• Journal of Electrical Engineering and Technology
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• v.4 no.2
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• pp.149-158
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• 2009

It is important to derive reliable parameter values in the measurement-based load model development of electric power systems. However parameter estimation tasks, in practice, often face the parameter identifiability issue; whether or not the model parameters can be estimated with a given input-output data set in reliable manner. This paper introduces concepts and practical definitions of the local identifiability of model parameters. A posteriori local identifiability is defined in the sense of nonlinear least squares. As numerical examples, local identifiability of third-order induction motor (IM) model and a Z-induction motor (Z-IM) model is studied. It is shown that parameter ill-conditioning can significantly affect on reliable parameter estimation task. Numerical studies show that local identifiability can be quite sensitive to input data and a given local solution. Finally, several countermeasures are proposed to overcome ill-conditioning problem in measurement-based load modeling.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.1
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• pp.78-86
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• 1998

This paper presents a numerical method of the minimum-time trajectory planning for a robot manipulator amid obstacles. Each joint displacement is represented by the linear combination of the finite-term quintic B-splines which are the known functions of the path parameter. The time is represented by the linear function of the same path parameter. Since the geometric path is not fixed and the time is linear to the path parameter, the coefficients of the splines and the time-scale factor span a finite-dimensional vector space, a point in which uniquely represents the manipulator motion. The displacement, the velocity and the acceleration conditions at the starting and the goal positions are transformed into the linear equality constraints on the coefficients of the splines, which reduce the dimension of the vector space. The optimization is performed in the reduced vector space using nonlinear programming. The total moving time is the main performance index which should be minimized. The constraints on the actuator forces and that of the obstacle-avoidance, together with sufficiently large weighting coefficients, are included in the augmented performance index. In the numerical implementation, the minimum-time motion is obtained for a planar 3-1ink manipulator amid several rectangular obstacles without simplifying any dynamic or geometric models.

• Journal of radiological science and technology
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• v.45 no.5
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• pp.439-448
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• 2022

The purpose of this study was to analyze the results from statistical process control (SPC) to recommend upper and lower control limits for planning parameters based on delivery quality assurance (DQA) results and establish our institutional guidelines regarding planning parameters for helical tomotherapy (HT). A total of 53 brain, 41 head and neck (H & N), and 51 pelvis cases who had passing or failing DQA measurements were selected. The absolute point dose difference (DD) and the global gamma passing rate (GPR) for all patients were analyzed. Control charts were used to evaluate upper and lower control limits (UCL and LCL) for all assessed treatment planning parameters. Treatment planning parameters were analyzed to provide its range for DQA pass cases. We confirmed that the probability of DQA failure was higher when the proportion of leaf open time (LOT) below 100 ms was greater than 30%. LOT and gantry period (GP) were significant predictor for DQA failure using the SPC method. We investigated the availability of the SPC statistic method to establish the local planning guideline based on DQA results for HT system. The guideline of each planning parameter in HT may assist in the prediction of DQA failure using the SPC statistic method in the future.

• Journal of Ocean Engineering and Technology
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• v.36 no.1
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• pp.41-49
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• 2022

With the advancement of intelligent vehicles and unmanned systems, there is a growing interest in underwater surveys using autonomous marine vehicles (AMVs). This study presents an automated planning strategy for a long-term survey mission using a fleet of AMVs consisting of autonomous surface vehicles and autonomous underwater vehicles. Due to the complex nature of the mission, the actions of the vehicle must be of high-level abstraction, which means that the actions indicate not only motion of the vehicle but also symbols and semantics, such as those corresponding to deploy, charge, and survey. For automated planning, the planning domain definition language (PDDL) was employed to construct a mission planner for realizing a powerful and flexible planning system. Despite being able to handle abstract actions, such high-level planners have difficulty in efficiently optimizing numerical objectives such as obtaining the shortest route given multiple destinations. To alleviate this issue, a widely known technique in operations research was additionally employed, which limited the solution space so that the high-level planner could devise efficient plans. For a comprehensive evaluation of the proposed method, various PDDL-based planners with different parameter settings were implemented, and their performances were compared through simulation. The simulation result shows that the proposed method outperformed the baseline solutions by yielding plans that completed the missions more quickly, thereby demonstrating the efficacy of the proposed methodology.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.72-75
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• 1988

Due to the fact that the set point regulation scheme by the variable structure control method concerns only the initial and final locations of a manipulator, many constraints may exist in the application of path tracking with obstracle avoidance. The variable structure parameter should be selected in the trajectory planning step by satisfying the constraints of the travel time and the path deviations This paper presents the selection algorithm of the variable structure parameters with the constraints of the system dynamics and the travel time and the path deviation. This study makes unify the trajectory planning and tracking control using the variable structure control method.

• Journal of Korean Society of Transportation
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• v.30 no.1
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• pp.103-112
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• 2012

This research introduces a trip generation model reflecting time-series effects derived from a panel analysis with the data collected from the national household trip surveys conducted in 1996, 2002 and 2006. The existing methods are unable to reflect time-series effects from the change of socioeconomic conditions because the parameters applied to the model were basically from the base year of study - the parameter values were unchanged. This study proposes a new trip generation model developed through a panel analysis performed with the data collected from the last three national household trip surveys. From the results, it was found that the number of school trips increases and that the number of shopping trips decreases as time passes. The results showed that there are time-series effects affecting in trip generation.

• Korean System Dynamics Review
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• v.16 no.2
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• pp.75-100
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• 2015

The purpose of this study is to analyze causation of Ecosystem service's trade-off(ES trade-off) and to establish baseline data for wise spatial planning and management. In order to understand why and how ES trade-off occurs, systems thinking and causal loops were employed. The causal loop of ecosystem service creation cycle includes profits quantification process, decision making process, spatial planning and management process, and ecosystem services creation process. The profits quantification process has a limitation that all ecosystem service categories were not included in profits quantification, because quantification method for cultural services is insufficient. These problems led to unequal discussion opportunity in decision making process. ES trade-off occurs through transition of ecosystem function in spatial scale and temporal scale. In spatial scale, land-use variation and resource-use variation contribute to change an ecosystem function for different ES category by spatial planning and management. In temporal scale, a change of an ecosystem function for different ES category is influenced by ecological succession, seasonal change and land cover variation, which are parameter from environmental features. This study presented that spatial planning and management should ecosystem service assessment in order to enhance balanced ecosystem services.

• Journal of the Korean Society of Systems Engineering
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• v.16 no.1
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• pp.1-8
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• 2020

In this paper we proposed to develop the reliability growth planning for the One-shot system using the PM2-Discrete model. The PM2-Discrete is the methodology specifically developed for discrete systems and is the first quantitative method available for formulating detailed plans in the discrete usage domain. First, the parameters RG, RI, T, MS and d of the PM2-Discrete model are set. Second, the case analysis was performed on One-shot system A. Third, the input parameter values were applied to drive the R(t) equation. Finally, using RGA 11 Software, the reliability Growth Planning Curve of One-shot system A was constructed. Also, the sensitivity analyses are performed for the changes of model parameters. The results of this study can be usefully used in establishing the reliability growth planning curve of the One-shot system.

• Journal of Computational Design and Engineering
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• v.3 no.2
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• pp.132-139
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• 2016

In this paper, a minimum time path planning strategy is proposed for multi points manufacturing problems in drilling/spot welding tasks. By optimizing the travelling schedule of the set points and the detailed transfer path between points, the minimum time manufacturing task is realized under fully utilizing the dynamic performance of robotic manipulator. According to the start-stop movement in drilling/spot welding task, the path planning problem can be converted into a traveling salesman problem (TSP) and a series of point to point minimum time transfer path planning problems. Cubic Hermite interpolation polynomial is used to parameterize the transfer path and then the path parameters are optimized to obtain minimum point to point transfer time. A new TSP with minimum time index is constructed by using point-point transfer time as the TSP parameter. The classical genetic algorithm (GA) is applied to obtain the optimal travelling schedule. Several minimum time drilling tasks of a 3-DOF robotic manipulator are used as examples to demonstrate the effectiveness of the proposed approach.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.5 no.4
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• pp.339-346
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• 2005

Artificial potential field (APF) is a widely used method for local path planning of autonomous mobile robot. So far, many different types of APF have been implemented. Once the artificial potential functions are selected, how to choose appropriate parameters of the functions is also an important work. In this paper, a detailed analysis is given on how to choose proper parameters of artificial functions to eliminate free path local minima and avoid collision between robots and obstacles. Two kinds of potential functions: Gaussian type and Quadratic type of potential functions are used to solve the above local minima problem respectively. To avoid local minima occurred in realistic situations such as 1) a case that the potential of the goal is affected excessively by potential of the obstacle, 2) a case that the potential of the obstacle is affected excessively by potential of the goal, the design guidelines for selecting appropriate parameters of potential functions are proposed.