• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.311-311
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• 2000

We propose a DP-based formulation for matching line patterns by defining a robust and stable geometric representation that is based on the conceptual organizations. Usually, the endpoint proximity and collinearity of image lines, as two main conceptual organization groups, are useful cues to match the model shape in the scene. As the endpoint proximity, we detect junctions from image lines. We then search for junction groups by using geometric constraint between the junctions. A junction chain similar to the model chain is searched in the scene, based on a local comparison. A Dynamic Programming-based search algorithm reduces the time complexity for the search of the model chain in the scene. Our system can find a reasonable matching, although there exist severely distorted objects in the scene. We demonstrate the feasibility of the DP-based matching method using both synthetic and real images.

• Transactions of the Korean Society of Automotive Engineers
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• v.23 no.2
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• pp.239-245
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• 2015

In order to control the hybrid power system efficiently, the knowledge for the required load of the system is important. The agricultural tractor performs various farm works such as plow, rotary, and baler. When it performs rotary tillage and baler operation, the generated work load is analyzed. To analyze trend of work load, moving average technique is applied to the measurement data. Optimal control inputs for the two works are obtained from simulation using the dynamic programming. The novel fundamental control strategy for parallel hybrid tractor called Max. SOC is proposed.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.49 no.2
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• pp.153-160
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• 2013

Control allocation is an important part of a system. It implements the function that map the desired command forces from the controller into the commands of the different actuators. In this paper, the authors present an approach for solving constrained control allocation problem in vessel system by using multi-parametric quadratic programming (mp-QP) algorithm. The goal of mp-QP algorithm applied in this study is to compute a solution to minimize a quadratic performance index subject to linear equality and inequality constraints. The solution can be pre-computed off-line in the explicit form of a piecewise linear (PWL) function of the generalized forces and constrains. The efficiency of mp-QP approach is evaluated through a dynamic positioning simulation for a vessel by using four tugboats with constraints about limited pushing forces and found to work well.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.19 no.4
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• pp.417-428
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• 2015

Although, in general, the random fluctuation of interest rates gives a limited impact on portfolio optimization, their stochastic nature may exert a significant influence on the process of selecting the proportions of various assets to be held in a given portfolio when the stochastic volatility of risky assets is considered. The stochastic volatility covers a variety of known models to fit in with diverse economic environments. In this paper, an optimal strategy for portfolio selection as well as the smoothness properties of the relevant value function are studied with the dynamic programming method under a market model of both stochastic volatility and stochastic interest rates.

• Proceedings of the KIEE Conference
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• 1987.11a
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• pp.106-108
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• 1987

Until now, inflow has been handled an independent log-normal random variable in the problem of planning the long-term operation of a multi-reservoir hydrothermal electric power generation system. This paper introduces the detail study for making rule curve by applying weekly time interval for handling inflows. The hydro system model consists of a set of reservoirs and ponds. Thermal units are modeld by one equivalent thermal unit. Objective is minimizing the total cost that the summation of the fuel cost of equivalent thermal unit at each time interval. For optimization, stochastic dynamic programming(SDP) algorithm using successive approximations is used.

• Proceedings of the KIEE Conference
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• 2001.07a
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• pp.311-314
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• 2001

This paper describes the optimizing method of direct load control (DLC) considering unit commitment which is based on dynamic programming. To solve DLC problem considering unit commitment, 3-dimensional dynamic programming as a new unit commitment method is developed. And, energy payback is concerned for DLC. As a result, optimization of operating schedule with DLC is possible. This method is applied to the test system, and usefulness of the method is verified.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1997.11a
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• pp.259-262
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• 1997

This paper presents a visual servoing of RV-M2 robot manipulators to track and grasp moving object, using pruned dynamic recurrent neural networks(DRNN). The object is stationary in the robot work space and the robot is tracking and grasping the object by using CCD camera mounted on the end-effector. In order to optimize the structure of DRNN, we decide the node whether delete or add, by mutation probability, first in case of delete node, the node which have minimum sum of input weight is actually deleted, and then in case of add node, the weight is connected according to the number of case which added node can reach the other nodes. Using evolutionary programming(EP) that search the struture and weight of the DRNN, and evolution strategies(ES) which train the weight of neuron, we pruned the net structure of DRNN. We applied the DRNN to the Visual Servoing of a robot manipulators to control position and orientation of end-effector, and the validity and effectiveness of the pro osed control scheme will be verified by computer simulations.

• Proceedings of the Korean Society of Computer Information Conference
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• 2008.06a
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• pp.211-216
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• 2008

이 논문은 철근 가공 산업 현장에서 스프레드쉬트에 의해 수작업으로 행하던 절단 작업의 계획 수립을 자동화된 시스템에 의해 최적의 절단 계획을 생성하도록 하는 소프트웨어의 개발을 다룬다. 이를 위하여, 먼저 시스템의 데이터 표현과 최적 문제 풀이를 위한 자동 계획 알고리듬의 설계가 요구된다. 이것은 다중 규격의 1차원 자재 절단 문제를 푸는 것으로, 동적계획법에 근거하여 자재 절단 문제를 재구성하고, 유한 범위의 조합 열에서도 근사 최적의 해를 찾을 수 있는 탐색 기법을 사용한 자재 절단 계획 알고리듬을 사용하였다. 그리고, 자동화된 철근 가공 산업용 소프트웨어는 작업 환경에 맞게 사용이 편리한 그래픽 화면과 사용자 인터페이스가 요구되는데, 공개 소프트웨어를 활용한 GUI 라이브러리 툴킷인 GTK+를 활용하여 이를 구현하였다.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.3
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• pp.199-205
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• 2011

This paper presents an algorithm capable of detecting free space for the autonomous vehicle navigation. The algorithm consists of two main steps: 1) estimation of longitudinal profile of road, 2) detection of free space. The estimation of longitudinal profile of road is detection of v-line in v-disparity image which is corresponded to road slope, using v-disparity image and hough transform, Dijkstra algorithm. To detect free space, we detect u-line in u-disparity image which is a boundary line between free space and obstacle's region, using u-disparity image and dynamic programming. Free space is decided by detected v-line and u-line. The proposed algorithm is proven to be successful through experiments under various traffic scenarios.

• IE interfaces
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• v.9 no.3
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• pp.202-213
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• 1996

Video-on-demand is an interactive service that provides programs (movie, home shopping, etc.) to users connected to a network. This service will require high bandwidth network and video servers with a large amount of storage capacity. From the viewpoint of system analysis, there are optimization problems to be solved. In this paper, we present a dynamic programming method for allocating the storage for programs being served in a multi-level video-on-demand network. In the optimization of the network resource, we consider the three kinds of costs: installation cost for video servers, program storage cost, and transmission (or communication) cost. The factors related to the costs are investigated. An example is shown to illustrate the proposed method.