• Journal of the Korean Society for Precision Engineering
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• v.16 no.3 s.96
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• pp.164-173
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• 1999

Robot calibration needs accurate measurements of robot end-effector position at a number of different robot configurations. One of the efficient ways of the measurement is "Touching on Jig" method suggested in [7], which utilizes a touch sensor and a fixture consisting of various sizes of blocks. By moving the end-effector to touch the surface of a block whose position relative to the other is known, the end-effector position relative to the fixture coordinate system can be obtained at the instant of touching. However, the global size of fixture is too small to cover the various configurations of the robot. Because of the manufacturing difficulties, the fixture cannot be manufactured large enough for well distributed position measurement. It results in the improvement of robot accuracy only in the limited space near to the fixture rather than over the whole space of the robot working volume. The paper proposes a method to resolve the above problem by measuring the end-effector positions with respect to several different coordinate system using the same measurement devices. It is found that the proposed method leads the improvements of robot position accuracy over the large space of working volume. The experimental studies are performed to show the validity of the method and their results are discussed.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.18 no.7
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• pp.1817-1839
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• 2024

To solve the problem of insufficient recognition of key nodes in the existing software defect detection process, this paper proposes a key node recognition algorithm based on node expansion degree and improved K-shell position, shortened as SDD_KNR. Firstly, the calculation formula of node expansion degree is designed to improve the degree that can measure the local defect propagation capability of nodes in the software network. Secondly, the concept of improved K-shell position of node is proposed to obtain the improved K-shell position of each node. Finally, the measurement of node defect propagation capability is defined, and the key node recognition algorithm is designed to identify the key function nodes with large defect impact range in the process of software defect detection. Using real software systems such as Nano, Cflow and Tar to design three sets of experiments. The corresponding directed weighted software function invoke networks are built to simulate intentional attack and defect source infection. The proposed SDD_KNR algorithm is compared with the BC algorithm, K-shell algorithm, KNMWSG algorithm and NMNC algorithm. The changing trend of network efficiency and the strength of node propagation force are analyzed to verify the effectiveness of the proposed SDD_KNR algorithm.

• Communications of the Korean Mathematical Society
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• v.24 no.3
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• pp.467-479
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• 2009

This paper ultimately aims to develop noninvasive techniques to identify the inside of a given electrical network. Based on the theory of the partial differentiation equations and mathematical modeling, this paper devises the algorithms to find the locations of possible abnormalities. To ensure the certainty of the algorithms, this study restricted the forms of the network and the number of abnormalities, rendering it easy to prove the uniqueness of the position of the abnormalities.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1823-1827
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• 1991

The problem regarding nonlinear systems has come to occupy an important position. In order to solve a nonlinear problem we have methods of linearization which are developed through linear approximation to adapt linear system theories. In this paper we present a formal linearization of nonlinear systems based on the discrete-Fourier transform (D.F.T.).

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.104.5-104
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• 2001

In this paper, we address the swing up control and the singular problem of an acrobot. We derive a serial system equation from the acceleration constraint that there is no actuator on the first joint. Based on the serial system representation, we propose a swing up and stabilization control algorithm to move the acrobot from its downward equilibrium to its inverted equilibrium position. Simulation result is also provided to show the effectiveness of the proposed control strategy.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.69.3-69
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• 2002

The reliability of system is to become a important concern in developed industry. The controller based on the reliability is so important position. A reliable system is for system protection and human life by fault detection and control action against the transient condition of system. The aerospace system , nuclear reactor and chemical reactor are representative of a reliable system. This paper presents analysis of reliable system reliability, formal problem statement of optimal redundancy based on the reliability for a reliable system. And the problem is optimized by genetic algorithm. The genetic algorithms is useful algorithm in case of...

• Proceedings of the IEEK Conference
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• 1999.11a
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• pp.625-628
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• 1999

In this paper, we consider the problem of finding the depth of a object in two images taken with cameras. For solving this problem, we introduce a spherical concave mirror model. First, a virtual concave mirror is assumed, and then a scene is obtained by camera at two different position which are on the surface of the mirror. The depth of object is calculated from two scenes by using the spherical-mirror equation. The algorithm has been tested on a real scene containing several objects, and showed that it is more useful for farther object.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.24 no.69
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• pp.121-132
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• 2001

South and North Korea have many questions pending .Inter-Korea trade is the best actual problem among question pending. The biggest problem of inter-Korea trade in logistics cost. The logistics cost of inter-Korea is the highest position in the middle of foreign trade. We present that the cost reduction is possible by inter-Korea logistics standardization. This paper also shows logistics standardization strategy of South and North Korea.

• ETRI Journal
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• v.6 no.4
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• pp.31-36
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• 1984

This paper presents an efficient method for real power loss minimization and for improvements in voltage profiles. This method is accomplished by optimal control of reactive power in the system. The problem is formulated as an optimization problem, suitable for solution by linear programming technique. After establishing the objective function for minimizing the system losses with the help of linearised sensitivity relationships of control variables, i. e., the transformer tap position, generator terminal voltages and switchable reactive power sources. The linear programming technique is used to determine the optimal adjustments to the above variables, simultaneously satisfying the constraints. The proposed algorithm has been tested on a sample system and the result is presented and discussed.

• Spatial Information Research
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• v.9 no.2
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• pp.263-275
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• 2001

With increasing of utilization of 1/1,000 Digital-Map being constructed with NGIS project, it is entering upon the stage that problem as the inspection of position accuracy of Digital-Map before its use. This paper evaluated position accuracy of Digital-Map being based on the construction of college facility management system into small area and presented modification/renovation of Digital-Map on area being occurred position error. With a view to evaluation of position error to building using RTK survey, position error was shown more than 0.5mm that is prescribed in survey-law. In order to acquire good position accuracy, first we carried out Static survey to college and selected control point. And, we evaluated coordinate value to important building from control point and compared these results with RTK survey results. Second, we carried out Affine transform based on the control point of building being surveyed with RTK, transformed pre-constructed Digital-Map and compared these results with RTK Survey results. We analyzed first and second method and presented improvement method of position accuracy of Digital-Map suited on small area.