• 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.

• 대한기계학회논문집A
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• 제41권9호
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• pp.869-876
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• 2017

기계시스템을 제어한다든지 그 부재를 설계하기 위하여 그리고 구동기의 용량을 결정하는데 있어서 구동력이나 조인트반력을 해석하는 것이 필요하다. 본 논문은 주어진 시스템의 운동을 구현하는 다양한 형태의 구동조건에 따른 구동력(또는 토크)을 조인트좌표 공간에서 계산하는 알고리즘을 제시한다. 조인트좌표를 기구학적 시스템의 일반좌표로 사용하며 운동방정식과 구속조건의 가속도식은 속도변환법을 이용하여 직교좌표공간으로부터 조인트좌표공간으로 변환한다. 수치예제를 통하여 제시된 알고리즘의 유용성을 확인한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1989년도 추계학술대회 논문집 학회본부
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• pp.445-449
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• 1989

Achievement of a straight line motion in the Cartesian space has a matter of great importance. Minimization of task execution time with linear interpolation in the joint space, accomplishing of a approximation of straight line motion in the Cartesian coordinate is considered as the prespecified task. Such determination yields minimum time joint-trajectory subject to input torque constraints. The applications of these results for joint-trajectory planning of a two-link manipulator with revolute joints are demonstrated by computer simulations.

• 대한전자공학회논문지
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• 제26권9호
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• pp.1332-1339
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• 1989

The problem of finding an admissible object trajectory for a cooperating two-robot system is investigated. The method is based on reformulating the problem as a nonlinear optimization problem with equality constraints in terms of the joint variables. The optimization problem is then solved numerically on a computer. The solution automatically gives the corresponding joint variable trajectories as well, thus eliminating the need for solving the inverse kinematic problem. The performance indices are chose in joint and cartesian spaces and computer simulations are performed.

• Journal of Communications and Networks
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• 제11권3호
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• pp.297-305
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• 2009

Multiprotocol label switching (MPLS) networks require dynamic flow admission control to guarantee end-to-end quality of service (QoS) for each Internet protocol (IP) traffic flow. In this paper, we propose to tackle the joint routing and admission control problem for the IP traffic flows in MPLS networks without rerouting already admitted flows. We propose two mathematical programming models for this problem. The first model includes end-to-end delay constraints and the second one, end-to-end packet loss constraints. These end-to-end QoS constraints are imposed not only for the new traffic flow, but also for all already admitted flows in the network. The objective function of both models is to minimize the end-to-end delay for the new flow. Numerical results show that considering end-to-end delay (or packet loss) constraints for all flows has a small impact on the flow blocking rate. Moreover, we reduces significantly the mean end-to-end delay (or the mean packet loss rate) and the proposed approach is able to make its decision within 250 msec.

• Nuclear Engineering and Technology
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• 제52권7호
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• pp.1579-1586
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• 2020

Dissimilar metal joints (DMJs) are more common in the application of piping system of many industries. A 2- D and 3-D finite element analysis (FEA) is carried out on dissimilar metal Single Edged Notch Bending (DMSENB) specimens fabricated from ferritic steel, austenitic steel and Inconel - 182 alloy to study the behavior of DMJs with constraints by using linear elastic fracture mechanics (LEFM) principles. Studies on DMSENB specimens are conducted with respect to (i) dissimilar metal joint width (DMJW) (geometrical constraints) (5 mm, 10 mm, 20 mm, 30 mm and 50 mm) (ii) strength mismatch (material constraints) and (iii) crack lengths (16 mm, 20 mm and 24 mm) to study the DMJ behavior. From the FEA investigation, it is observed that (i) SIF increases with increase of crack length and DMJWs (ii) significant constraint effect (geometry, crack tip and strength mismatch) is observed for DMJWs of 5 mm and 10 mm (iii) stress distribution at the interfaces of DMSENB specimen exhibits clear indication of strength mismatch (iv) 3-D FEA yields realistic behavior (v) constraint effect is found to be significant if DMJW is less than 20 mm and the ratio of specimen length to the DMJW is greater than 7.4.

• 지구물리와물리탐사
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• 제10권4호
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• pp.314-321
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• 2007

최근에 들어서 물성이 서로 다른 두 종류의 탐사자료의 복합역산에 대한 연구가 활발하게 이루어지고 있다. 이는 복합역산에 의하여 훨씬 더 정확한 지하구조 영상을 계산할 수 있을 뿐만 아니라 물리탐사 변수가 아닌 다른 물성 분포의 유도가 물리탐사로서 가능해지기 때문이다. 이 연구에서는 (1) cross-gradient로 정의되는 두 지하구조의 유사성의 최대화, (2) 두 물성간의 상관관계의 최대화, (3) 지하 물성 분포에 대한 선험적 정보의 3 종류 제한을 채택한 탄성파 굴절법 주시 토모그래피와 전기비저항 탐사 자료의 복합역산법을 개발하였다. 지표 전기비저항과 탄성파 굴절법 탐사의 수치실험을 통하여, 제안한 복합역산법의 효용성과 각종 제한조건의 효과를 분석하였다. 특히 제한조건을 적절히 이용할 경우, 탄성파 탐사의 저속도층에 의한 숨은 층 문제를 복합탐사 및 역산으로 해결할 수 있음을 알 수 있었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.635-642
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• 1989

We formulated the multi-robot trajectory problem into a series of NLP problem, each of which is that of finding the optimal tip positions of the robots for the next time step. The NLP problem is composed of an objective function and three constraints, namely: a) Joint position limits, b) Joint velocity limits, and c) Collision-avoidance constraints. By solving a series of NLP problem, optimally coordinated trajectories can be determined without requiring any prior path information. This is a novel departure from the previous approach in which either all paths or at least one path is assumed to be given. Practical application of the developed method is for optimal synthesis of multiple robot trajectories in off-line. To test the validity and effectiveness of the method, numerical examples are illustrated.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2009년도 IWAIT
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• pp.737-741
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• 2009

This paper addresses the factorization method to estimate the projective structure of a scene from feature (points) correspondences over images with occlusions. We propose both a column and a row space approaches to estimate the depth parameter using the subspace constraints. The projective depth parameters are estimated by maximizing projection onto the subspace based either on the Joint Projection matrix (JPM) or on the the Joint Structure matrix (JSM). We perform the maximization over significant observation and employ Tardif's Camera Basis Constraints (CBC) method for the matrix factorization, thus the missing data problem can be overcome. The depth estimation and the matrix factorization alternate until convergence is reached. Result of Experiments on both real and synthetic image sequences has confirmed the effectiveness of our proposed method.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제10권5호
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• pp.2047-2066
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• 2016

In this paper, we investigate joint power allocation and relay selection (PARS) schemes in non-orthogonal cooperative protocol (NOCP) based cognitive relay networks. Generally, NOCP outperforms the orthogonal cooperative protocol (OCP), since it can provide more transmit diversity. However, most existing PARS schemes in cognitive relay networks focus on OCP, which are not suitable for NOCP. In the context of NOCP, we first derive the joint constraints of transmit power limit for secondary user (SU) and interference constraint for primary user (PU). Then we formulate optimization problems under the aforementioned constraints to maximize the capacity of SU in amplify-and-forward (AF) and decode-and-forward (DF) modes, respectively. Correspondingly, we derive the closed form solutions with respect to different parameters. Numerical results are provided to verify the performance improvement of the proposed PARS schemes.