• 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.

• 대한전자공학회논문지TC
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• 제40권12호
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• pp.27-37
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• 2003

다양한 실시간 멀티미디어 서비스들을 전송하는 DWDM(Dense-Wavelength Division Multiplexing) 기반의 차세대 인터넷에서는 DWDM망의 다양한 QoS(Quality of Service) 파라미터들을 복합적으로 고려하는 QoS RWA(Routing and Wavelength Assignment) 방식으로의 접근이 요구되어진다. 그러나 일반적으로 다중 제약조건을 만족하는 최적의 경로를 찾는 것은 NP-complete한 문제로서, 파장 연속성가지 고려해야 하는 DWDM 망에서는 QoS RWA 분야에 대한 연구가 아직 미비한 실정이다. 따라서 본 논문에서는 QoS RWA 수행하기 위한 방안으로 flooding 기법을 확장하여 경로 설정에 대한 계산과 구현을 간소화시킨 QPR(Qualified Path Routing) 알고리즘을 제안한다. 또한 QPR 알고리즘을 기반으로 광신호 품질, 광자원(파장), 생존성 및 파장 연속성까지 고려하여 차등적인 QoS 지원하는 QoS-based RWA 알고리즘을 제안하며, 블록률, 라우팅 오버헤드 및 생존성 측면의 성능 평가를 통해 제안된 알고리즘들의 효율성을 검증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1387-1391
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• 2003

The fundamental aim of this paper is to present a solution algorithm to achieve cooperative contour controlling, under joint acceleration constraint with maximum cooperative speed. Usually, the specifications like maximum velocity of cooperative trajectory are determined by the application itself. In resolving the cooperative trajectory into two complementary trajectories, an optimum task resolving strategy is employed so that the task assignment for each robot is fair under the joint acceleration constraint. The proposed algorithm of being an off-line technique, this could be effectively and conveniently extended to the existing servo control systems irrespective of the computational power of the controller implemented. Further, neither a change in hardware setup nor considerable reconfiguration of the existing system is required in adopting this technique. A simulation study has been carried out to verify that the proposed method can be realized in the generation of complementary trajectories so that they could meet the stipulated constraints in simultaneous maneuvering.

• 한국정보통신학회논문지
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• 제13권9호
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• pp.1851-1857
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• 2009

본 논문은 소모 전력 계산을 위해 회로를 구현하고자 FPGA 기술 매핑을 위한 소모 전력을 고려한 재사용 모듈 생성 알고리즘을 제안한다. 제안한 알고리즘은 FPGA 기술 매핑을 위해 사용되는 재사용 모듈에 대해 소모 전력을 고려하여 RT 라이브러리를 생성하는 알고리즘이다. 소모 전력 계산을 위해 회로를 구현하고자 하는 FPGA를 선정한다. 선정된 FPGA를 구성하고 있는 LUT의 조건을 고려하여 전체 소모 전력이 최소가 되도록 기술 매핑을 수행한다. 이러한 정보를 이용하여 할당된 결과의 모듈들 중에서 주어진 소모 전력에 맞는 모듈을 선정하여 회로를 구현한다.

• 제어로봇시스템학회논문지
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• 제20권3호
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• pp.235-244
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• 2014

This article introduces recent trends in RHC (Receding Horizon Control), also known as MPC (Model Predictive Control), that has been well recognized in industry and academy as a systematic approach for optimal design and constraint management. Constrained and robust RHCs will be briefly reviewed with milestone results. Among the diverse developments and achievements of RHCs, implementation issues will be focused on, together with the latest applications. In particular, this article introduces results on how to solve a finite horizon open-loop optimal control problem in an efficient way, together with code generation for real-time execution and easy implementation. Instead of traditional applications such as refineries and petrochemical plants, this article highlights some selected emerging applications, such as energy management systems and mechatronics, that have resulted from state-of-the-art high performance computing power and advanced numerical schemes.

• 한국언어정보학회지:언어와정보
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• 제19권1호
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• pp.19-36
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• 2015

Honorific agreement is one of the main properties in languages like Korean, playing a pivotal role in appropriate communication. This makes the deep processing of honorific information crucial in various computational applications such as spoken language translation and generation. This paper shows that departing from previous literature, an adequate analysis of Korean honorification needs to involve a system that has access not only to morpho-syntax but to semantics and pragmatics as well. Along these lines, this paper offers a constraint-based HPSG analysis of Korean honorification in which the enriched lexical information tightly interacts with syntactic, semantic, and pragmatic levels for the proper honorific system.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 추계학술대회논문집A
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• pp.699-704
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• 2000

The present paper deals with a multiobjective optimization method based on the co-evolutionary genetic strategy. The co-evolutionary strategy carries out the multiobjective optimization in such way that it optimizes individual objective function as compared with each generation's value while there are more than two genetic evolutions at the same time. In this study, the designs that are out of the given constraint map compared with other objective function value are excepted by the penalty. The proposed multiobjective genetic algorithms are distinguished from other optimization methods because it seeks for the optimized value through the simultaneous search without the help of the single-objective values which have to be obtained in advance of the multiobjective designs. The proposed strategy easily applied to well-developed genetic algorithms since it doesn't need any further formulation for the multiobjective optimization. The paper describes the co-evolutionary strategy and compares design results on the simple structural optimization problem.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1988년도 전기.전자공학 학술대회 논문집
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• pp.521-524
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• 1988

This paper describes BSDL(Behavioral/Structural Description Language), CDTF(Control Data Text File) and state synthesizer built for use in ICSC(InCheon Silicon Compiler). BSDL describes structral and behaviral specifications of an ASIC(Application Specific IC) for digital system design. ICSC's paser generates CDTF consists of if-then-else, arithmetic and data transfer statement according to each BSDL statement. State synthesizer generates CCG(Control Constraint Graph) in consideration of execution of statement and generates VCG (Variable Constraint Graph) in consideration use of variable generation and use of variable. Also, it involves allocating algorithm operation nodes in the data path and the control path to machine states with minimum state number and as small area as possible.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.488-494
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• 2001

Many literatures, so far, have concentrated on approaches employing dependent coordinates set resulting in computational burden of constraint forces, which is needless in many cases. Some researchers developed methods to remove or calculate it efficiently. But systematic generation of the motion equation using independent coordinates set by Kane's equation is possible for any closed loop system. Independent velocity transformation method builds the smallest size of motion equation, but needs practically more complicated code implementation. In this study, dependent velocity matrix is systematically transformed into independent one using dependent-independent transformation matrix of each body group, and then motion equation free of constraint force is constructed. This method is compared with the other approach by counting the number of multiplications for car model with 15 d.o.f..

• 한국정밀공학회지
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• 제21권7호
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• pp.163-170
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• 2004

In order to automatically determine the sequences of block assembly operations in shipbuilding, a process planning system using case-based reasoning (CBR) is developed. A block-assembly planning problem is modeled as a constraint satisfaction problem where the precedence relations between operations are considered constraints. The process planning system generates an assembly sequence by adapting information such as solutions and constraints collected from similar cases retrieved from the case base. In order to find similar cases, the process planning system first matches the parts of the problem and the parts of each case based on their roles in the assembly, and then it matches the relations related to the parts-pairs. The part involved in more operations are considered more important. The process planning system is applied to simple examples fur verification and comparison.