• Proceedings of the Korean Operations and Management Science Society Conference
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• 1993.04a
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• pp.19-19
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• 1993

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.8
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• pp.585-593
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• 2004

Fault-tolerant gait planning in legged locomotion is to design gaits with which legged robots can maintain static stability and motion continuity against a failure in a leg. For planning a robust and deadlock-free fault-tolerant gait, kinematic constraints caused by a failed leg should be closely examined with respect to remaining mobility of the leg. In this paper, based on the authors's previous results, deadlock avoidance scheme for fault-tolerant gait planning is proposed for a hexapod robot walking over even terrain. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. It is shown that for guaranteeing the existence of the previously proposed fault-tolerant tripod gait of a hexapod robot, the configuration of the failed leg must be within a range of kinematic constraints. Then, for coping with failure situations where the existence condition is not satisfied, the previous fault-tolerant tripod gait is improved by including the adjustment of the foot trajectory. The foot trajectory adjustment procedure is analytically derived to show that it can help the fault-tolerant gait avoid deadlock resulting from the kinematic constraint and does not make any harmful effect on gait mobility. The post-failure walking problem of a hexapod robot with the normal tripod gait is addressed as a case study to show the effectiveness of the proposed scheme.

• Journal of Internet Computing and Services
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• v.7 no.6
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• pp.79-86
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• 2006

Many of concurrency control for client-sewer database systems have been proposed and studied in the literature. However, commonly known schemes do not manage to the case of dramatic changes in data contention because the data contention of database systems is changed for each cases. In this paper, we propose o hybrid concurrency control. The proposed scheme uses a optimistic scheme for the first-run transactions and a pessimistic scheme for the second-run transactions. By pre-claiming locks in the second phase, deadlocks which ore possible in pessimistic based concurrency control are prevented in our approach. In addition, the scheme ensures at most one re-execution even if the validation in the optimistic phase fails. By a detailed simulation, this paper examines the behaviors of the Distributed Optimistic Concurrency Control and the proposed scheme. The simulation study shows our scheme outperforms Distributed Optimistic Concurrency Control in our experimental result.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.4
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• pp.246-257
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• 2004

This paper proposes two contributions. One is an analysis for the limit of the subject of goal-directed reactive robot navigation, and the other is an effective navigation method employing the scheme of the subject. The analysis for the subject is presented in order to clarify the limit of the method. On the basis of the analysis, a safety-guaranteeing and deadlock-free reactive navigation method is newly proposed. The proposed method has a simple behavior-based frame such that it can make the required navigation tasks such as obstacle avoidance, deadlock resolving, and etc. with a very small set of behaviors in entirely unknown environments such as a living room, an office, and etc. Some results of experiments show these validities.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.82-87
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• 1993

A supervisory controller design technique for multiple-AGV systems is presented in this paper. The guidepath is represented in the form of a network, and its modifications are easily tested. The network has two-layered structure, where the path sets between each two nodes are made in advance using the K-shortest path algorithm. Occupation times for all links are stored in link-occupation table, and are updated after the dispatching time. Dispatching and scheduling for each AGV are optimized in terms of minimum-time objectives. In all times, the paths are guaranteed to be conflict-free and deadlock-free. The simplicity and flexibility on this control scheme make the supervisory suitable for real applications.