• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.811-814
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• 1997

In this paper, the torque optimization of a kinematically redundant manipulator for minimizing the torque demands is discussed. The minimum torque solution based on a local optimization has been known to encounter the instability problem and then the global torque optimization was suggested as one of the alternatives. Herein, by adopting the infinity-norm rather than the 2-norm for the magnitude of torques, we are to propose a new cost function more advantageous to the avoidance of torque limits. By the way, a solution to the global torque optimization formulated with the new cost function can not be obtained by the previous methods due to their difficulties such as inability to treat discontinuous cost functions and various constraints on the joint variables. Thus, to overcome those deficiencies, we are developing a new approach using the dynamic programming. The effectiveness of the proposed method is shown through simulation examples for a 3-link planar redundant manipulator.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.5
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• pp.384-389
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• 2003

We propose a hierarchically structured navigation algorithm for multiple mobile robots under unknown dynamic environment based on fussy-neural algorithm. The proposed algorithm consists of two basic layers. The lower layer consists of two parts such as fuzzy algorithm for goal approach and fuzzy-neural algorithm for obstacle avoidance. The upper layer which is basically fuzzy algorithm adjusts the magnitude of the weighting factor depending on the environmental situation. In addition, The proposed algorithm provides an efficient method to escape local mimimum points as shown in the simulation result. The efficacy of the proposed method is demonstrated via some simulations.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1609-1614
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• 2003

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. To implement the concept in collision avoidance of multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.

• Proceedings of the IEEK Conference
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• 2005.11a
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• pp.327-330
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• 2005

In this paper, we proposed that technique for reducing trailing artifact in MPEG-4 video. low bit-rate video is occured trailng artifact which remain part of moving object. Because MEMC doesn't work well in the degraded video. The proposed trailing artifact reduction approach has at its core three main steps. First step is to detect trailing artifact. Second step is applied intra block coding to remove trailing artifact. Finally, bit-rate control algorithm is used. Experimental result using an MPEG-4 based encoder indicate that the proposed method has overhead(bits) of about 2 percent and proposed method effective reduce or eliminate trailing artifact

• Clinics in Shoulder and Elbow
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• v.18 no.4
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• pp.269-271
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• 2015

Latissimus dorsi tendon transfer is a well-established method for treatment of irreparable posterosuperior rotator cuff tears. We report on an anterolateral mini-open technique with a porcine dermal patch augmentation for latissimus dorsi tendon transfer. Use of this technique would result in avoidance of deltoid damage by anterolateral mini-open approach and reduction of failure rate by patch augmentation.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.8
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• pp.62-71
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• 2009

In mobile robotics, ultrasonic sensors became one of the most popular devices for collision avoidance and navigation primarily due to data robustness, the easy availability of low-cost systems, their compact size, simple circuits, and their ease in interfacing with computers. However, ultrasonic sonic sensors are subject to noise which results in inaccuracy of mapping and localization of the robot. This paper introduces a new approach to enhance environmental maps based on ultrasonic range data using linear interpolation and Newton interpolation. The simulation and experimental results show that the proposed method improves of the accuracy of the map through better distance estimation between the mobile robot and obstacles.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.8
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• pp.629-637
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• 2000

Unbalance between user requirements and insufficient network resources makes a congestion. In the future since the communication networks will have very heavy traffic congestion will be more serious. The ATM networks was recommended to support the B-ISDN service for the future multimedia communication. In thie sense of congestion avoidance and recovery the ABR service category in ATM networks allows the feedback flow control mechanism to dynamically allocate the idle bandwidth of the network to users fairly and to control the network congestion rapidly In this paper we introduce a congestion control scheme using systematical approach to confirm robust stability with respect to unknown round trip delay for the network which has both unicast and multicast connections.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.888-891
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• 1991

In this paper, we have shown a new approach of neural networks for mobile robot motion control under an indoor refracted environment. The vehicle has two powered wheels and four passive casters which support a free motion. And it also uses sonar sensors, infrared sensors, Internal odometer, and contact sensors. Two experiments were conducted to demonstrate our objectives. The first one is that the vehicle executes a reflexive motor control to maintain a constant distance to the boundary. The second one is that as well as the boundary following, the vehicle makes a block obstacle avoidance during its path. Without prior knowledge of external environment. we have accomplished the tasks by employing a simple, reactive stimulus-response neural network scheme associating sensor data with the vehicle's action.

• International Journal of Quality Innovation
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• v.10 no.2
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• pp.57-76
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• 2009

Although many adherents openly praise the importance of quality management practices (QMP) in organisations, others have identified significant costs and implementation obstacles. Some recent studies showed that QMP have failed due to the ignorance of quality cultures. How to improve the success rate of QMP in organisations has become a critical issue both in the academy and in practice. This paper discusses the common enablers of and cultural impacts on QMP. It explores the dimensions of national versus organisational culture, and identifies the main features of four quality culture models as advocated in the literature in relation to facilitating QMP in organisations. It was found that flat structures, decentralised functions, empowerment, flexibility, innovation, limited rules and regulations and teamwork favor the QMP implementation. For facilitating culture changes for QMP, values associated with low power distance, low uncertainty avoidance and collectivism would have to be nurtured. Further research is needed to incorporate the findings and develop a practical quality culture approach for real applications in industry.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.11B
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• pp.974-979
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• 2004

In the IEEE 802.1 Ib, DCF provides contention based services and PCF provides contention free services for QoS suppof. DCF uses CSMA/CA (Carrier Sense Multiple Access/collision Avoidance) as an access protocol. In this paper, an enhanced PCF, which gives weights to channels with heavy traffic load, was proposed. The weight is depending on the partial queue length information from STAs. NS-2 simulation results show that the proposed scheme is an promising approach for enhancing the PCF.