• Computers and Concrete
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• v.17 no.3
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• pp.305-322
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• 2016

The work is intended to demonstrate that the loss of bond between concrete and flexural steel which led in recent years a number of flat-slab structures to punching collapse under service loading conditions is also relevant to ultimate limit-state design. It is based on a comparative study of the results obtained from numerical experiments on flat slab-column sub-assemblages. The slabs were designed for punching either in compliance with the EC2 code requirements, which do not allow for such loss of bond, or in accordance with the compressive force-path method which considers the loss of bond between concrete and the flexural reinforcement in tension as the primary cause of punching. The numerical experiments are carried out through the use of a nonlinear finite element analysis package for which, although ample published evidence of its validity exists, additional proof of its suitability for the purposes of the present work is presented.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.496-498
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• 2004

An action-selection-mechanism is proposed to deal with sequential behaviors, where associations between some of stimulus and behaviors will be learned by a shortest-path-finding-based reinforcement team ins technique. To be specific, we define behavioral motivation as a primitive node for action selection, and then sequentially construct a network with behavioral motivations. The vertical path of the network represents a behavioral sequence. Here, such a tree fur our proposed ASM can be newly generated and/or updated. whenever a new sequential behaviors is learned. To show the validity of our proposed ASM, some experimental results on a "pushing-box-into-a-goal task" of a mobile robot will be illustrated.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.20 no.41
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• pp.103-112
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• 1997

In this paper, a nonhierarchial integrated information network with circuit switched and packet switched traffic is considered. It is assumed that circuit switched traffic is allowed to attempt an alternate path if the direct path is blocked, whereas packet switched traffic is not. The network uses a movable boundary scheme to allocate bandwidth dynamically. To analyze the performance of this type of network, EEBP(End to End Blocking Probability) is selected as a measure for circuit switched traffic and average time delay for packet switched traffic, respectively. EEBP and average time delay are derived analytically. Using the two proposed measure, the performance of the network under various bandwidth allocations and arrival patterns are observed. Moreover, the arrival rate of one link for circuit switched traffic is obtained from an approximation formula. Simulation results reveal the validity of the proposed approximation method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1475-1478
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• 2004

This paper describes map building for the path planning to avoid obstacles with vision sensor and ultrasonic sensor. We get the 2 dimensional information from the processed images of CCD sensor and 1 dimensional range information from ultrasonic sensor. I proposed a way to generate the map which contains these two kinds of information in the program. And we made the biped robot which have 20 DOF with these sensors and get good experimental result to prove the validity of the proposed method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.961-964
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• 1995

For geometric accuracy in the net shape machining, the problem of tool deflection should be resolved in some fashion. In particular, this is crucial in finish cut operation where slim tools are used. The purpose of this paper is to verify the validity and effectiveness of the prediction model of the machined surface. Experimental results are presented for the cut of steel material with HSS endmill of diameter 6mm on machining center. The results shows that 1) the machining error due totool deflection is serious even in the low cutting load, 2) by using the mechanistic simulation model with experimental coefficients, the machining error was predicted with maximum prediction error of 10% which was significantly reduced to the desired level by the path modification method.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.4
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• pp.476-480
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• 2012

In this paper, artificial potential field(APF) is applied to formation control for the leader-following swarm robot. Furthermore, APF is constructed by applying the electrical field model. Moreover, to model the obstacle effectively, each obstacle has different form due to the electrical field equation. The proposed method is formed as two sub-objective: path planning for the leader-robot and following-robots following the leader-robot. Finally, simulation example is given to prove the validity of proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.8
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• pp.786-793
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• 2010

This paper proposes a new method called the path-history coverage to generate a test suite to test the state transition behavior of the robot SW component. The proposed method generate a test suite which includes abnormal state transitions based on FSM of target component. Especially the proposed method covers the disadvantage of the mutation test method that the size of the test suite is explosively increasing. Examples including OPRoS Component[1] show the validity of the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.8
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• pp.794-798
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• 2010

This paper presents a new obstacle-avoidance method for mobile robots. This approach, called the FEB (Fast Elastic Band) method, has been developed and successfully tested on the experimental mobile robot PHOPE-1S. The FEB method eliminates the shortcomings of the elastic band method previously introduced, yet retains all the advantages of its predecessor. The FEB algorithm is computationally efficient, and it allows continuous and fast motion of the mobile robot without stopping for obstacles. The FEB-controlled mobile robot traverses very densely cluttered obstacle courses and is able to pass through narrow openings or narrow corridors without oscillations. The results of the simulation and experiment have verified the validity of the proposed method.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.12
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• pp.1-12
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• 1996

A new local path planning algorithm using DPH (distance profile histogram) is suggested in this paper. The proposed method makes a grid type world map using distance values from multiple ultrasonic sensors and genrates local points through which the mobile robot can avoid obstcles safely. The DPH (distance profile historgram) represents geometrical arrangement of obstacles around the robot in the local polar coordinate system which is assumed to be atached to the robot. To control robot's navigation, a three-layered control structure is adopted. The proposed local path planning algorithm is placed on the top level. And a point-to-point translation controller takes the middle level. The bottom level consists of a velcoity servo and sonar driver modules which take charge of driving physical hardwares. The validity of the propsoed method is demonstated through several experiments.