• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 추계학술대회 논문집
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• pp.301-305
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• 2001

Conventionally, robot control algorithms are divided into two stages, namely, path or trajectory planning and path tracking(or path control). This division has been adopted mainly as a means of alleviating difficulties in dealing with complex, complex, coupled manipulator dynamics. The minimum-time manipulator control problem is solved for the case when the path is specified and the actuator torque limitations are known. In path planning, DP is applied to applied to find the shortest path form initial position to final position with the assumptions that there is no obstacle and that each path is straight line. In path control, the phase plane technique is applied to the minimum-time control with the assumptions that the bound on each actuator torque is a function of joint position and velocity or constant. This algorithm can be used for any manipulator that has rigid link, known dynamics equations of motion, and joint angles that can be determined at a given position on the path.

• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 2006년도 춘계공동학술대회 논문집
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• pp.1030-1033
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• 2006

In this paper, the assignment problem is considered. We propose an approach based on the solution of a sequence of shortest path sub-problem. We extend the cost reduction method, which is used for finding initial assignment, to solve these sub-problems. The use of the extended reduction method makes it possible to devise an efficient multi-augmenting algorithm.

• 한국경영과학회지
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• 제17권3호
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• pp.159-170
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• 1992

The size of time constaints is the critical bottleneck of the Crew Scheduling Problem (CSP). This paper deals with a method to extract the minimum required time constraints by k-shortest path algorithm. These time constraints are added as the "insurance constraints" to avoid the unnecessary tree search, which are very time-consuming procedures, for the integer solutions. The computational results show that the problem size in LP formulation could be reduced by our method.

• 경영과학
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• 제11권1호
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• pp.59-72
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• 1994

In this paper we examine potentials of a spreadsheet program, one of the most widly available software system, as a mathematical optimization modeling tool. For an illustrative example, a shortest path problem is modeled on Lotus-123 for practical use and an implementational framework and a general guide to the spreadsheet modeling of network analysis is provided.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.405-411
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• 2011

This paper presents a hierarchical trajectory planning method which can handle a collision-free of the planned path in complex and dynamic environments. A PV (Path & Velocity profile) planning method minimizes a sharp change of orientation and waiting time to avoid a collision with moving obstacle through detour path. The path generation problem is solved by three steps. In the first step, a smooth global path is generated using $A^*$ algorithm. The second step sets up the velocity profile for the optimization problem considering the maximum velocity and acceleration. In the third step, the velocity profile for obtaining the shortest path is optimized using the fuzzy and genetic algorithm. To show the validity and effectiveness of the proposed method, realistic simulations are performed.

• 품질경영학회지
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• 제26권1호
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• pp.192-200
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• 1998

The quickest path problem is one of the important things for quality of services in communication networks. It is to find a path to send a given amount of data from the source to the sink with minimum transmission time, where the transmission time is dependent on both the capacities and the traversal times of the arcs in the network. This is found under the networks that the capacity and the lead time of each ring are predetermined. It is general to solve the quickest path problem using shortest path algorithms. The relevant algorithms proposed till now are based on the capacity of rings in distributed environments. When the configuration of networks is changed, there can be two a, pp.oaches to find the quickest paths. The one is to find new quickest paths, and the other is to update the current quickest paths. As one of the algorithms for the latter, the distributed quickest path update algorithm was proposed. This paper aims to propose the distributed algorithm a, pp.icable to find the quickest path, when the configuration of networks is changed, using the quickest path tree update altorithm, and to verify its possibility of a, pp.ication by analyzing the transmission amount of data from one node to another from the theoretical point of view.

• 대한안전경영과학회지
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• 제13권1호
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• pp.133-142
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• 2011

Overhead facility design problem(OFDP) is one of the shortest rectilinear flow network problem(SRFNP)[4]. Genetic algorithm(GA), artificial immune system(AIS), population management genetic algorithm (PM) and greedy randomized adaptive search procedures (GRASP) were introduced to solve OFDP. A path matrix formed individual was designed to represent rectilinear path between each facility. An exchange crossover operator and an exchange mutation operator were introduced for OFDP. Computer programs for each algorithm were constructed to evaluate the performance of algorithms. Computation experiments were performed on the quality of solution and calculations time by using randomly generated test problems. The average object value of PM was the best of among four algorithms. The quality of solutions of AIS for the big sized problem were better than those of GA and GRASP. The solution quality of GRASP was the worst among four algorithms. Experimental results showed that the calculations time of GRASP was faster than any other algorithm. GA and PM had shown similar performance on calculation time and the calculation time of AIS was the worst.

• 전자공학회논문지
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• 제52권6호
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• pp.3-9
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• 2015

본 논문에서는 짧은 지연시간을 요구하는 CDMA 시스템 환경에서 전송률 스케줄링과 전력량 할당 문제를 연구한다. 구체적으로, 본 논문은 각각의 단말이 짧은 구간 동안의 평균 전송률을 유지하는 동시에 에너지 효율적인 스케줄링 방안을 제안한다. 다중 코드를 적용한 CDMA 시스템을 고려하며, 각각의 코드는 가상의 사용자로 해석할 수 있다. 논문의 최종 목적은 전송률 과정에서 소모하는 에너지가 최소화되도록 각각의 시간슬럿에 가상의 사용자를 스케줄링하는 방안을 제안하는 것이다. 주목할만한 점은, 본 논문에서 고려하는 전송률 최적화 문제가 최단 경로 알고리즘으로 해결 가능하다는 점이다. 마지막으로, 본 논문이 제안하는 에너지 최적화 스케줄링 방안을 TDMA 형식의 스케줄링 방안과 성능 비교 분석한다.

• 한국전자통신학회논문지
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• 제7권4호
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• pp.721-726
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• 2012

이 논문에서 SPFA(shortest path faster algorithm)을 사용해서 기존의 벨만-포드(Bellman-Ford)을 개선한 효율적인 알고리듬을 제안한다. 벨만-포드 알고리듬은 딕스트라(Dijkstra) 알고리듬과 다르게 부(-)인 가중치를 갖는 그래프에서 사용할 수 있다. SPFA 알고리듬은 한 대기열을 이용하여 노드를 저장한다. 그래서 중북을 피할 수 있다. 벨만-포드 알고리듬은 시간을 더 사용하여 노드 표를 업데이트를 시킨다. 이 개산 알고리듬에서는 인접 리스트를 이용하여 표의 각 노드를 저장한다. 한 대기열을 통하여 데이트를 저장한다. 개선 방법에서는 새로운 점에 계속 relaxation을 통하여 최적 패스를 얻을 수 있다. 딕스트라 알고리듬과 SPFA 알고리듬과 개선된 알고리듬의 성능을 비교하기 위해서 시뮬레이션을 하였다. 실험 결과에서 랜덤(random) 그래프에서 개선된 알고리듬, SPFA 알고리듬과 딕스트라 알고리듬은 효율이 비슷했었는데, 격자형 지도에서 개선 알고리듬의 효율이 더 높았었다. 처리시간에서 개선된 알고리듬은 SPFA 알고리듬 보다 3분의 2를 감소시켰다.

• 대한전자공학회논문지
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• 제21권5호
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• pp.1-6
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• 1984

본 논문에서는 여러 경우의 발견적함수가 논의되었다. 경로 찾기 알고리즘에 있어서는 목표까지 거리의 정확한 평가자를 구하는 것이 중요하다. 정확한 평가자가 존재하는 한 어느 공간이든 문제가 풀리는 영역이지만, 부정확한 평가자들로서도 가능한 영역에 흥미가 있으며 따라서 이 논문은 발견적정보의 효과적인 사용의 필요성을 느끼게 하여주는 경우들을 다루었으며, 이것은 최단경로 문제에 있어서 계산적인 접근에 사용하면 좋다.