• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.6
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• pp.770-778
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• 2012

In this paper, we propose a multi-path construction scheme to improve the survivability of a multicast session in military hybrid networks. A military hybrid network consists of a static backbone network and multiple mobile stub networks where some nodes are frequently susceptible to be disconnected due to link failure and node mobility. To improve the survivability of multicast sessions, we propose a construction scheme of ${\kappa}$ redundant multi-paths to each receiver. In order to take account of different characteristics of static and mobile networks, we propose quite different multi-path setup approaches for the backbone and stub networks, respectively, and combine them at the boundary point called gateway. We prove that our proposed scheme ensures that each receiver of a multicast session has ${\kappa}$ redundant paths to the common source. Through simulations, we evaluate the performance of the proposed schemes from three aspects : network survivability, recovery cost, and end-to-end delay.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.345-348
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• 1997

In this paper, a motion control algorithm is developed using a fuzzy control and the optimization of performance function, which makes a robot arm avoid an unexpected obstacle when the end-effector of the robot arm is moving to the goal position. During the motion, if there exists no obstacle, the end-effecter of the robot arm moves along the pre-defined path. But if there exists an obstacle and close to the robot arm, the fuzzy motion controller is activated to adjust the path of the end-effector of the robot arm. Then, the robot arm takes the optimal posture for collision avoidance with the obstacle. To show the feasibility of the developed algorithm, numerical simulations are carried out with changing both the positions and sizes of obstacles. It was concluded that the proposed algorithm gives a good performance for obstacle avoidance.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.8
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• pp.165-173
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• 1998

In this paper, a motion control algorithm is developed by using fuzzy control technique, which makes a robot arm avoid unexpected obstacles when the robot is moving from the start to a goal posture. During the motion, if there exist no obstacles the robot arm moves along the pre-defined path. But if some obstacles are recognized and close to the robot arm, a fuzzy controller is activated to adjust the path of the robot arm. To show the feasibility of the developed algorithm, numerical simulations and experiments are carried out. In the experiments, redundant planar robot arms are considered for the collision avoidance test, and it was proved that the developed algorithm gives good collision avoiding performance.

• International Journal of Control, Automation, and Systems
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• v.4 no.3
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• pp.318-324
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• 2006

The mobile manipulator is expected to work in partially defined or unstructured environments. In our global/local approach to path planning, joint trajectories are generated for a desired Cartesian space path, designed by the global path planner. For a local path planner, inverse kinematics for a redundant system is used. Joint displacement limit for the manipulator links is considered in the motion planner. In an event of failure to obtain feasible trajectories, the task cannot be accomplished. At the point of failure, a deviation in the Cartesian space path is obtained and a replanner gives a new path that would achieve the goal position. To calculate the deviation, a nonlinear optimization problem is formulated and solved by standard Sequential Quadratic Programming (SQP) method.

• Journal of the Korean Statistical Society
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• v.29 no.3
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• pp.297-306
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• 2000

An efficient method of constructing $textsc{k}$-minimal path sets to evaluate the reliability of a flow network is presented. The network is considered to be in a functioning state if it can transmit a maximum flow which is greater than or equal to a specified amount of flow, $textsc{k}$say, and a $textsc{k}$-minimal path set is a minimal set of branches that satisfies the given flow constraint. In this paper, under the assumption that minimal path sets of the network are known, we generate composite paths by adding only a minimal set of branches at each iteration to get $textsc{k}$-minimal path sets after possibly the fewest composition, and compute maximum flow of composite paths using only minimal path sets. Thereby we greatly reduce the possible occurrence of redundant composite paths throughout the process and efficiently compute the maximum flow of composite paths generated. Numerical examples illustrate the method.

• Proceedings of the IEEK Conference
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• 1998.10a
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• pp.1125-1128
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• 1998

A new architecture for high-speed implementation of adaptive decision-feedback equalizer (ADFE) applicable to wide-band digital wireless modems is described. Rather than using conventional two's complement arithmetic, a novel complex-valued filter structure is devised, which is based on redundant binary (RB) arithmetic. The proposed RB complex-valued filter reduces the critical path delay of ADFE, as well as leads to a more compact implementation than conventional methods. Also, the carry-propagation free (CPF) operation of the RB arithmetic enhances its speed. To demonstrate the proposed method, a prototype chip set is designed. They are designed to contain two complexvalued filter taps along with their coefficient updating circuits, and can be cascaded to implement loger filter taps for high bit-rate applications.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.740-745
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• 2005

This study is intended to build a controller of redundant manipulators with the simultaneous abilities of trajectory tracking and obstacle avoidance without any preparations of path planning to achieve full automation even for one production of one kind, while keeping the avoidance ability high and keeping its shape away from object to reduce the possibility that the manipulator crashes to the object. To evaluate the avoidance ability of the intermediate link, we proposed a scalar value of Avoidance Manipulability Shape Index(AMSI), which is independent of the obstacle's shape. On the other hand, the danger to crash to the obstacle is depending on the shape of the obstacle, which could be evaluated by the potential field set around the obstacle. This paper proposes control method of the manipulator's shape based on the AMSI to simultaneously avoid obstacles and keep the avoidance ability high with potential.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.29B no.10
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• pp.27-36
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• 1992

This paper proposes a numerical method of motion planning for manipulators using Foruier series. For a redundant manipulator, we predetermine the trajectories of redundant joints in terms of the Nth partial sum of the fourier series. then the optimal coefficients of the fourier series are searched by the Powell's method. For a nonredundant or redundant manipulator, CS02T-continuous smooth joint trajectory for a point-to-point task can be obtained while considering the frequency response. We apply the proposed method to the 3-link planar manipulator and the PUMA 560 manipulator. To show the validity of the proposed method, we analyze solutions by the Fast Fourier Transform (FFT). Also, several features are discussed to obtain an optimal solution.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.29A no.9
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• pp.85-93
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• 1992

In this paper, the new timing optimization algorithm for combinational networks is proposed. First, we introduce the concept of P-path redundancy which is the extension of redundancy concept used in the testing of combinational networks. In this approach, the critical delay is minimized by removing the P-path redundant side inputs of the critical path, and more accurate timing optimization is possible by systematically considering the statically unsensitizable paths as well as the statically sensitizable paths. It's possible with all previous longest path based approaches that the critical delay of resulting network after timing optimization may be even increased. However, the proposed method guarantees to exclude such a possibility, and can be applied to optimize the timing of combinational networks in technology independent, and dependent phase.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.4
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• pp.362-367
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• 2011

The collision-free path of a manipulator should be regenerated in the real time to achieve collision safety when obstacles or humans come into the workspace of the manipulator. A probabilistic roadmap (PRM) method, one of the popular path planning schemes for a manipulator, can find a collision-free path by connecting the start and goal poses through the roadmap constructed by drawing random nodes in the free configuration space. The path planning method based on the configuration space shows robust performance for static environments which can be converted into the off-line processing. However, since this method spends considerable time on converting dynamic obstacles into the configuration space, it is not appropriate for real-time generation of a collision-free path. On the other hand, the method based on the workspace can provide fast response even for dynamic environments because it does not need the conversion into the configuration space. In this paper, we propose an efficient real-time path planning by combining the PRM and the potential field methods to cope with static and dynamic environments. The PRM can generate a collision-free path and the potential field method can determine the configuration of the manipulator. A series of experiments show that the proposed path planning method can provide robust performance for various obstacles.