• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.486-490
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• 1993

In addtion to a basic motion task, redundant manipulators can achieve some additional tasks by optimizing proper performance criteria. Some of performance criteria can be transformed to inequality constraints. So the redundancy resolving problem can be reformulated as a local optimization problem with equality constraints for the end effector and inequality constraints for some performance criteria. In this article, we propose a method for solving the inverse kinematics of a manipulator with redundancy using the Kuhn-Tucker theorem to incorporate inequality constraints. With proper choice of inequality constraints, the proposed method gives a way of optimizing multiple criteria in redundant manipulators.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.661-665
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• 1996

An inverse kinemetics problem of a reclaimer which digs and transports ironstones or coals in the raw yard is investigated. Because of the special features of the reclaimer of which scooping buckets are attached around the rotating drum at the end of boom, kinematic redundancy occurs in determining the joint varialbes For a given reclaiming point in space the forward kinematics yields 3 equations, however the number of involved variables in the equations are four. A plane equation approximating the surface near a reclaiming point is obtained by considering 8 adjacent points surrounding the reclaiming point. One extra equation to overcome redunduncyis further obtained from the condition that the normal vector at a reclaiming point is perpendicular to the plane. An approximate solution for a simplified problem is first discussed, Numerical solution for the oritinal nonlinear porblem with a constraint equation is also investigated. Finally a closed form solution which is not exact but sufficiently close enough is proposed by exploiting geometric constraint.

• Journal of the military operations research society of Korea
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• v.24 no.2
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• pp.130-145
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• 1998

This paper is concerned with the optimization of a system reliability. Two kinds of the reliability model for optimal allocation of parallel redundancy are considered. The algorithm for solving the optimal redundancy problem is proposed by the use of dynamic programming(DP) method. The problem is approached with a standard DP formulation and the DP algorithm is applied to the model and then the optimal solution is found by the backtracking method. The method is applicable to the models having no constraints or having a cost constraint subject to a specified minimum requirement of the system reliability. A consequence of this study is that the developed computer program package are implemental for the optimization of the system reliability.

• The KIPS Transactions:PartA
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• v.13A no.6 s.103
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• pp.489-494
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• 2006

This paper improves the algorithms for Speculative Partial Redundancy Elimination(SPRE) proposed by Knoop et al. This research brings up an issue concerning a field to which SPRE cannot be applied, and suggests a solution to the problem. The Improved SPRE algorithm performs the execution speed optimization based on the information on the execution frequency from profiling and the memory space optimization.

• Journal of the military operations research society of Korea
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• v.11 no.2
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• pp.53-63
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• 1985

This paper presents a multi-costraint optimization model for redundant system reliability. The optimization model is usually formulated as a nonlinear integer programming (NIP) problem. This paper reformulates the NIP problem into a linear integer programming (LIP) problem. Then an efficient 'Branch and Straddle' algorithm is proposed to solve the LIP problem. The efficiency of this algorithm stems from the simultaneous handling of multiple variables, unlike in ordinary branch and bound algorithms. A numerical example is given to illustrate this algorithm.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.9
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• pp.13-22
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• 1997

In this paper, we supposed allocating the number of redundancies as the model of 0-1 knapsack problem and formulated the problem to maximize the systems reliability for a mission length. The formulated problem reduced the problem size using the modified branch and bound algorithm by Lagrangian relaxation. The subgradient method can optimize the set of solution. To verify the proposed method, we presented the improved resutls of the systems composed of two and ten component groups as the commparison of those in other papers.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1999.10a
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• pp.170-170
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• 1999

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2010.05a
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• pp.141-143
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• 2010

This paper presents a problem of the existing encryption method using MLCA or complemented MLCA and propose a method to resolve this problem. With the existing encryption methods, the result of encryption is affected by the original image because of spatial redundancy of adjacent pixels. In this proposed method, we transform spatial coordinates of all pixels into encrypted coordinates. We also encrypt color values of the original image by operating XOR with pseudo-random numbers. This can solve the problem of existing methods and improve the levels of encryption by randomly encrypting pixel coordinates and pixel values of original image. The effectiveness of the proposed method is proved by conducting histogram, key space analysis.

• Journal of Advanced Marine Engineering and Technology
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• v.35 no.3
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• pp.341-347
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• 2011

The redundancy allocation problem (RAP) is a famous NP.complete problem that has beenstudied in the system reliability area of ships and airplanes. Recently meta-heuristic techniques have been applied in this topic, for example, genetic algorithms, simulated annealing and tabu search. In particular, tabu search (TS) has emerged as an efficient algorithmic approach for the series-parallel RAP. However, the quality of solutions found by TS depends on the initial solution. As a robust and efficient methodology for the series-parallel RAP, the hybrid metaheuristic (TSA) that is a interactive procedure between the TS and SA (simulated annealing) is developed in this paper. In the proposed algorithm, SA is used to find the diversified promising solutions so that TS can re-intensify search for the solutions obtained by the SA. We test the proposed TSA by the existing problems and compare it with the SA and TS algorithm. Computational results show that the TSA algorithm finds the global optimal solutions for all cases and outperforms the existing TS and SA in cases of 42 and 56 subsystems.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.18 no.1
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• pp.83-91
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• 1993

In the digital transmission system, cyclic redundancy check(CRC) code is widely used because it is easy to be implemented and has good performance in error detection. CRC code generator consists of several shift registers and modulo 2 adders. After manipulation of input data stream in the encoder, the remaining value of shift registers becomes CRC code. At the receiving side, error can be detected and corrected by CRC codes immediately transmitted after data stream. But, in the high speed system such as an A TM switch, it is difficult to implement the serial CRC encoder because of speed limitation of available semiconductor devices. In this paper, we propose the efficient parallel CRC encoder and syndrome calculator to solve the speed problem in implementing these functions using the existing semiconductor technology.