• Journal of Digital Convergence
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• v.12 no.6
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• pp.349-354
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• 2014

A maze-escaping method with cooperating work of robots alongside one another will be proposed in this paper. Educational robots can communicate each other using Zigbee; however, they can't solve problems together due to their lack of arithmetic function. The robots walk upright controlled by a motion program; furthermore, they recognize an intersection or a dead-end in the use of distant sensors with sending data and receiving commands from the central control system. The maze-search algorithms were modified so that all robots can effectively navigate the maze.

• IEMEK Journal of Embedded Systems and Applications
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• v.4 no.2
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• pp.90-96
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• 2009

In the original model-based paradigm in the field of motion planning of robots, robots had to play the focal role of considering all situations under which they made decisions and operate. Such paradigm makes it difficult to respond efficiently to the dynamically shifting environment such as disaster area. In order to handle such a situation that may be changed dynamically, a technology that allows a dynamic execution of data transmission and physical/network connection between multiple robots based on scenarios is required. In this paper, we deal with evolutionary robots that adapt to any given environment and execute scenarios, specially focused on the development of a simulator to test the evolutionary process of cooperated multiple robots.

• Journal of Korean Institute of Industrial Engineers
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• v.19 no.1
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• pp.47-59
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• 1993

Recently, Broadband ISDN(B-ISDN) has received increased attention as a communication architecture which can support multimedia applications. Also, Asynchronous Transfer Mode(ATM) is considered as a promising technique to transfer and switch various kinds of media, such as telephone speech, data and motion video. Comparisons among a variety of ATM switching systems which have already been proposed will provide quite useful information for the new ATM switching system design. To facilitate the comparison, we introduce the design requirements and classification criteria for the ATM switch, and propose a performance analysis model for the Banyan network which is the basic switching fabric of most multi-stage ATM switching systems. The model is based on the standard discrete-time Markov chain analysis and can be conveniently used for extensive Banyan network analysis. The computational results are also presented.

• Journal of the Korea Society for Simulation
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• v.12 no.1
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• pp.21-34
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• 2003

This paper deals with a case study of workload analysis of an operator in an automatic line for machining the race of ball bearing. Eleven machines and three hoppers are installed in the line which is operated by an operator. The elements of operation are separated into machine controlled elements, operator controlled elements and machine/operator controlled elements. In order to analyze the system, time and motion studies are used for gathering input data for the simulation model. The first objective of this study is to evaluate whether the workload of operator is reasonable or not. The second objective is to increase throughput by reducing tact time and the last one is to increase frequencies of inspection by reducing interval. Thus we suggest some ideas for improvement, and as a result, the throughput is improved about 9%. In spite of the increasing of throughput, the allowance of operator is also increased about 4%.

• Annual Conference of KIPS
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• 2018.10a
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• pp.920-922
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• 2018

This paper describes a method to classify simple circular artificial markers on surfaces of a box on the back of hand to detect the pose of user's hand for VR/AR applications by using a Leap Motion camera and two IMU sensors. One IMU sensor is located in the box and the other IMU sensor is fixed with the camera. Multi-layer Perceptron (MLP) algorithm is adopted to classify artificial markers on each surface tracked by the camera using IMU sensor data. It is experimented successfully in real-time, 70Hz, under PC environments.

• Proceedings of the ESK Conference
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• 1993.04a
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• pp.18-26
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• 1993

When designing workplaces, controls should be placed within the reach of operator's arm or foot to guarantee effective performance. The aviation industry is perhaps the chief user of anthropometric data for its need to weight minimization and space optimization. In designing a workplace which must cater to a wide range of operator size, it might be sufficient to plan only for the 'average person'. Static arm reach measurements which are taken in conventional, standardized positions provide the necessary information, but they cannot be directly applied to dynamic situations. In this research, an approximate algorithm to generate the workspace of the human body including foot reach and trunk motion is proposed and tested. The robot kinematics was employed to represent the human body as a multi-link system.

• Structural Engineering and Mechanics
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• v.88 no.6
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• pp.535-549
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• 2023

Deep extreme learning machine (DELM) and multi-verse optimization algorithms (MVO) are hybridized for designing an optimal and adaptive control framework for uncertain buildings. In this approach, first, a robust model predictive control (RMPC) scheme is developed to handle the problem uncertainty. The optimality and adaptivity of the proposed controller are provided by the optimal determination of the tunning weights of the linear programming (LP) cost function for clustered external loads using the MVO. The final control policy is achieved by collecting the clustered data and training them by DELM. The efficiency of the introduced control scheme is demonstrated by the numerical simulation of a ten-story benchmark building subjected to earthquake excitations. The results represent the capability of the proposed framework compared to robust MPC (RMPC), conventional MPC (CMPC), and conventional DELM algorithms in structural motion control.

• Nuclear Engineering and Technology
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• v.56 no.10
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• pp.4412-4422
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• 2024

The CFETR multipurpose overload robot (CMOR) is a critical component of the fusion reactor remote handling system. To accurately calculate and visualize the structural deformation and stress characteristics of the CMOR motion process, this paper first establishes a CMOR kinematic model to analyze the unfolding and working process in the vacuum chamber. Then, the dynamic model of CMOR is established using the Lagrangian method, and the rigid-flexible coupling modeling of CMOR links and joints is achieved using the finite element method and the linear spring damping equivalent model. The co-simulation results of the CMOR rigid-flexible coupled model show that when the end load is 2000 kg, the extreme value of the end-effector position error is more than 0.12 m, and the maximum stress value is 1.85 × 10⁸ Pa. To utilize the stress-strain data of CMOR, this paper designs a CMOR morphology prediction control system based on Unity software. Implanting CMOR finite element analysis data into the Unity environment, researchers can monitor the stress strain generated by different motion trajectories of the CMOR robotic arm in the control system. It provides a platform for subsequent research on CMOR error compensation and extreme operation warnings.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.37 no.5
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• pp.54-63
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• 2000

We present a multi-resolution block matching algorithm (BMA) for fast motion estimation At the coarsest level, a motion vector (MV) having minimum matching error is chosen via a full search, and a MV with minimum matching error is concurrently found among the MVs of the spatially adjacent blocks Here, to examine the spatial MVs accurately, we propose an efficient method for searching full resolution MV s without MV quantization even at the coarsest level The chosen two MV s are used as the initial search centers at the middle level At the middle level, the local search is performed within much smaller search area around each search center If the method used at the coarsest level is adopted here, the local searches can be done at integer-pel accuracy A MV having minimum matching error is selected within the local search areas, and then the final level search is performed around this initial search center Since the local searches are performed at integer-pel accuracy at the middle level, the local search at the finest level does not take an effect on the overall performance So we can skip the final level search without performance degradation, thereby the search speed increases Simulation results show that in comparison with full search BMA, the proposed BMA without the final level search achieves a speed-up factor over 200 with minor PSNR degradation of 02dB at most, under a normal MPEG2 coding environment Furthermore, our scheme IS also suitable for hardware implementation due to regular data-flow.

• Journal of Korea Multimedia Society
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• v.16 no.8
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• pp.962-971
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• 2013

In this paper, we propose a method to infer the user's behavior and situation through collected data from multi-sensor equipped with a smart clothing and it was implemented as a smart-phone App. This smart-clothes is able to monitor wearer users' health condition and activity levels through the gyro, temp and acceleration sensor. Sensed vital signs are transmitted to a bluetooth-enabled smart-phone in the smart-clothes. Thus, users are able to have real time information about their user condition, including activities level on the smart-application. User context reasoning and behavior determine is very difficult using multi-sensor depending on the measured value of the sensor varies from environmental noise. So, the reasoning and the digital filter algorithms to determine user behavior reducing noise and are required. In this paper, we used Multi-black Filter and SVM processing behavior for 3-axis value as a representative value of one.