• Journal of Electrical Engineering and Technology
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• 제8권3호
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• pp.453-463
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• 2013

The probabilistic nature of renewable energy, especially wind energy, increases the needs for new forms of planning and operating with electrical power. This paper presents a novel approach for determining the short-term generation schedule for optimal operations of wind energy-integrated power systems. The proposed probabilistic security-constrained optimal power flow (P-SCOPF) considers dispatch, network, and security constraints in pre- and post-contingency states. The method considers two sources of uncertainty: power demand and wind speed. The power demand is assumed to follow a normal distribution, while the correlated wind speed is modeled by the Weibull distribution. A Monte Carlo simulation is used to choose input variables of power demand and wind speed from their probability distribution functions. Then, P-SCOPF can be applied to the input variables. This approach was tested on a modified IEEE 30-bus system with two wind farms. The results show that the proposed approach provides information on power system economics, security, and environmental parameters to enable better decision-making by system operators.

• 한국산업정보학회논문지
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• 제11권3호
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• pp.20-33
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• 2006

본 논문은 수출입 컨테이너 화물의 국제물류에 대한 최적의 복합운송 경로를 도출하기 위한 동적 프로그램 알고리즘을 제시한다. 현재 3자물류 시장의 급부상, 운송업계의 경쟁가열화, 운송경로의 다양화 및 글로벌화가 추구되면서 복합운송을 고려한 수송계획의 효율화가 필요한 실정이다. 그러므로 2가지 이상의 운송수단을 이용하는 복합운송의 특징을 살펴보고, 운송비용과 운송시간을 고려한 WCSPP(Weighted Constrained Shortest Path Problem) 모형을 제시한다. 본 모형을 통해 도출된 목적함수 결과 값를 이용하여 실행가능영역을 설정한 뒤 동적 프로그래밍(Dynamic Programming)중 하나인 Label Setting 알고리즘을 응용하여 두 가지 목적함수를 동시에 만족할 수 있는 파레토 최적해를 도출하였다. 또한 본 알고리즘의 성능을 향상시키기 위해 가지치기 규칙을 함께 제안한다. 본 알고리즘을 부산에서 출발하여 로테르담까지 도착하는 실제 운송경로에 적용하였으며, 기존의 단일운송수단 경로와 비교해 봄으로써 운송비용 및 운송시간의 절감효과를 정량적으로 측정하였다.

• 유통과학연구
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• 제13권3호
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• pp.69-77
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• 2015

Purpose - The purpose of this study is to examine whether the cash policies of retail firms listed on Korean stock markets are consistent with the evidence provided in the study of Almeida et al. (2004). Liquidity management is an important issue for financially constrained firms relative to financially unconstrained firms. Because there are few sources of external funding, the optimal liquidity policies of financially constrained firms should reflect their own earnings or cash inflows to create opportunities for current and future real investments. According to this simple idea, we estimate the sensitivity of cash to cash flows and simply check whether the estimated sensitivity to cash flows of the cash retained by constrained retail firms is greater than that of the cash retained by unconstrained retail firms. Through this work, we aim to explain why the cash policies of the retail firms listed on the Korean stock markets differ from those of listed manufacturing enterprises. Research design, data, and methodology - To explain a firm's cash holdings, we use only three explanatory variables: earnings before interest and taxes (EBIT), Tobin's q, and size. All the variables are defined as the value of the numerator divided by aggregate assets. Thanks to this definition, it is possible to treat all the sample firms as a single large firm. The sample financial data for this study are collected from the retail enterprises listed on the KOSPI and KOSDAQ markets from 1991 to 2013. We can obtain these data from WISEfn, the financial information company. This study's methodology has its origin in Keynes's simple idea of precautionary liquidity demand: When a firm faces financial constraints, cash savings from earnings or cash inflows become important from the corporate finance perspective. Following this simple idea, Almeida et al. (2004) developed their theoretical model and found empirical evidence that the sensitivity of cash to cash flows varies systematically according to different types of financing frictions. To find more empirical evidence for this idea, we examined the cash flow sensitivity of the cash held by Korean retail firms. Results - Through several robustness tests, we empirically showed that financially constrained Korean retail firms display significant positive propensity to save cash from earnings before interest and taxes, while the estimated cash flow sensitivity of the cash held by unconstrained retail firms is not significant. Despite the relatively low earnings of retail firms, their sensitivity is three times greater than that of manufacturing enterprises. This implies that Korean retail firms have greater intentions of facilitating future investments rather than current investments. Conclusions - The characteristics of the cash policies of Korean retail firms differ from those of manufacturing firms. This contrast may be attributable to industry-oriented policy planning, regulations, and institutional differences. However, the industrial policymakers should observe signals of the long-term growth options of retail firms based on their high propensity to save from their cash inflows.

• 전자공학회논문지SC
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• 제43권3호
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• pp.31-40
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• 2006

이동로봇의 경로 설정과 장애물 회피에 관한 문제는 이동로봇을 제어하기 위한 기본적인 문제로서 지금까지 많은 연구가 진행되어 오고 있다. 다양한 센서들로부터 얻어진 정보는 로봇이 진행하기 위한 경로에 대한 결정과 장애물에 대한 정보를 제공해준다. 제한 조건이 존재하는 경우에서 그 상황에 알맞은 방법들이 대부분이며, 다른 상황을 해결하기에는 어려움이 있다. 또한, 최적화된 경로에 대한 좋은 결과를 만들기 위해서는 복잡한 계산 과정을 통해서 시간 지연이 발생하게 된다. 이와 같은 처리 방법은 움직이는 장애물의 회피와 같이 빠른 처리를 필요로 하는 상황에서 단점으로 작용한다. 본 논문에서는 장애물과 이동 가능한 경로들의 영역을 작은 영역들이 분포하는 공간으로 변형하고 이와 같이 구성된 공간에서 밀도와 연결 상태를 통해 이동 로봇이 진행 할 수 있는 최단 경로를 결정한다. 제안된 방법을 통해 작은 영역들은 자신의 번호를 가지게 되며, 주변 영역들의 개수를 통해 이동 경로를 결정하게 된다.

• 한국정밀공학회지
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• 제21권4호
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• pp.120-131
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• 2004

In this paper, we propose the method of a motion planning generation in which the movement of the 3-link leg subsystem is constrained to a slider-link and a singular posture can be easily avoided. The proposed method is the jumping control moving in vertical direction which mimics a cat's behavior. That is, it is jumping toward wall and kicking it to get a higher-place. Considering the movement from the point of constraint mechanical system, the robotic system which realizes the motion changes its configuration according to the position and it has several phases such as; ⅰ) an one-leg phase, ⅱ) in an air-phase. In other words, the system is under nonholonomic constraint due to the reservation of its momentum. Especially, in an air-phase, we will use a control method using state transformation and linearization in order to control the landing posture. Also, an iterative learning control algorithm is applied in order to improve the robustness of the control. The simulation results for jumping control will illustrate the effectiveness of the proposed control method.

• 대한기계학회논문집
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• 제17권2호
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• pp.267-276
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• 1993

본 연구에서는 우선 네트워크의 기본 이론을 소개하고, 이를 바탕으로 로봇의 궤적계획에 이용하기 위한 변수, 구속조건, 에너지를 정의하며, 네트워크가 국부적 최 소 상태에 빠지는 것을 방지하기 위하여 Temperature Adding을 이용한 적절한 가중치 조절로 작업 공간상에 장애물이 정지하고 있는 경우와 장애물이 움직이는 경우, 같은 작업 공간상에서 동시에 움직이는 두 대의 로봇들의 충돌회피문제 등 여러 종류의 궤 적 계획 문제에 적용시켜 보고자 한다. 이와같이 궤적계획 문제를 신경회로를 이용 하여 다루게 되면, 신경회로망의 링크수나 장애물의 변화등 상황의 변화에 따르는 복 잡한 모델링 전개가 필요 없어지고, 여유 자유도를 가지는 경우에도 별도의 성능지수 를 위한 인위적인 조작을 요구하는 알고리즘의 개발이 필요없이 스스로가 최소의 에너 지 상태를 찾아가게 되며, 병렬실(parallel processing) 계산방식으로 각 링크의 위치 를 동시에 구할 수 있게 되어 실시간 제어의 가능성을 제시하여 준다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제14권8호
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• pp.3270-3294
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• 2020

Some things come easily to humans, one of them is the ability to navigate around. This capability of navigation suffers significantly in case of partial or complete blindness, restricting life activity. Advances in the technological landscape have given way to new solutions aiding navigation for the visually impaired. In this paper, we analyze the existing works and identify the challenges of path selection, context awareness, obstacle detection/identification and integration of visual and nonvisual information associated with real-time assisted mobility. In the process, we explore machine learning approaches for robotic path planning, multi constrained optimal path computation and sensor based wearable assistive devices for the visually impaired. It is observed that the solution to problem is complex and computationally intensive and significant effort is required towards the development of richer and comfortable paths for safe and smooth navigation of visually impaired people. We cannot overlook to explore more effective strategies of acquiring surrounding information towards autonomous mobility.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.195-204
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• 2003

Network optimization is being increasingly important and fundamental issue in the fields such as engineering, computer science, operations research, transportation, telecommunication, decision support systems, manufacturing, and airline scheduling. Networks provide a useful way to modeling real world problems and are extensively used in practice. Many real world applications impose on more complex issues, such as, complex structure, complex constraints, and multiple objects to be handled simultaneously and make the problem intractable to the traditional approaches. Recent advances in evolutionary computation have made it possible to solve such practical network optimization problems. The invited talk introduces a thorough treatment of evolutionary approaches, i.e., hybrid genetic algorithms approach to network optimization problems, such as, fixed charge transportation problem, minimum cost and maximum flow problem, minimum spanning tree problem, multiple project scheduling problems, scheduling problem in FMS.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 A
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• pp.390-391
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• 2006

The economic dispatch problem is important in both power system planning and operation, although there have been major advances in defining and solving more complete Optimal Power Flow(OPF) problems, there exists a need for constrained economic dispatch techniques which, though not as rigorous or as exact an OPF, are fast enough to be used on desktop computers. This paper presents a DC-OPF algorithm that is based upon Relative-Contribution Index in Generators. The transmission constraints are modeled as linear constraint based on a DC-Power-Flow model. An detailed illustrative example is presented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.530-533
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• 1995

This paper deals with the problem of motion planning for a unicycle-like robot. We present a simple local planner for unicycle model, based on an approximation of the desired configuration generated by local holonomic planner that ignores motion constraints. To guarantee a collision avoidance, we propose an inequality constraint, based on the motion analysis with the constant control input and time interval. Consequently, we formulate our problem as the constrained optimization problem and a feedback scheme based on local sensor information is established by simply solving this problem. Through simulations, we confirm the validity and effectiveness of our algorithm.