• 대한전기학회:학술대회논문집
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• 대한전기학회 1990년도 하계학술대회 논문집
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• pp.485-491
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• 1990

We propose a minimum-time path planning soheme for the robot manipulator using Hopfield neural network. The minimum-time path planning, which can allow the robot system to perform the demanded tasks with a minimum execution time, may be of consequence to improve the productivity. But most of the methods proposed till now suffers from a significant computational burden and thus limits the on-line application. One way to avoid such a difficulty is to apply the neural network technique, which can allow the parallel computation, to the minimum-time problem. This paper propose an approach for solving the minimum-time path planning by using Hopfield neural network. The effectiveness of the proposed method is demonstrarted using the PUMA 560 manipulator.

• 대한전자공학회논문지
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• 제27권9호
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• pp.1364-1371
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• 1990

We propose a time-optimal path planning scheme for the robot manipulator using Hopfield neural network. The time-optimal path planning, which can allow the robot system to perform the demanded tasks with a minimum execution time, may be of consequence to improve the productivity. But most of the methods proposed till now suffers from a significant computational burden and thus limits the on-line application. One way to avoid such a difficulty is to apply the neural networke technique, which can allow the parallel computation, to the minimum time problem. This paper proposes an approach for solving the time-optimal path planning by using Hopfield neural network. The effectiveness of the proposed method is demonstrarted using a PUMA 560 manipulator.

• 로봇학회논문지
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• 제1권2호
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• pp.203-211
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• 2006

In this research, a comprehensive study is performed upon the design of a quadruped walking robot. In advance, the walking posture and skeletal configuration of the vertebrate are analyzed to understand quadrupedal locomotion, and the roles of limbs during walking are investigated. From these, it is known that the forelimbs just play the role of supporting their body and help vault forward, while most of the propulsive force is generated by hind limbs. In addition, with the study of the stances on walking and energy efficiency, design criteria and control method for a quadruped walking robot are derived. The proposed controller, though it is simple, provides a useful framework for controlling a quadruped walking robot. In particular, introduciton of a new rhythmic pattern generator relieves the heavy computational burden because it does not need any computation on kinematics. Finally, the proposed method is validated via dynamic simulations and implementing in a quadruped walking robot, called AiDIN(Artificial Digitigrade for Natural Environment).

• 제어로봇시스템학회논문지
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• 제16권1호
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• pp.18-24
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• 2010

In this paper, we address an active ranging system based on laser structured light image for mobile robot application. Since the burdensome correspondence problem is avoidable, the structured light image processing has efficient computation in comparison with the conventional stereo image processing. By using a cylindrical lens in the laser generation, it is possible to convert a point laser into a stripe laser without motorized scan in the proposed system. In order to achieve robustness against environmental illumination noise, we propose an efficient integro-differential image processing algorithm. The proposed system has embedded image processing module and transmits distance data to reduce the computational burden in main control system.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 ITC-CSCC -3
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• pp.1487-1490
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• 2002

In this paper, a design methodology of fuzzy sliding mode control scheme for a hydraulic elevator controlled by inverter is presented. The proposed scheme uses a fuzzy sliding mode controller(FSMC), which is designed based on the similarity between the fuzzy logic control(FLC) and the sliding mode control(SMC). The proposed method has advantages that the stability and the robustness of the FLC are proved and ensured by the sliding mode control law, and the computation burden could be reduced greatly. The validity and the effectiveness of the proposed control method have been shown through the real world industrial application results.

• 대한전기학회논문지
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• 제43권3호
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• pp.363-371
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• 1994

This thesis investigates an expert system(ES) to propose fault restoration plan by utilizing tree search strategies. In order to cope with an extensive amount of data and frequent breaker switching operations in distribution systems, the database of system configuration is constructed by using binary trees. This remarkably enhances the efficiency of search algorithm and makes the proposed ES easily adaptable to system changes due to switching operations. The rule-base is established to fully utilize the meris of tree-structured database. The inferring strategy is developed mainly based on the best-first search algorithm to increase computation efficiency. The proposed ES has been implemented to efficiently deal with large distribution systems by reducing computational burden remarkably compared with the conventional ES's.

• 제어로봇시스템학회논문지
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• 제7권12호
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• pp.993-1000
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• 2001

Configuration-dependent nonlinear coefficient matrices in the dynamic equation of robot manipulator impose computa- tional burden in real-time implementation of tracking control based on the inverse dynamics controller. However, parallel manipulators such as Stewart platform have relatively small workspace compared to serial manipulators. Based on the characteristics of small motion range. nonlinear coefficient matrices can be approxiamted to constant ones. The modeling errors caused by such approximation are compensated for by H-infinity controller that treats the modeling errors disturbance. The proposed inverse dynamics controller with approximate dynamics combined with H-infinity control shows good tracking performance even for fast tracking control in which computation of full inverse dynamics is not easy to implement.

• 제어로봇시스템학회논문지
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• 제6권1호
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• pp.8-14
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• 2000

In this paper, three adaptive sliding mode control algorithms, which self-tune both the sliding mode gain and the boundary layer thickness, are proposed. The first algorithm uses a gain adaptation rule is combined with the boundary layer thickness adaptatioin rule to satisfy the sliding condition. In the third algorithm, the computation burden of the second algorithm is reduced further, and therefore no extra cost is required for real-time implementation. Due to the mixed sliding mode gain and the boundary layer thickness adaptation scheme, the tracking error and the chattering of the control input can be reduced greatly.

• Korean Journal of Geomatics
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• 제4권2호
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• pp.53-57
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• 2004

Due to the traffic congestion and public-oriented transportation policies of Seoul, public transportation is receiving attention and being used increasingly. However, current transport routes configuration is showing unbalanced accessibility throughout the city area creating differences in time, expenses and metal burden of users who travel the same distances. One of the reasons is that transport route planning has been partially empirical and non-quantitative tasks due to lack of relevant methods for assessing the complexity of the transport routes. This paper presents a method to compute the connectivity of public transport system based on the topological structure of the network of transport routes. The main methodological issue starts from the fact that the more transfers take place, the deeper the connectivity becomes making that area evaluated as less advantageous as for public transport accessibility. By computing the connectivity of each bus or subway station with all others in a city, we can quantify the differences in the serviceability of city areas based on the public transportation. This paper is based on the topological interpretation of the routes network and suggests an algorithm that can automate the computation process. The process is illustrated using a simple artificial network data built in a GIS.

• 대한전기학회논문지
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• 제39권5호
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• pp.470-477
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• 1990

Singh's multi-level method is extended to the optimal tracking control of a large interconnected dynamical system which has coupled states and coupled inputs. The steady-state tracking error and a convergence condition for the extended multi-level method are derived analytically and the results show that the steady-state tracking error and a convergence rate have to be compromised. Also, a new multi-level method which is advantageous over the Singh's method in steady-state tracking error and computational burden is proposed by introducing nominal inputs into the performance index. The resulting feedback gain matrix and the compensation vector are optimal for all initial conditions so that eventual on-line computation is minimal.