• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2006년도 춘계학술대회 학술발표 논문집 제16권 제1호
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• pp.223-226
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• 2006

매니퓰레이션 기술 중에서 경로 계획은 중요한 문제 중의 하나이다. RRT는 경로 계획 알고리즘으로 최근에 제안되었다. RRT는 기존 알고리즘보다 빠르게 장애물을 회피하여 경로를 계획할 수 있다. 기존의 경로 계획 알고리즘은 그 상황에 따라 반복적으로 경로 계획을 하였다. 이러한 점을 개선하기위해 RRT와 인간의 소뇌구조를 모방한 CMAC을 결합한 CMACRRT를 제안한다. CMAC은 RRT가 만들어낸 경로와 그 상황을 기억하여 유사한 상황에서 경로를 다시 사용할 수 있게 해준다. 이렇게해서서 CMAC을 통해 학습된 상황에서 RRT를 사용하지 않고 기존의 경로를 사용할 수 있게 된다.

• 대한전기학회논문지
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• 제32권2호
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• pp.33-42
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• 1983

Outage cost inclusion in operational simulation is very important subject in generation planning. Conventional discretized one in probabilistic simulation has unavoidably insufficient modeling and costly computation time. Now that the analytic operational simulation is possible, the outage cost inclusion is desired. With this inclusion the objective function of operational simulation becomes convex, so that analytic manipulation is easier. The derivation of outage cost is made in this paper, and the effects is evaluated. Further marginal cost is mentioned.

• International Journal of Control, Automation, and Systems
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• 제6권2호
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• pp.234-242
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• 2008

The purpose of this paper is to verify the practical effectiveness of an interphalangeal coordination-based joint motion planning method for humanoid finger operations. For the purpose, several experiments have been performed and comparative experimental results are shown. Through the experimental works, it is confirmed that according to the employed joint motion planning method, the joint configurations for a finger's trajectory can be planned stably or not, and consequently the actual joint torque command for controlling the finger can be made moderately or not. Finally, this paper analyzes that the interphalangeal coordination-based joint motion planning method is practically useful for implementing a stable finger manipulation. It is remarkably noted that the torque pattern by the method is well-balanced. Therefore, it is expected that the control performance of humanoid or prosthetic fingers can be enhanced by the method.

• 한국정밀공학회지
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• 제17권9호
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• pp.5-12
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• 2000

• Spatial Information Research
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• 제5권2호
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• pp.185-194
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• 1997

의사결정지원체계의 한 분류인 공간의사결정지원체계(SDSS)는 지리정보체계(GIS)와 의사결정지원체계(DSS)의 결합으로 이루어진다. 계획지원체계(PSS)는 공간의사결정지원체계의 기능에 지리정보체계보다 고차원의 공간분석기능과 시간기능을 추가하여 구성된다. 본 연구는 계획가와 기술자가 적정 하수도 관경대안을 생성할 수 있는 계획지원체계의 개발에 관한 연구이다. 적정 하수도관경 결정을 위한 계획지원체계(PSS/GSS)의 이론적인 근거는 토지이용계획과 개발이 우오수관로의 수요를 유발한다는데 있다. 공급, 수요, 대안생성, 그리고 평가의 4단계를 통하여 PSS/GSS는 하수관거 생성의 기본계획, 기본설계,실시설계단계를 통합한다. GIS와 사용자 인터페이스는 하수도관망 배치, 하수량 산장, 그리고 생성된 대안의 도시에 유용한 수단이다. 모의에 ?나 하수도관경결정모델은 초리관망을 생성하낟. 사용자는 하수도관망의직접조작에 의하거나 하수도관경결정모델의 매개변수 조정에 의하여 대안을 생성할 수 있으며 이러한 대안의 타당성은 하수도관경결정모델에 의하여 점검된다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1593-1597
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• 2003

The home service robot supports human beings by performing various kinds of works at home. This paper presents a simple control method for opening a door from the viewpoint of the mobile manipulation. The simulation shows various results of path planning and motion planning for opening a door. The joint trajectories were generated by the simulation system. In general, a six-axis force/torque sensor at an end-effector is needed in order to maintain the static equilibrium of the manipulator. But we show another method. From three components of applied forces which was directly obtained by the three-axis force sensor and three components of applied forces which was indirectly estimated by the joint-torque sensors, all of joint torques that will exactly balance forces at the end-effector in the static situation can be found. It is more practical method than using a six-axis force sensor in a wrist. Experimental results have shown that the opening a door can be realized more effectively from the suggested control method of mobile manipulation.

• 대한조선학회논문집
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• 제30권2호
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• pp.1-12
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• 1993

CAD, CAE, CAM, Database, Expert System등 다종의 응용프로그램으로 구성된 CIM 환경에서 Product Model의 역할은 Data 공유를 통한 System Integration이다. 이를 위하여 Product Model은 생산 활동에 포함되는 모든 정보를 관리한다. 이러한 정보의 종류에는 형상정보, 공정정보, 일정정보, 품질정보, 그리고 기존의 관리정보가 포함된다. Product Model의 Architecture에는 Product Model Kernel, Object Schema, 모델조작언어, 그리고 사용자 인터페이스 등이 있다. Product Model 을 통하여 공유될 객체들은 모델조작언어를 통하여 정의되고 그 정의는 Object Schema에 저장된다. 본 논문에서는 Product Model의 설계와 CAPP(Computer Aided Process Planning)프로그램을 통한 프로토타입의 구현을 설명한다.

• 제어로봇시스템학회논문지
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• 제20권2호
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• pp.211-217
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• 2014

This paper addresses an algorithm of path planning for autonomous driving of a ground vehicle in waypoint navigation. The proposed algorithm is flexible in utilization under a large GPS positioning error and generates collision-free multiple paths while pursuing minimum traveling time. An optimal path reduces inefficient steering by minimizing lateral changes in generated waypoints along a path. Simulation results compare the proposed algorithm with the A* algorithm by manipulation of the steering wheel and traveling time, and show that the proposed algorithm realizes real-time obstacle avoidance by quick processing of path generation, and minimum time traveling by producing paths with small lateral changes while overcoming the very irregular positioning error from the GPS.

• 한국정밀공학회지
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• 제22권5호
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• pp.95-102
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• 2005

The coordination of locomotion and manipulation has been the typical and main issue for a mobile manipulator. This is particularly because the solution for the control parameters is redundant and the accuracies of controlling the each joints are different. This paper presents a motion planning method for which the mobile base locomotion is less precise than the manipulator control. In such a case, it is appropriate to move the mobile base to discrete poses and then to move the manipulator to track a prescribed path of the end effector, while the base is stationary. It uses a variant of the conventional manipulability measure that is developed for the trajectory control of the end effector of the mobile manipulator along an arbitrary path in the three dimensional space. The proposed method was implemented on the simulation and the experiments of a mobile manipulator and showed its effectiveness.

• 한국GIS학회:학술대회논문집
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• 한국GIS학회 1999년도 추계학술대회 발표요약문
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• pp.21-25
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• 1999

Planning support systems(PSS) add more advanced spatial analysis functions than Geographic information systems(GIS) and intertemporal functions to the functions of spatial decision support systems(SDSS). This paper reports the continuing development of a PSS providing a framework that facilitates urban planners and civil engineers in conducting coherent deliberations about planning, design and operation & maintenance(O&M) of water-distribution networks for urban growth management. The PSS using dynamic optimization model, modeling-to-generate-alternatives, value engineering(VE) and life-cycle cost(LCC) can generate network alternatives in consideration of initial cost and O&H cost. Users can define alternatives by the direct manipulation of networks or by the manipulation of parameters in the models. The water-distribution network analysis model evaluates the performance of the user-defined alternatives. The PSS can be extended to include the functions of generating sewer network alternatives, combining water-distribution and sewer networks, eventually the function of planning, design and O&H of housing sites. Capacity expansion by the dynamic water-distribution network optimization model using MINLP includes three advantages over capacity expansion using optimal control theory(Kim and Hopkins 1996): 1) finds expansion alternatives including future capacity expansion times, sizes, locations, and pipe types of a water-distribution network provided, 2) has the capabilities to do the capacity expansion of each link spatially and intertemporally, and 3) requires less interaction between models. The modeling using MINLP is limited in addressing the relationship between cost, price, and demand, which the optimal control approach can consider. Strictly speaking, the construction and O&M costs of water-distribution networks influence the price charged for the served water, which in turn influence the. This limitation can be justified in rather small area because price per unit water in the area must be same as that of neighboring area, i.e., the price is determined administratively. Planners and engineers can put emphasis on capacity expansion without consideration of the relationship between cost, price, and demand.