul, using data such as vehicle type, speed, acceleration, etc., obtained from image detectors located at each intersection. The collected data were then applied to the MOtor Vehicle Emission Simulator (MOVES)-Matrix model-which was developed to obtain second-by-second vehicle activity data and analyze daily CO₂ emissions from the studied intersections. After analyzing two large and three small intersections, the results indicated that 3.1 metric tons of CO₂ were emitted per day at each intersection. This study reveals a new possibility of analyzing CO₂ emissions using actual individual vehicle data using an improved analysis model. This study also emphasizes the importance of more accurate CO₂ emission analyses.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1168-1171
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• 2003

The visuo-motor map is based on the Kohonen's self-organizing map. The map is learned the relation of the end effecter coordinates and the joint angles. In this paper, a 3 d-o-fmanipulator which moves in the 2D space is targeted. A CCD camera is set beside the manipulator, and the end effecter coordinates are given from the image of a manipulator. As a result of learning, the end effecter can be moved to the destination without exact teaching.

• Journal of information and communication convergence engineering
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• v.6 no.3
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• pp.245-248
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• 2008

Everytime a node moves out of its area, the connection to the node encounters a handover which may cause much latency. NetLMM(Network based Localized Mobility Management) supports the mobility management for such nodes and improves handover latency using MIH(Media Independent Handover) function. In this paper, we add some messages to NetLMM procedure to improve handover latency and analyze its effects through a scenario based approach

• The Transactions of the Korean Institute of Electrical Engineers
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• v.41 no.2
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• pp.192-198
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• 1992

The electrical properties of the ultrasonic probes and the piezoelectric composite materials with 1-3 connectivity by the extrusion method have been studied. The relative permittivity and piezoelectric coefficient increase linearly as PZT volume% increases and resonance frequency moves to low frequency as the sample thickness increases. The acoustic impedance matching with body and water is better than PZT ceramics' and the reception sensitivity is fine as the thickness thins down.

• 유체기계공업학회:학술대회논문집
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• 2005.12a
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• pp.359-364
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• 2005

Centrifugal pump shows the strongest secondary flow. Wake is formed near pressure surface close to hub at impeller exit for centrifugal pump impeller. Pressure gradient drives secondary flow in the inducer region, while in the remaining region the following sources drive together: > Pressure gradient > Coriolis force Low-momentum fluid near suction surface hub moves toward pressure surface hub in mixed-flow pump impeller. Tip leakage vortex dominate secondary flow in axial-flow pump impeller. Tip leakage vortex dominate secondary flow in axial-flow in axial-flow pump impeller