• Journal of the Korea Institute of Military Science and Technology
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• v.9 no.2 s.25
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• pp.51-59
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• 2006

The purpose of this paper is to present reliability analysis procedures for repairable systems and apply the procedures for assessing the reliabilities of two subsystems of a specific group of military equipment based on field failure data. The mean cumulative function, M(t), the average repair rate, ARR(t), and analytic test methods are used to determine whether a failure process follows a renewal or non-renewal process. For subsystem A, the failure process turns out to follow a homogeneous Poisson process, and subsequently, its mean time between failures, availability, and the necessary number of spares are estimated. For subsystem B, the corresponding M(t) plot shows an increasing trend, indicating that its failure process follows a non-renewal process. Therefore, its M(t) is modeled as a power function of t, and a preventive maintenance policy is proposed based on the annual mean repair cost.

• Advances in robotics research
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• v.1 no.1
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• pp.41-59
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• 2014

This paper deals with the problem of steering a group of mobile robots along a reference path while maintaining a desired geometric formation. To solve this problem, the overall formation is decomposed into numerous geometric patterns composed of pairs of robots, and the state of the geometric patterns is defined. A control algorithm for the problem is proposed based on the Nash equilibrium strategies incorporating receding horizon control (RHC), also known as model predictive control (MPC). Each robot calculates a control input over a finite prediction horizon and transmits this control input to its neighbor. Considering the motion of the other robots in the prediction horizon, each robot calculates the optimal control strategy to achieve its goals: tracking a reference path and maintaining a desired formation. The performance of the proposed algorithm is validated using numerical simulations.

• Advances in robotics research
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• v.1 no.1
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• pp.61-79
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• 2014

This paper presents theoretical and experimental investigations into the dynamic modelling and characterisation of a two-link flexible manipulator incorporating payload. A planar two-link flexible manipulator that moves in a horizontal plane is considered. A dynamic model of the system is developed using a combined Euler-Lagrange and assumed mode methods, and simulated using Matlab. Experiments are performed on a lab-scaled two-link flexible manipulator for validation of the dynamic model and characterisation of the system. Two system responses namely hub angular position and deflection responses at both links are obtained and analysed in time and frequency domains. The effects of payload on the dynamic characteristics of the flexible manipulator are also studied and discussed. The results show that a close agreement between simulation and experiments is achieved demonstrating an acceptable accuracy of the developed model.

• Advances in robotics research
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• v.1 no.1
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• pp.21-39
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• 2014

Due to the rapid progress in the field of robotics, it is a high time to concentrate on the development of a robot that can manoeuvre in all type of landscapes, ascend and descend stairs and sloping surfaces autonomously. This paper presents details of a prototype robot which can navigate in very rough terrain, ascend and descend staircase as well as sloping surface and cross ditches. The robot is made up of six differentially steered wheels and some passive mechanism, making it suitable to cross long ditches and landscape undulation. Static stability of the developed robot have been carried out analytically and navigation capability of the robot is observed through simulation in different environment, separately. Description of embedded system of the robot has also been presented and experimental validation has been made along with some details on obstacle avoidance. Finally the limitations of the robot have been explored with their possible reasons.

• Advances in robotics research
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• v.1 no.1
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• pp.1-19
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• 2014

Microgripper is an essential device in the micro-operation system. It can convert other types of energy into mechanical energy and produce clamp movement with required chucking force, which enables it a broad application prospect in the domain of tiny components' processing and assembly, biomedicine and optics, etc. The performance of a microgripper is dependent on its power supply, type of drive, mechanism structure, sensing components, and controller. This paper presents a state-of-the-art survey of recent development on flexure-based microgrippers. According to the drive type, the existing microgrippers can be mainly classified as electrostatic microgripper, electrothermal microgripper, electromagnetic microgripper, piezoelectric microgripper, and shape memory alloy microgripper. Additionally, some different mechanisms, sensors, and control methods that are used in microgripper system are reviewed. The key issue of how to choose those components in microgripper system design is also addressed.

• Advances in robotics research
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• v.2 no.3
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• pp.219-236
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• 2018

This research focuses on controlling robots and their formations using rough mereology as a means for spatial reasoning. The authors present the state of the art theory behind path planning, robot cooperation domains and ways of creating robot formations. Furthermore, the theory behind Rough Mereology as a way of implementing mereological potential field based path creation and navigation for single and multiple robots is described. An implementation of the algorithm is shown in simulation using RoboSim simulator. Five formations are tested (Line, Rhomboid, Snake, Circle, Cross) along with three decision systems (First In, Leader First, Horde Mode) as compared to other methods.

• Advances in robotics research
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• v.2 no.3
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• pp.247-257
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• 2018

Various studies have been performed to coordinate robots in transporting objects and different artificial intelligence algorithms have been considered in this field. In this paper, we investigate and solve Multi-Robot Transportation problem by using a combined auction algorithm. In this algorithm each robot, as an agent, can perform the auction and allocate tasks. This agent tries to clear the auction by studying different states to increase payoff function. The algorithm presented in this paper has been applied to a multi-robot system where robots are responsible for transporting objects. Using this algorithm, robots are able to improve their actions and decisions. To show the excellence of the proposed algorithm, its performance is compared with three heuristic algorithms by statistical simulation approach.

• KOREAN JOURNAL OF CROP SCIENCE
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• v.59 no.3
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• pp.263-281
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• 2014

Transcription factors are essential for the regulation of gene expression in plant. They are binding to either enhancer or promoter region of DNA adjacent to the gene and are related to basal transcription regulation, differential enhancement of transcription, development, response to intercellular signals or environment, and cell cycle control. The mechanism in controlling gene expression of transcription can be understood through the assessment of the complete sequence for the maize genome. It is possible that the maize genome encodes 4,000 or more transcription factors because it has undergone whole duplication in the past. Previously, several transcription factors of maize have been characterized. In this review article, the transcription factors were selected using Pfam database, including many family members in comparison with other family and listed as follows: ABI3/VP1, AP2/EREBP, ARF, ARID, AS2, AUX/IAA, BES1, bHLH, bZIP, C2C2-CO-like, C2C2-Dof, C2C2-GATA, C2C2-YABBY, C2H2, E2F/DP, FHA, GARP-ARR-B, GeBP, GRAS, HMG, HSF, MADS, MYB, MYB-related, NAC, PHD, and WRKY family. For analyzing motifs, each amino acid sequence has been aligned with ClustalW and the conserved sequence was shown by sequence logo. This review article will contribute to further study of molecular biological analysis and breeding using the transcription factor of maize as a strategy for selecting target gene.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.38 no.3
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• pp.95-99
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• 2015

The IRR(internal rate of return) is often used by investors for the evaluation of engineering projects. Unfortunately, it has serial flaws: (1) multiple real-valued IRRs may arise; (2) complex-valued IRRs may arise; (3) the IRR is, in special cases, incompatible with the net present value (NPV) in accept/reject decisions. The efforts of management scientists and economists in providing a reliable project rate of return have generated over the decades an immense amount of contributions aiming to solve these shortcomings. Especially, multiple internal rate of returns (IRRs) have a fatal flaw when we decide to accep it or not. To solve it, some researchers came up with external rate of returns (ERRs) such as ARR (Average Rate of Return) or MIRR (MIRR, Modified Internal Rate of Return). ARR or MIRR. will also always yield the same decision for a engineering project consistent with the NPV criterion. The ERRs are to modify the procedure for computing the rate of return by making explicit and consistent assumptions about the interest rate at which intermediate receipts from projects may be invested. This reinvestment could be either in other projects or in the outside market. However, when we use traditional ERRs, a volume of capital investment is still unclear. Alternatively, the productive rate of return (PRR) can settle these problems. Generally, a rate of return is a profit on an investment over a period of time, expressed as a proportion of the original investment. The time period is typically the life of a project. The PRR is based on the full life of the engineering project. but has been annualised to project one year. And the PRR uses the effective investment instead of the original investment. This method requires that the cash flow of an engineering project must be separated into 'investment' and 'loss' to calculate the PRR value. In this paper, we proposed a tabulated form for easy calculation of the PRR by modifing the profit and loss statement, and the cash flow statement.

• Advances in robotics research
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• v.2 no.2
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• pp.129-140
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• 2018

With the increasing demand for the development of human pose estimation, such as human-computer interaction and human activity recognition, there have been numerous approaches to detect the 2D poses of people in images more efficiently. Despite many years of human pose estimation research, the estimation of human poses with images remains difficult to produce satisfactory results. In this study, we propose a robust 2D human body pose estimation method using an RGB camera sensor. Our pose estimation method is efficient and cost-effective since the use of RGB camera sensor is economically beneficial compared to more commonly used high-priced sensors. For the estimation of upper-body joint positions, semantic segmentation with a fully convolutional network was exploited. From acquired RGB images, joint heatmaps accurately estimate the coordinates of the location of each joint. The network architecture was designed to learn and detect the locations of joints via the sequential prediction processing method. Our proposed method was tested and validated for efficient estimation of the human upper-body pose. The obtained results reveal the potential of a simple RGB camera sensor for human pose estimation applications.