• The Journal of Korea Robotics Society
• /
• v.6 no.4
• /
• pp.308-316
• /
• 2011

This work deals with development of effective redundancy resolution algorithms for the motion control of manipulator. Differently from the typical kinematically redundant robots that are attached to the fixed ground, the ZMP condition should be taken into account in the manipulator motion in order to guarantee the system stability. In this paper, a new motion planning algorithm for redundant manipulator not fixed to the ground is introduced. A sequential redundancy resolution algorithm is proposed, which ensures the ZMP (Zero Moment Point) stability, the planned operational motion, and additional sub-criteria such as joint limit index. A geometric constraint equation derived by reshaping the existing ZMP equation enables one to employ the sequential redundancy algorithm. The feasibility of the proposed algorithm is verified by simulating a redundant manipulator model.

• The Journal of Society for e-Business Studies
• /
• v.4 no.3
• /
• pp.213-234
• /
• 1999

Currently, various international standard organizations, academic institutes, and private organizations are making efforts to improve and expand the traditional EDI. The next generation EDI has potential to impact on the existing and planned EDI systems. Major objective of this study is to systematically analyze and compare various next generation EDI technologies. In order to accomplish the research objective, this paper presented the following three issues. First, overall development trend and types of the next generation EDI were analyzed. Secondly, basic concepts of a few important next generation EDI technologies were presented. Lastly, models to be used to analyze the various next generation EDI technologies were proposed and results of the analyses peformed based on the proposed models were presented.

• ETRI Journal
• /
• v.30 no.6
• /
• pp.774-782
• /
• 2008

An operational orbit determination (OD) and prediction system for the geostationary Communication, Ocean, and Meteorological Satellite (COMS) mission requires accurate satellite positioning knowledge to accomplish image navigation registration on the ground. Ranging and tracking data from a single ground station is used for COMS OD in normal operation. However, the orbital longitude of the COMS is so close to that of satellite tracking sites that geometric singularity affects observability. A method to solve the azimuth bias of a single station in singularity is to periodically apply an estimated azimuth bias using the ranging and tracking data of two stations. Velocity increments of a wheel off-loading maneuver which is performed twice a day are fixed by planned values without considering maneuver efficiency during OD. Using only single-station data with the correction of the azimuth bias, OD can achieve three-sigma position accuracy on the order of 1.5 km root-sum-square.

• Proceedings of the Korean Institute of Building Construction Conference
• /
• 2012.11a
• /
• pp.163-164
• /
• 2012

Recently new construction system, the Infill Modular Construction System, is being emphasized depending on the industrialized technology introduction and the needs of high-rise housing. In order to applicate the Infill Modular Construction System and activate the domestic market, development of insufficient element technologies against the advanced technologies should be preceded and mobile device development of Infill Unit Module which is differentiated from the existing modular construction systems should be needed urgently. As advanced research for the activation of the Infill Modular Construction System, this research aims to develop Infill Unit Module's mobile device. This is expected to improve the constructability of Infill Unit Module. In addition development of mobile device considering weight of Infill Unit Module and construction errors are being planned.

• Proceedings of the Korean Institute of Building Construction Conference
• /
• 2012.11a
• /
• pp.245-246
• /
• 2012

Lately the Infill Modular Construction System which meets the domestic standards about the structure and fireproof performance and which is applied to the remodeling techniques is being emphasized. In order to introduce the Infill Modular Construction System to domestic market successfully, the development of insufficient element technologies and systematic analysis of process should be preceded. This research aims to establish of Standard Construction Process, as advanced research for the settlement of the Infill Modular Construction System. As advanced research for the activation of the Infill Modular Construction System, this research aims to develop Infill Unit Module's mobile device. This is expected to improve work efficiency. In addition organizing optimized Standard Construction Process by steady work analysis and improvement is being planned.

• Journal of Information Technology Services
• /
• v.10 no.4
• /
• pp.229-242
• /
• 2011

It is necessary to have measurement and analysis activity for managing software project. At least, every project measures time and cost in order to figure it out whether it will finish within its deadline. CMMI has Measurement and Analysis process in Maturity Level 2. In Measurement and Analysis process, Indicators for decision making in project management are defined and analysis procedure of the measurements to get the indicators are specified. Also, the way of collecting the data and storing them is also planned. Establishing efficient and effective measurement and analysis process in the organization by improving existing process is very important for project success. In this paper, we provide a method for analyzing the measurement and analysis process and improving it based on IDEAL model. It will support the organizations which are trying to adopt CMMI to establish measurement and analysis process.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.10 no.4
• /
• pp.308-313
• /
• 2010

This paper presents a performance index-based evaluation for a better quadruped robotic walking configuration. For this purpose, we propose a balance-based performance index that enables to evaluate the walk configuration of quadruped robots in terms of balance. In order to show the effectiveness the proposed performance index, we consider some types of walking configurations for a quadruped robotic walking and analyze the trend of the proposed performance index in those quadrupedal walking. Through the simulation study, it is shown that an effective walk configuration for a quadrupedal walking can be planned by adopting the proposed performance index.

• Journal of Ecology and Environment
• /
• v.36 no.1
• /
• pp.89-94
• /
• 2013

Diatoms have become an integral part of the UK's freshwater monitoring strategy over the past two decades, mostly in response to increasingly stringent European Union (EU) legislation. The use of diatoms is based on strong correlations between diatom assemblages and environmental variables, and from knowledge of the "expected" (= "reference") state of each river. The nationwide overview of the ecological health of rivers this gives allows those stretches of rivers which fail to meet EU criteria to be identified. This, in turn, allows appropriate remediation measures to be planned. Because diatom assemblages vary in space and time, even within a single water body, effective use of diatoms requires a consistent approach in order to minimise uncertainty. This includes the use of methods which comply with European Standards, a training and accreditation scheme for analysts, and a suite of quality assurance methods. Those aspects of uncertainty that cannot be readily controlled have been quantified and all estimates of ecological status are accompanied by the appropriate "confidence of class" and "risk of misclassification". This, in turn, helps planners prioritise those locations which are most likely to benefit from remediation.

• Journal of Korean Neurosurgical Society
• /
• v.52 no.3
• /
• pp.257-260
• /
• 2012

Spinal extradural arachnoid cysts usually cause symptoms related to spinal cord or nerve root compression. Here, we report an atypical presentation of a spinal extradural arachnoid cyst combined with congenital hemivertebra which was presented as a retroperitoneal mass that exerted mass effects to the abdominal organs. On image studies, the communication between the cystic pedicle and the spinal arachnoid space was indistinct. Based on our experience and the literature of the pathogenesis, we planned anterior approach for removal of the arachnoid cyst in order to focus on mass removal rather than ligation of the fistulous channel. In our estimation this was feasible considering radiologic findings and also essential for the symptom relief. The cyst was totally removed with the clogged 'thecal sac-side' end of the cystic pedicle. The patient was free of abdominal discomfort by one month after the surgery.

• 한국정보통신설비학회:학술대회논문집
• /
• 2007.08a
• /
• pp.376-380
• /
• 2007

This paper suggests remote injection system and explains the design of the system and means of implementation. Remote injection system means a system delivering the precise injection prescribed to the patient in the ward through input into the remote server using TCP/IP protocol. The system has been planned in detail. The syringe has been designed to be linked with the Ringer's rubber tube and the independently developed syringe-module is to be used in order to ensure precise and accurate delivery of the injected medication. In development stage of embedded software, object-oriented planning method has been chosen.