• Journal of the Korea Convergence Society
• /
• v.11 no.5
• /
• pp.175-182
• /
• 2020

The calculation of the optimal trajectory of the stepped top-down robot was made using a genetic algorithm and a computational torque controller. First, the total energy efficiency was minimized using the Red-Cold Generic Algorithm (RCGA) consisting of reproductive, cross, and mutation. The reproducibility condition related to the position assembly of the start and end of the stride and the joints, angles, and angular velocities are linear constraints. Next, the unequal constraint accompanies the condition for preventing the collision of the swing leg at the corner with the outer surface of the stairs, the condition of the knee joint for preventing kinematic peculiarity, and the condition of no moment in safety in the traveling direction. Finally, the angular trajectory of each joint is defined by fourth-order polynomial whose coefficient is to approximate chromosomes. This is to approximate walking. In this study, the energy efficiency of the optimal trajectory was analyzed by computer simulation through a biped robot with seven degrees of freedom composed of seven links.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.17 no.12
• /
• pp.2826-2834
• /
• 2013

In mobile ad hoc networks (MANET), power-saving technology of mobile nodes is divided into transmit power control (TPC), power-saving mode (PSM), and routing. TPC and PSM are operated in physical layer but the routing is managed in network layer, so the design of a joint algorithm is needed to provide better performance. Therefore, in this paper, we propose a joint power-saving and routing algorithm for maximizing the network lifetime while satisfying the end-to-end data rate in ad hoc networks. The proposed algorithm first applies the TPC or PSM to reduce the power consumption of mobile nodes and then performs the routing by considering the decided node lifetime in order to maximize the path lifetime. Simulation results show that the proposed algorithm maximize the lifetime while satisfying the required rate according to the number of mobile nodes and the level of interference.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.12 no.12
• /
• pp.5860-5876
• /
• 2018

A single snapshot data can only provide limited amount of information so that the rank of covariance matrix is not full, which is not adopted to complete the parameter estimation directly using the traditional super-resolution method. Aiming at solving the problem, a joint time delay and angle estimation using matrix pencil method based on information reconstruction vector for orthogonal frequency division multiplexing (OFDM) signal is proposed. Firstly, according to the channel frequency response vector of each array element, the algorithm reconstructs the vector data with delay and angle parameter information from both frequency and space dimensions. Then the enhanced data matrix for the extended array element is constructed, and the parameter vector of time delay and angle is estimated by the two-dimensional matrix pencil (2D MP) algorithm. Finally, the joint estimation of two-dimensional parameters is accomplished by the parameter pairing. The algorithm does not need a pseudo-spectral peak search, and the location of the target can be determined only by a single receiver, which can reduce the overhead of the positioning system. The theoretical analysis and simulation results show that the estimation accuracy of the proposed method in a single snapshot and low signal-to-noise ratio environment is much higher than that of Root Multiple Signal Classification algorithm (Root-MUSIC), and this method also achieves the higher estimation performance and efficiency with lower complexity cost compared to the one-dimensional matrix pencil algorithm.

• Journal of the Korean Society for Precision Engineering
• /
• v.19 no.1
• /
• pp.119-126
• /
• 2002

In this paper, we present a new approach based on an elitist genetic algorithm for the task of aligning the position of a robot gripper using CCD cameras. The vision-based control scheme for the task of aligning the gripper with the desired position is implemented by image information. The relationship between the camera space location and the robot joint coordinates is estimated using a camera-space parameter modal that generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation. To find the joint angles of a robot manipulator for reaching the target position in the image space, we apply an elitist genetic algorithm instead of a nonlinear least square error method. Since GA employs parallel search, it has good performance in solving optimization problems. In order to improve convergence speed, the real coding method and geometry constraint conditions are used. Experiments are carried out to exhibit the effectiveness of vision-based control using an elitist genetic algorithm with a real coding method.

• Journal of the Korean Society for Precision Engineering
• /
• v.23 no.7 s.184
• /
• pp.84-92
• /
• 2006

This paper deals with determination of motions of a humanoid robot using genetic algorithm. A humanoid robot has some problems of the structural instability basically. So, we have to consider the stable walking gait in gait planning. Besides, it is important to make the smoothly optimal gait for saving the electric power. A mobile robot has battery to move autonomously. But a humanoid robot needs more electric power in order to drive many joints. So, if movements of walking joint don't maintain optimally, it is hard to sustain the battery power during the working period. Also, if a gait trajectory doesn't have optimal state, the expected lift span of joints tends to be decreased. Also, if a gait trajectory doesn't have optimal state, the expected lift span of joints tends to be decreased. To solve these problems, the genetic algorithm is employed to guarantee the optimal gait trajectory. The fitness functions in a genetic algorithm are introduced to find out optimal trajectory, which enables the robot to have the less reduced jerk of joints and get smooth movement. With these all process accomplished by PC-based program, the optimal solution could be obtained from the simulation. In addition, we discuss the design consideration fur the joint motion and distributed computation of tile humanoid, ISHURO, and suggest its result such as structure of the network and a disturbance observer.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2002.10a
• /
• pp.355-360
• /
• 2002

To calibrate a non-redundantly actuated parallel mechanism, one can find actual kinematic parameters by means of geometrical constraint of the mechanism's kinematic structure and measurement values. However, the calibration algorithm for a non-redundant case does not apply fur a redundantly actuated parallel mechanism, because the angle error of the actuating joint varies with position and the geometrical constraint fails to be consistent. Such change of joint angle error comes from constraint torque variation with each kinematic pose (meaning position and orientation). To calibrate a redundant parallel mechanism, one therefore has to consider constraint torque equilibrium and the relationship of constraint torque to torsional deflection, in addition to geometric constraint. In this paper, we develop the calibration algorithm fir a redundantly actuated parallel mechanism using these three relationships, and formulate cost functions for an optimization algorithm. As a case study, we executed the calibration of a 2-DOF parallel mechanism using the developed algorithm. Coordinate values of tool plate were measured using a laser ball bar and the actual kinematic parameters were identified with a new cost function of the optimization algorithm. Experimental results showed that the accuracy of the tool plate improved by 82% after kinematic calibration in a redundant actuation case.

• ETRI Journal
• /
• v.37 no.4
• /
• pp.717-726
• /
• 2015

In this paper, we study an asymmetric two-way relaying network where two source nodes intend to exchange information with the help of multiple relay nodes. A hybrid time-division broadcast relaying scheme with joint relay selection (RS) and power allocation (PA) is proposed to realize energy-efficient transmission. Our scheme is based on the asymmetric level of the two source nodes' target signal-to-noise ratio indexes to minimize the total power consumed by the relay nodes. An optimization model with joint RS and PA is studied here to guarantee hybrid relaying transmissions. Next, with the aid of our proposed intelligent optimization algorithm, which combines a genetic algorithm and a simulated annealing algorithm, the formulated optimization model can be effectively solved. Theoretical analyses and numerical results verify that our proposed hybrid relaying scheme can substantially reduce the total power consumption of relays under a traffic asymmetric scenario; meanwhile, the proposed intelligent optimization algorithm can eventually converge to a better solution.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.15 no.6
• /
• pp.2282-2303
• /
• 2021

To solve the problems of heavy computing load and system transmission pressure in energy internet (EI), we establish a three-tier cloud-edge integrated EI network based on a cloud-edge collaborative computing to achieve the tradeoff between energy consumption and the system delay. A joint optimization problem for resource allocation and task offloading in the threetier cloud-edge integrated EI network is formulated to minimize the total system cost under the constraints of the task scheduling binary variables of each sensor node, the maximum uplink transmit power of each sensor node, the limited computation capability of the sensor node and the maximum computation resource of each edge server, which is a Mixed Integer Non-linear Programming (MINLP) problem. To solve the problem, we propose a joint task offloading and resource allocation algorithm (JTOARA), which is decomposed into three subproblems including the uplink transmission power allocation sub-problem, the computation resource allocation sub-problem, and the offloading scheme selection subproblem. Then, the power allocation of each sensor node is achieved by bisection search algorithm, which has a fast convergence. While the computation resource allocation is derived by line optimization method and convex optimization theory. Finally, to achieve the optimal task offloading, we propose a cloud-edge collaborative computation offloading schemes based on game theory and prove the existence of Nash Equilibrium. The simulation results demonstrate that our proposed algorithm can improve output performance as comparing with the conventional algorithms, and its performance is close to the that of the enumerative algorithm.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.12 no.10
• /
• pp.5015-5038
• /
• 2018

In this paper, a novel spectral-spatial joint sparse representation algorithm for hyperspectral image classification is proposed based on multi-layer superpixels in various scales. Superpixels of various scales can provide complete yet redundant correlated information of the class attribute for test pixels. Therefore, we design a joint sparse model for a test pixel by sampling similar pixels from its corresponding superpixels combinations. Firstly, multi-layer superpixels are extracted on the false color image of the HSI data by principal components analysis model. Secondly, a group of discriminative sampling pixels are exploited as reconstruction matrix of test pixel which can be jointly represented by the structured dictionary and recovered sparse coefficients. Thirdly, the orthogonal matching pursuit strategy is employed for estimating sparse vector for the test pixel. In each iteration, the approximation can be computed from the dictionary and corresponding sparse vector. Finally, the class label of test pixel can be directly determined with minimum reconstruction error between the reconstruction matrix and its approximation. The advantages of this algorithm lie in the development of complete neighborhood and homogeneous pixels to share a common sparsity pattern, and it is able to achieve more flexible joint sparse coding of spectral-spatial information. Experimental results on three real hyperspectral datasets show that the proposed joint sparse model can achieve better performance than a series of excellent sparse classification methods and superpixels-based classification methods.

• Geophysics and Geophysical Exploration
• /
• v.10 no.4
• /
• pp.314-321
• /
• 2007

Recently, multi-dimensional joint inversion of geophysical data based on fundamentally different physical properties is being actively studied. Joint inversion can provide a way to obtaining much more accurate image of the subsurface structure. Through the joint inversion, furthermore, it is possible to directly estimate non-geophysical material properties from geophysical measurements. In this study, we developed a new algorithm for jointly inverting dc resistivity and seismic traveltime data based on the multiple constraints: (1) structural similarity based on cross-gradient, (2) correlation between two different material properties, and (3) a priori information on the material property distribution. Through the numerical experiments of surface dc resistivity and seismic refraction surveys, the performance of the proposed algorithm was demonstrated and the effects of different regularizations were analyzed. In particular, we showed that the hidden layer problem in the seismic refraction method due to an inter-bedded low velocity layer can be solved by the joint inversion when appropriate constraints are applied.