• 대한산업공학회지
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• 제24권1호
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• pp.23-35
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• 1998

This article presents a network flow analysis to form flexible machine cells with minimum intercellular part moves and a neural network model to form part families. The operational sequences and production quantity of the part, and the number of cells and the cell size are taken into considerations for a 0-1 quadratic programming formulation and a network flow based solution procedure is developed. After designing the machine cells, a neural network approach for the integration of part families and the automatic assignment of new parts to the existing cells is proposed. A multi-layer backpropagation network with one hidden layer is used. Experimental results with varying number of neurons in hidden layer to evaluate the role of hidden neurons in the network learning performance are also presented. The comprehensive methodology developed in this article is appropriate for solving large-scale industrial applications without building the knowledge-based expert rule for the cellular manufacturing environment.

• Steel and Composite Structures
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• 제36권2호
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• pp.179-186
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• 2020

In this paper, the forced resonance vibration of porous functionally graded (FG) curved nanobeam is examined. In order to capture the hardening and softening mechanisms of nanostructure, the nonlocal strain gradient theory is employed to build the size-dependent model. Using the Timoshenko beam theory together with the Hamilton principle, the equations of motion for the curved nanobeam are derived. Then, Navier series are used in order to obtain the dynamical deflections of the porous FG curved nanobeam with simply-supported ends. It is found that the resonance position of the nanobeam is very sensitive to the nonlocal and strain gradient parameters, material variation, porosity coefficient, as well as geometrical conditions. The results indicate that the resonance position is postponed by increasing the strain gradient parameter, while the nonlocal parameter has the opposite effect on the results. Furthermore, increasing the opening angle or length-to-thickness ratio will result in resonance position moves to lower-load frequency.

• 로봇학회논문지
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• 제5권1호
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• pp.23-31
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• 2010

This paper suggests a multiple robot simulator which considers the uncertainties in robot motion and sensing. A mobile robot moves with errors due to some kinds of uncertainties from actuators, wheels, electrical components, environments. In addition, sensors attached to a mobile robot can't make accurate output information because of uncertainties of the sensor itself and environment. Uncertainties in robot motion and sensing leads researchers find difficulty in building mobile robot navigation algorithms. Generally, a robot algorithm without considering unexpected uncertainties fails to control its action in a real working environment and it leads to some troubles and damages. Thus, the authors propose a simulator model which includes robot motion and sensing uncertainties to help making robust algorithms. Sensor uncertainties are applied in range sensors which are widely used in mobile robot localization, obstacle detection, and map building. The paper shows performances of the proposed simulator by comparing it with a simulator without any uncertainty.

• 기술사
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• 제30권6호
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• pp.59-67
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• 1997

As Information society evolves, there is a growing need that substitutes agents for users to do the given Jobs in distributed computing environments. Agents can retrieve and browse the diverse information via Internet, as the users request, and can deal with the complicated routine jobs on behalf of users with timeliness and efficiency. Especially, mobile agent can support the paradigm for distributed application programs in Internet environments. This is suitable to jump-to-jump model without any hesitations because agent moves. Agents can be applied to various applications, but we restrict it to market information retrieval in this paper. On recognizing a query about merchandise information by an user, agent by itself retrieves the corresponding information by navigating the Internet and informs the result to the user. In this paper, we review the mobile agent configuration to do this kind of work, propose the system architecture based on this review. By using this system, users can be free from complicated routine jobs and pursue his/her wishes to promote ones welfare.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.125-132
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• 1993

When a mobile robot moves around autonomously without man-made landmarks, it is essential to recognize the placement of surrounding objects especially for current position estimation, obstacle avoidance, or homing into the work station. In this paper, we propose a novel approach to recognize the floor paln for indoor mobile robot navigation using ultrasonic time-of-flight method. We model the floor plan as a collection of polygonal plane objects and recognize the floor plan by locating edges and vertices of the objects. The direction is estimated by the patterns of transmission beam and reception sensitivity of the ultrasonic transducer, and the distance is estimated by the correlation detection method. We show the validity of the proposed approach through experimental results and discuss the resolution and the accuracy of the estimation of direction and distance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.410-414
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• 1996

A visual servoing algorithm is proposed for a robot with a camera in hand. Specifically, novel image features are suggested by employing a viewing model of perspective projection to estimate relative pitching and yawing angles between the object and the camera. To compensate dynamic characteristics of the robot, desired feature trajectories for the learning of visually guided line-of-sight robot motion are obtained by measuring features by the camera in hand not in the entire workspace, but on a single linear path along which the robot moves under the control of a, commercially provided function of linear motion. And then, control actions of the camera are approximately found by fuzzy-neural networks to follow such desired feature trajectories. To show the validity of proposed algorithm, some experimental results are illustrated, where a four axis SCARA robot with a B/W CCD camera is used.

• Journal of information and communication convergence engineering
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• 제2권4호
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• pp.214-218
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• 2004

In this paper, we have analyzed TCP performance over wireless correlated fading links with and without Snoop protocol. For a given value of the packet error rate, TCP performance without Snoop protocol is degraded as the fading is getting fast (i.e. the user moves fast). When Snoop protocol is introduced in the base station, TCP performance is enhanced in most wireless environments. Especially the performance enhancement derived from using Snoop protocol is large in fast fading channel. This is because packet errors become random and sporadic in fast fading channel and these random packet errors (mostly single packet errors) can be compensated efficiently by Snoop protocol's local packet retransmissions. But Snoop protocol can't give a large performance improvement in slow fading environments where long bursts of packet errors occur. Concerning to packet error rate, Snoop protocol results in the highest performance enhancement in the channel with mid-high values of packet error rate. This means Snoop protocol cannot fully fulfill its ability under too low or too high packet error rate environments.

• 대한전기학회논문지:전력기술부문A
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• 제51권4호
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• pp.202-208
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• 2002

In a dynamic game where the players move in a periodical sequence, each player observes the strategy of the others. So the players who move later in a game get to know the moves of others having made before them. Those who move earlier must take this into account in devising their optimal strategy. In the Poolco model, the bidding game is executed periodically. The player participating in the bidding game accumulates the information of its own and others'strategies, and payoffs through the repeated bidding process. Thereby, the players in this game would be able to map out how get the maximum profit, and get closer to the optimal strategy. This paper presents a mathematical modeling for a player to determine his or her optimal strategy at period T, based on the information acquired from the previous rounds for the periods, T-1, T-2, and so on. The proposed modeling is demonstrated with a dynamic fame theory.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.786-791
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• 1992

When a mobile robot moves from one place to another, position error occurs due to the limit of accuracy of robot and the effect of environmental noise. In this paper. an accurate method of estimating the position and orientation of a mobile robot using the camera calibration is proposed. Kalman filter is used as the estimation algorithm. The uncertainty in the position of camera with repect to robot base frame is considered well as the position error of the robot. Besides developing the mathematical model for mobile robot calibration system, the effect of relative position between camera and calibration points is analyzed and the method to select the most accurate calibration points is also presented.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2001년도 추계학술대회 논문집
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• pp.329-334
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• 2001

This paper presents exact autotransformer-fed AC electric railroad system modeling using constant current mode. The theory is based on the solution of algebraic. The proposed modeling is considered the line self-impedances and mutual-impedances. Besides, the load modeling improved results are obtained as application to the proposed constant current mode. In the analysis on AT-fed AC electric railroad system circuit, a generalized analysis method using the loop equation on a case by case. the simulation objectives are to calculate the catenary and rail voltages with respect to ground, as the train moves along a section of line between two adjacent ATs. The model contains assumptions regarding the representation of the autotransformer, the impedance of the track/catenary system, and the grounding arrangements, which all effect the accuracy of the result. The modeling results seem very reasonable. It is established that techniques for the AC electric railroad system modeling and analysis.