• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.382-387
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• 1992

In order to obtain desired arc welding performance, we already developed an arc welding robot system that enabled coordinated motions of dual arm robots. In this system one robot arm holds a welding target as a positioning device, and the other robot moves the welding torch. Concerning to such a dual arm robot system, the positioning accuracy of robots is one important problem, since nowadays conventional industrial robots unfortunately don't have enough absolute accuracy in position. In order to cope with this problem, our robot system employed teaching playback method, where absolute error are compensated by the operator's visual feedback. Due to this system, an ideal arc welding considering the posture of the welding target and the directions of the gravity has become possible. Another problem still remains, while we developed an original teaching method of the dual arm robots with coordinated motions. The problem is that manual teaching tasks are still tedious since they need fine movements with intensive attentions. Therefore, we developed a 3-dimensional vision guided robot control method for our welding robot system with coordinated motions. In this paper we show our 3-dimensional vision sensor to guide our arc welding robot system with coordinated motions. A sensing device is compactly designed and is mounted on the tip of the arc welding robot. The sensor detects the 3-dimensional shape of groove on the target work which needs to be weld. And the welding robot is controlled to trace the grooves with accuracy. The principle of the 3-dimensional measurement is depend on the slit-ray projection method. In order to realize a slit-ray projection method, two laser slit-ray projectors and one CCD TV camera are compactly mounted. Tactful image processing enabled 3-dimensional data processing without suffering from disturbance lights. The 3-dimensional information of the target groove is combined with the rough teaching data they are given by the operator in advance. Therefore, the teaching tasks are simplified

• The Journal of Information Technology
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• v.3 no.2
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• pp.73-85
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• 2000

The efficient algorithms are suggested in this study for solving the multicommodity network flow problems applied to Communications Systems. These problems are typical NP-complete optimization problems that require integer solution and in which the computational complexity increases numerically in appropriate with the problem size. Although the suggested algorithms are not absolutely optimal, they are developed for computationally efficient and produce near-optimal and primal integral solutions. We supplement the traditional Lagrangian method with a price-directive decomposition. It proceeded as follows. First, A primal heuristic from which good initial feasible solutions can be obtained is developed. Second, the dual is initialized using marginal values from the primal heuristic. Generally, the Lagrangian optimization is conducted from a naive dual solution which is set as ${\lambda}=0$. The dual optimization converged very slowly because these values have sort of gaps from the optimum. Better dual solutions improve the primal solution, and better primal bounds improve the step size used by the dual optimization. Third, a limitation that the Lagrangian decomposition approach has Is dealt with. Because this method is dual based, the solution need not converge to the optimal solution in the multicommodity network problem. So as to adjust relaxed solution to a feasible one, we made efficient re-allocation heuristic. In addition, the computational performances of various versions of the developed algorithms are compared and evaluated. First, commercial LP software, LINGO 4.0 extended version for LINDO system is utilized for the purpose of implementation that is robust and efficient. Tested problem sets are generated randomly Numerical results on randomly generated examples demonstrate that our algorithm is near-optimal (< 2% from the optimum) and has a quite computational efficiency.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.36 no.9
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• pp.609-615
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• 1987

The optimal operation of power system is developed by alternately using real power dispatch and reactive power dispatch problem. The real power system scheduling process is formulated as an optimization problem with linear inequality constraints. A.C. loadflow method is used for the problem solution and line losses are considered. The constraints under consideration are generator power limits, load scehdling limits and line capacity limits. In solving the objective function the Dual Relaxation method is adopted. Tests indicate that the method is practical for real time application. The reactive power control problem uses the Dual Simplex Relaxation method as in the real scheduling case. Insted of minimizing the cost of power system, the objective is selected as to determine the highest possible voltage schedule. The constraints under consideration are the voltage limits at each node and the possibilities of supply or absobtion of reactive energy by generator units and the compensation facilities. Tests indicate that the method is practical for real time applications. The overall optimization methods developed in this paper proved to obtained fine results in minimizing object function compared with the method without using voltage control. And the overall voltage profiles were also improved.

• Journal of the Korean Operations Research and Management Science Society
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• v.27 no.2
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• pp.153-171
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• 2002

In this paper, we present an efficient pricing strategy, the pivot and probe Algorithm for Network Flow Problems(PAPANET), specifically for solving capacitated, linear network flow problem (NPs). The PAPANET begins with an initial relaxed network problem(RNP), consisting of all the nodes and initial candidate arcs(possibly a few least cost arcs form the original problem and a set of all the artificial and slack arcs). After an initial solution to the RNP is derived by pivoting, the PROBE procedure identifies a set of most violated arcs from the noncandidate arcs that are not considered to be in the current RNP, and adds them to the RNP. The procedure also discards a set of least favorable, zero flow, nonbasic arcs from the RNP. The new RNP is solved to optimality and the procedure continues until all of the dual constraints of the noncandidate arcs are satisfied by the dual solution to the RNP. The PAPANET effectively reduces the problem size, time per pivot, and solution CPU time by eliminating noncandidate arcs. Computational tests on randomly generated problems indicate that PAPANET achieves and average savings of 50-80% of the solution CPU time of that of a comparable standard network simplex implementation.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.23 no.10
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• pp.909-919
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• 2013

Pneumatic exciters can be good replacements of electrodynamic, piezoelectric and hydraulic exciters owing to simple structure and large exciting force. One problem to be solved is a slow response caused by compressibility of air. Desirable frequency response characteristics of exciter are constant magnitude and zero degree phase, because users want no time delay between input signal and output force. For this reason, frequency range of pneumatic exciters is limited about 0~1 Hz. Therefore, expansion of frequency range is an important issue when designing the pneumatic exciter. In this paper, the pneumatic exciter which has same structure with active pneumatic isolator is dealt with. The dynamic characteristics are presented, and its limitation of expanding frequency range is shown based on analytical studies. Then the pneumatic exciter with dual-chamber is suggested to overcome this problem. Based on simulation study, a design method is presented.

• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.100-106
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• 2020

In the agricultural field, interests in research using robots for fruit harvesting are continuously increasing. Dual arm manipulators are promising because of its abilities like task-distribution and role-sharing. To operate it efficiently, the task sequence must be planned adequately. In our previous study, a collision-free path planning method based on a genetic algorithm is proposed for dual arm manipulators doing tasks cooperatively. However, in order to simplify the complicated collision-check problem, the movement between tasks of two robots should be synchronized, and thus there is a problem that the robots must wait and resume their movement. In this paper, we propose a heuristic algorithm that can reduce the total time of the optimal solution obtained by using the previously proposed genetic algorithm. It iteratively desynchronizes the task sequence of two robots and reduces the waiting time. For evaluation, the proposed algorithm is applied to the same work as the previous study. As a result, we can obtain a faster solution having 22.57 s than that of the previous study having 24.081 s. It will be further studied to apply the proposed algorithm to the fruit harvesting.

• Korean Journal of Child Studies
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• v.38 no.2
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• pp.51-66
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• 2017

Objective: This study aimed to examine the dual mediating effects of preschoolers' emotional temperament and emotion regulation in the relationship between maternal emotional expression and preschoolers' behavior problems. Methods: The participants included 167 preschoolers and their mothers from Daegu city and Gyeonsang province. The mothers completed questionnaires regarding their own emotional expression, children's temperament, emotion regulation, and behavior problems. Results: The primary results of this study were as follows. First, there were significant correlations among maternal emotional expression, preschoolers' emotional temperament, emotion regulation, and problem behaviors. Second, maternal emotional expression had an indirect effect on preschoolers' behavior problems through preschoolers' emotional temperament and emotion regulation. Conclusion: This study revealed that maternal negative emotional expression and preschoolers' temperament and emotion regulation need to be considered simultaneously to explain the level of preschoolers' behavior problems. More specifically, the results highlight the dual mediating effects of preschoolers' temperament and emotion regulation in the relationship between maternal negative emotional expression and preschoolers' behavior problems.

• Journal of Power Electronics
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• v.18 no.3
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• pp.662-671
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• 2018

This paper presents a new structure for a step up dc-dc converter, which has several advantageous features. Firstly, the input dc source and the clamped capacitor are connected in series to transfer energy to the load through dual voltage multiplier cells. Therefore, the proposed converter can produce a very high voltage and a high conversion efficiency. Secondly, a double voltage clamped circuit is introduced to the primary side of the coupled inductor. The energy of the leakage inductance of the coupled inductor is recycled and the inrush current problem of the clamped circuits can be shared equally by two synchronous clamped capacitors. Therefore, the voltage spike of the switch tube is solved and the current stress of the diode is reduced. Thirdly, dual voltage multiplier cells can absorb the leakage inductance energy of the secondary side of the coupled inductor to obtain a higher efficiency. Fourthly, the active switch turns on at almost zero current and the reverse-recovery problem of the diodes is alleviated due to the leakage inductance, which further improves the conversion efficiency. The operating principles and a steady-state analysis of the continuous, discontinuous and boundary conduction modes are discussed in detail. Finally, the validity of this topology is confirmed by experimental results.

• Journal of Power Electronics
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• v.18 no.1
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• pp.45-55
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• 2018

It is usually difficult for dual-active-bridge (DAB) dc-dc converters to operate efficiently at light loads. This paper presents an in-depth analysis of a DAB with triple-phase-shift (TPS) control under the light load condition to overcome this problem. A kind of operating mode which is suitable for light load operation is analyzed in this paper. First, an analysis of the zero-voltage-switching (ZVS) constraints for the DAB converter has been carried out and a reasonable dead-band setting method has been proposed. Secondly, the basic operating characteristics of the converter are analyzed. Third, under the condition of satisfying the ZVS constraints, both the reactive power and the root mean square (RMS) value of the current are simultaneously minimized and a particle swarm optimization (PSO) algorithm is employed to analyze and solve this optimization problem. Lastly, both simulations and experiments are carried out to verify the effectiveness of the proposed method. The experimental results show that the converter can effectively achieve ZVS and improved efficiency.

• Journal of Korea Multimedia Society
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• v.7 no.6
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• pp.791-797
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• 2004

We proposed a novel digital video watermarking that embeds dual watermarks in the block DCT domain to solve the deadlock problem. Daul watermarks are composed of private watermarks and robust blind watermarks. Firstly, private watermarks are embedded into the lowest AC coefficients of the P or B-frames in accordance with the motion direction gained from a previous frame. Secondly, blind watermarks that have the robustness are inserted into the DC coefficients of the I-frames using a private key made from temporal I-frame motion information. Thus, when a deadlock situation occurs, the proposed algorithm can efficiently solve the problem. Experimental results confirmed that the proposed algorithm can produce good subjective and objective results for MPEG coding with a variety of bit rates. Furthermore, the proposed watermarking algorithm can potentially be applied to broadcasting monitoring systems due to its simplicity and high robustness.