• 한국정밀공학회지
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• 제19권4호
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• pp.187-194
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• 2002

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 talc motion, if there exists no obstacle, the end-effector of the robot arm moves along the predefined path. But if these exists an obstacle and close to talc 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 far collision avoidance with the obstacle. To show the feasibility of the developed algorithm, numerical simulations are carried out with changing both the positions and sites of obstacles. It was concluded that the proposed algorithm gives a good performance for obstacle avoidance.

• 디지털산업정보학회논문지
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• 제5권3호
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• pp.39-45
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• 2009

In this paper we present a cleaning robot system for an autonomous mobile robot. Our robot performs goal reaching tasks into unknown indoor environments by using sensor fusion. The robot's operation objective is to clean floor or any other applicable surface and to build a map of the surrounding environment for some further purpose such as finding the shortest path available. Using its cleaning robot system for an autonomous mobile robot can move in various modes and perform dexterous tasks. Performance of the cleaning robot system is better than a fixed base redundant robot in avoiding singularity and obstacle. Sensor fusion using the clean robot improves the performance of the robot with redundant freedom in workspace and Map-Building. In this paper, Map-building of the cleaning robot has been studied using sensor fusion. A sequence of this alternating task execution scheme enables the clean robot to execute various tasks efficiently. The proposed algorithm is experimentally verified and discussed with a cleaning robot, KCCR.

• 대한전자공학회논문지
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• 제25권4호
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• pp.379-385
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• 1988

A kinematic control for redundant manipulators is consisdered. An efficient computation method is proposed to determine the joint variable solutions for a given Cartesian path of the end effector. In the proposed method, the Jacobian matrix and its pseudoinverse matrix are calculated intermittently only when the errors exceed the prescribed tolerance. Thereby, the computational burdens are greatly reduced, and at the same time, the errors are maintained within a tolerable range. To show the effectiveness of the mehtod, the result of the simulation is provided in which the redundancy of the manipulator is resolved to avoid the singularity.

• 전자공학회논문지B
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• 제29B권3호
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• pp.6-15
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• 1992

This paper proposes a method for the global optimization of redundancy over the whole task period for a kinematically redundant robot. The necessary conditions based on the calculus of variations for an integral type cost criterion result in a second-order differential equation. For a cyclic task, the periodic boundary conditions due to conservativity requirements are discussed. We refine the two-point boundary value problem to an initial value adjustment problem and suggest a numerical search method for providing the conservative global optimal solution using the gradient projection method. Since the initial joint velocity is parameterized with the number of the redundancy, we only search the parameter value in the space of as many dimensions as the number of degrees of redundancy. We show through numerical examples that multiple nonhomotopic extremal solutions and the generality of the proposed method by considering the dynamics of a robot.

• ETRI Journal
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• 제44권6호
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• pp.936-944
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• 2022

The mobile network allows redundant transmission via disjoint paths to support high-reliability communication (e.g., ultrareliable and low-latency communications [URLLC]). Although redundant transmission can improve communication reliability, it also increases network costs (e.g., traffic and control overhead). In this study, we propose a reliability-guaranteed multipath allocation algorithm (RG-MAA) that allocates appropriate paths by considering the path setup time and dynamicity of the reliability paths. We develop an optimization problem using a constrained Markov decision process (CMDP) to minimize network costs while ensuring the required communication reliability. The evaluation results show that RG-MAA can reduce network costs by up to 30% compared with the scheme that uses all possible paths while ensuring the required communication reliability.

• 한국정밀공학회지
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• 제10권2호
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• pp.170-177
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• 1993

In robotic arc welding, the roll (rotation) of the torch about its direction vector does not have any effect on the welding operation. Thus we could use this redundant degree of greedom for the motion control of the robot manipulator. This paper presents an algorithm for the pseudo- inverse kinematic motion control of the 6-axis robot, which utilizes the above mentioned redunancy. The prototype welding operation and the tool path are also graphically simulated. Since the proposed algorithm requires only the position and normal vector of the weldine as an input data, it is useful for the CAD-based off-line programming of the arc welding robot. In addition, it also has the advantages of the redundant manipulator motion control, like singularity avoidance and collision free motion planning, when compared with the other motion control method based on the direct inverse kinematics.

• 한국통신학회논문지
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• 제19권6호
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• pp.1169-1181
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• 1994

Gamma 네트워크는 많은 수의 중복경로를 포함하고 있기 때문에 오류발생시 그 오류를 허용할 수 있는 능력을 보유하고 있다. 그러나 근원지 번호와 목적지 번호가 동일한 경우에는 경로가 한개 뿐이어서 오류가 발생한다면 오류를 허용할 수 있는 어떠한 방법도 존재하지 않는다. 더욱이 그 네트워크가 동적 패킷 라우팅(dynamic packet routing) 전략을 사용할 경우에 오류가 발생한다면 다른 중복경로를 찾기위해 후진추적(backtracking)을 해야하는 문제점도 가지고 있다. 본 논문에서는 이러한 문제들을 새로운 스테이지 첨가 없이 해결할 수 있는 네트워크인 Dual 네트워크를 제안하고 있다. Dual 네트워크는 처음과 마지막 스테이지를 제외하면, Gamma 네트워크와 동일한 크기의 스위칭 소자를 사용하고 있으며, 특히 같은 크기의 Gamma 네트워크보다 스테이지(stage)수가 한개 줄어들어 매우 효율적인 네트워크이다. 또한, Dual 네트워크에서는 라우팅 방법으로 목적지 주소 라우팅(Destination Tag Routing)방법을 사용하기 때문에, 보다 간편하고 빠른 라우팅을 수행할 수 있는 장점도 가지고 있다.

• 한국CDE학회논문집
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• 제1권1호
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• pp.33-44
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• 1996

This study deals with the development of wire path searching module as a part of automobile wire harness design system. Wire path searching module manages the free space, finds transition locations, and creates bundle paths to dramatically reduce a tedious iterative routing process which results in easy optimization of the bundle paths. A prime policy in the system configuration is to compromise between man's and computer's ability, and make it possible a designer's leading role in designing process. Human input is indispensable to cope with the special cases which were not considered in the initial design stage of the system. In this study, we improve the previous shortest-path-finding algorithm, (VGraph and RCA method) into a new method called Extended RCA. Bundles, connectors and transitions are handled as objects so one can manage and modify physical properties of the objects easily. Therefore a verification is allowed at any desired stage of design. The reuse of previous result is facilitated by using Dependency Structure, which represents the mutual relations among connectors, transitions, and bundles. Dependency Structure makes it possible the elimination of redundant calculating process, and consequently shorter routing time.

• 대한전기학회논문지
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• 제37권7호
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• pp.498-509
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• 1988

A BF(breadth-first) linear quadtree as a new data structure for image data is suggested, which enables us to compress the image data efficiently and to make operations of the compressed data easily. It is a list of path names for black nodes as the linear quadtree is. The path name for each black node of a BF linear quadtree is represented as a sequence of path codes from the root node to itself, whereas that of linear quadtree as a sequence of path codes from the root node to itself and fill characters for cut-offed path from it to any n-level node which corresponds to a pixel of an image. The BF linear quadtree provides a more efficent compression ratio than the linear quadtree does, because the former does not require redundant characters, fill characters, for the cut-offed paths. Several operations for image processing can be also implemented on this hierarchical structure efficiently, because it is composed of only the black nodes ad the linear quadtree is . In this paper, algorithms for several operations on the BF linear quadtree are defined and analyzed. Experimental results for forur image data are also given and discussed.

• Journal of Communications and Networks
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• 제9권4호
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• pp.499-510
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• 2007

Shortest path tree(SPT) construction is essential in high performance routing in an interior network using link state protocols. When some links have new state values, SPTs may be rebuilt, but the total rebuilding of the SPT in a static way for a large computer network is not only computationally expensive, unnecessary modifications can cause routing table instability. This paper presents a new update algorithm, dynamic shortest path tree(DSPT) that is computationally economical and that maintains the unmodified nodes mostly from an old SPT to a new SPT. The proposed algorithm reduces redundancy using a dynamic update approach where an edge becomes the significant edge when it is extracted from a built edge list Q. The average number of significant edges are identified through probability analysis based on an arbitrary tree structure. An update derived from significant edges is more efficient because the DSPT algorithm neglect most other redundant edges that do not participate in the construction of a new SPT. Our complexity analysis and experimental results show that DSPT is faster than other known methods. It can also be extended to solve the SPT updating problem in a graph with negative weight edges.