• Journal of the Institute of Electronics Engineers of Korea SC
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• v.45 no.4
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• pp.68-78
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• 2008

For a smooth transition between consecutive paths, conventional robot controllers usually generate a transition trajectory by blending consecutive paths in a time coordinate. However, this has two inherent drawbacks: the shape of a transition path cannot be designed coherently and the speed during transition is uncontrollable. To overcome these problems, this paper provides a path-level, rather than trajectory-level, smooth transition method with the curvature bound between non-smoothly connected paths. The experiment results show that the resultant transition trajectory is more smoothly connected than the conventional methods and the curvature is closely limited to the desired bound within the guaranteed level ($0.02{\sim}1$).

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.44 no.5
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• pp.40-46
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• 2007

In this paper, the effect of a Doppler Spread caused by a mobile station (MS) is analyzed for transparent mobile multi-hop relays (MMR) systems based on orthogonal frequency division multiplexing (OFDM). The exact expression of interchannel interference (ICI) power and the upper bounds of ICI power are derived for OFDM systems with cooperative MMR or non-coopeartive throughput enhancement (TE) MMR. Also, the exact signal-to-interference ratio (SIR) and its lower bound as well as ICI power and its upper bound, derived in this paper, are evaluated by computer simulation with the OFDM parameter set used for mobile WiMax (WiBro) systems.

• Journal of the Chungcheong Mathematical Society
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• v.17 no.1
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• pp.47-56
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• 2004

The nonlinearity of a Boolean function f on $GF(2)^n$ is the minimum hamming distance between f and all affine functions on $GF(2)^n$ and it measures the ability of a cryptographic system using the functions to resist against being expressed as a set of linear equations. Finding out the exact value of the nonlinearity of given Boolean functions is not an easy problem therefore one wants to estimate the nonlinearity using extra information on given functions, or wants to find a lower bound or an upper bound on the nonlinearity. In this paper we extend the notion of auto-correlations of Boolean functions to vector Boolean functions and obtain upper bounds and a lower bound on the nonlinearity of vector Boolean functions in the context of their auto-correlations. Also we can describe avalanche characteristics of vector Boolean functions by examining the extended notion of auto-correlations.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1995.09a
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• pp.202-210
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• 1995

Given a tree T with a root node 0 having the capacity H and a profit $c_{v}$ and a demand $d_{v}$ on each node v of T, the capacitated subtree of a tree problem(CSTP) is to find a subtree of T containing the root that has the maximum total profit, the sum of profits over the subtree, and also satisfies the constraint of which the sum of demands over the subtree must be less than or equal to H. We first define the so-called critical item for CSTP and find an upper bound on the linear programming relaxation of CSTP. We then present our branch and bound algorithm for solving CSTP and finally report the computational results on a set of randomly generated test problems.s.s.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.4
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• pp.524-530
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• 2003

This paper presents a new model on deformation characteristics of cylindrical tubes under pure bending. The model is based on the upper bound method that minimizes total strain energy of a system. It does not assume inextensibility condition. Geometric relations and displacement fields are derived by analysis of deformation behaviors of elastic tubes. Simulations are calculated using numerical optimization and integration techniques. The results give information about cross-sectional deformation of cylindrical tubes. Simulation results are compared with available data in literatures, which show that this method predicts deformation characteristics of tube bending process.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.31 no.2
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• pp.80-93
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• 2008

This paper improves algorithms for an assembly-type flowshop scheduling problem in which each job is to assemble two types of components and makespan is the objective measure. For the assembly, one type of the components is outsourced with job-dependent lead time but the other type is fabricated in-house. When both components for a job are prepared, the assembly operation for the job can be started. This problem had been proved to be NP-Complete, so branch-and-bound (B&B) and heuristic algorithms have already been developed. In this paper, we suggest other dominance rules, lowerbound and heutistic algorithms. Also, we develop a new B&B algorithm using these improved bound and dominance rules. The suggested heuristics and B&B algorithm are compared with existing algorithms on randomly-generated test problems.

• Proceedings of the IEEK Conference
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• 2000.07a
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• pp.521-524
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• 2000

It is well known that the OFDM system is weak against the frequency offset. The frequency offset attenuates the received signal power and makes the performance bound in the OFDM transmission. We show the performance bound of the OFDM transmission with the frequency offset under the additive white Gaussian noise channel by the numerical method. According to the results, increasing the transmitting power is not useful to improve the performance, when the frequency offset exits. The performance degradation is very severe as the frequency offset increases.

• Journal of Ocean Engineering and Technology
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• v.14 no.2
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• pp.7-12
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• 2000

This paper presents a non-regressor based adaptive control scheme for the trajectory tracking of underwater vehicle-mounted manipulator systems(UVMS). The adaptive control system includes a class of unmodeled effects is applied to the trajectory control of an UVMS. The only information required to implement this scheme ios the upper bound and lowe bound of the system parameter matrices the upper bound of unmodeled effects the number of joints the position and attitude of the vehicle and trajectory commands. The adaptive control law estimates control gains defined by the combinations of the bounded constants of system parameter matrices and of a filtered error equation. To evaluate the performance of the non-regressor based adaptive controller computer simulation was performed with a two-link planar robot model mounted on an underwater vehicle. The hydrodynamic effects acting on the manipulator are included. It is assumed that the vehicle's motion is slow and can be predicted with a proper compensator.

• Journal of Communications and Networks
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• v.14 no.5
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• pp.533-539
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• 2012

The performance analysis of wireless geolocation in a non-line-of-sight (NLOS) environment is a very important issue. Since Cramer-Rao lower bound (CRLB) determines the physical impossibility of the variance of an unbiased estimator being less than the bound, many studies presented the performance analysis in terms of CRLB. Several CRLBs for time-of-arrival (TOA), pseudo-range TOA, angle-of-arrival (AOA), and signal strength (SS) based positioning methods have been derived for NLOS environment. However, the performance analysis of time difference of arrival (TDOA) and TDOA/SS based geolocation techniques in a NLOS environment is still an opening issue. This paper derives the CRLBs of TDOA and TDOA/SS based positioning methods for NLOS environment. In addition, theoretical analysis proves that the derived CRLB for TDOA is the same as that of pseudo-range TOA and the TDOA/SS scheme has a lower CRLB than the TDOA (or SS) scheme.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.29 no.4
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• pp.34-42
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• 2006

This paper considers an assembly-type flowshop scheduling problem in which each job is assembled with two types of components. One type of the components is outsourced with positive lead time but the other type is fabricated in-house at the first stage. The two types of the components should be prepared at the first stage before starting the assembly operation for each job at the second stage. The objective is to schedule the jobs so that the makespan is minimized. Some solution properties and lower bounds are derived and incorporated into a branch and bound algorithm. Also, an efficient heuristic is developed. The performances of the proposed branch and bound algorithm and heuristic are evaluated through computational experiments.