• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.9
• /
• pp.891-897
• /
• 2010

This paper proposes a cooperative control algorithm for a dual-arms robot which is carrying an object to the desired location. When the dual-arms robot is carrying an object from the start to the goal point, the optimal path in terms of safety, energy, and time needs to be selected among the numerous possible paths. In order to quantify the carrying efficiency of dual-arms, DAMM (Dual Arm Manipulability Measure) has been defined and applied for the decision of the optimal path. The DAMM is defined as the intersection of the manipulability ellipsoids of the dual-arms, while the manipulability measure indicates a relationship between the joint velocity and the Cartesian velocity for each arm. The cost function for achieving the optimal path is defined as the summation of the distance to the goal and inverse of this DAMM, which aims to generate the efficient motion to the goal. It is confirmed that the optimal path planning keeps higher manipulability through the short distance path by using computer simulation. To show the effectiveness of this cooperative control algorithm experimentally, a 5-DOF dual-arm robot with distributed controllers for synchronization control has been developed and used for the experiments.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.30 no.3 s.246
• /
• pp.334-341
• /
• 2006

A solid freeform fabrication (SFF) system using selective laser sintering (SLS) is currently recognized as a leading process and the SLS extends the applications to machinery and automobiles due to various employing materials. In order to fabricate a large part with SFF system, dual laser approach has been introduced. Since the building room is divided into two regions, each scan path for dual laser system is generated based on the single laser scan path. Scan paths for each laser have to be synchronized and consider mechanical strength against fracture at the interfaced region. This paper will address generation of single laser scan path which deals with special cases for unnecessary scan points and generation of dual laser scan path according to various divided regions to enhance mechanical strength. To evaluate the developed scan path method, the specimen will be fabricated and evaluated.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2000.04a
• /
• pp.176-181
• /
• 2000

Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

• Journal of the Korean Operations Research and Management Science Society
• /
• v.26 no.3
• /
• pp.79-94
• /
• 2001

This paper presents a new algorithm for the K shortest paths Problem which develops initial K shortest paths, and repeat to expose hidden shortest paths with dual approach and to replace the longest path in the present K paths. The initial solution comprises K shortest paths among shortest paths to traverse each arc in a Double Shortest Arborescence which is made from bidirectional Dijkstra algorithm. When a crossing node that have two or more inward arcs is found at least three time by turns in this K shortest paths, there may be some hidden paths which are shorter than present k-th path. To expose a hidden shortest path, one inward arc of this crossing node is chose by means of minimum detouring distance calculated with dual variables, and then the hidden shortest path is exposed with joining a detouring subpath from source to this inward arc and a spur of a feasible path from this crossing node to sink. If this exposed path is shorter than the k-th path, the exposed path replaces the k-th path. This algorithm requires worst case time complexity of O(Kn$^2$), and O(n$^2$) in the case k$\leq$3.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2001.04a
• /
• pp.244-249
• /
• 2001

Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. Path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2000.10a
• /
• pp.113-118
• /
• 2000

Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. Path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

• Journal of the Korea Society of Computer and Information
• /
• v.14 no.7
• /
• pp.57-64
• /
• 2009

Based on this article, I have analyzed the OFDM system which applies three types of equalizer forms in the two-path channel of the microwave baseband. The Two-path channel of microwave baseband had been simulated through the Rummler channel. In the Two-path channel, the OFDM system which has three forms of equalizer has been analyzed and the result is, equalizer 1-tab has great improvement in efficiency compared with Pre-FFT 11-tab which has noise power ratio less than 18dB. On the contrary, if the symbol energy to the noise ratio is more than 18dB, the equalizer which applies Pre-FFT 11-tab has greater efficiency compared to the equalizer which applies 1-tab frequency. Last but not least, the OFDM system which applies Dual equalizer has better efficiency compared to the system which has 1-tab frequency and equalizer which applies Pre-FFT 11-tab.

• Proceedings of the KIPE Conference
• /
• 2007.07a
• /
• pp.159-162
• /
• 2007

Comparative study on a low cost sustaining driver with single and dual path energy recovery circuits for plasma display panels (PDPs) is shown in this paper. The cost of PDPs has been still high and about half of the cost has been occupied by driving circuit. A simple sustaining driver is proposed to reduce the cost and size of driving circuit. The proposed driver has small number of devices and reactive components and there are two methods for charging and discharging PDPs such as single and dual path energy recovery circuits. A comparative research on two-types of energy recovery path is practiced to evaluate performance. As a result, the dual energy recovery path circuit has low power consumption, low surge current and high performance. To verify those results, experiment will be shown with 42-inch HD panel.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2009.10a
• /
• pp.165-166
• /
• 2009

• Proceedings of the Korean Information Science Society Conference
• /
• 2003.10c
• /
• pp.400-402
• /
• 2003

Ad­hoc Network는 Mobile Node들 간에 Multi­hop 무선 링크로 구성되는 Network을 일컫는 말이며, 동시에 Network를 통제하는 Infrastructure없이 Node들 간의 상호 통신에 의해서 Network이 구성되기도 하고, Node들이 이동하거나 환경적인 장애에 의해서 일시적으로 Network이 구성되지 않기도 한다. 이 논문에서는 대표적인 On­demand Routing Algorithm인 DSR를 이용하여, 두 개의 경로를 유지하여 Primary Path에 문제가 발생하는 경우, Secondary Path가 Primary Path로 전환되어 Data를 전송하고, 이 전 Primary Path에 대하여 지역적으로 복구(Repair)를 수행하고, 설정된 Secondary Path에 대해서도 특정한 조건에서 복구작업을 수행함으로써 Ad­hoc Network에서 경로를 찾고 설정하는데 필요한 Routing Overhead를 줄이고 Ad­hoc Network의 특성상 반드시 보완하여야 하는 전송 Route에 대한 Robustness를 강화하는 방법이다.