• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.13 no.7
• /
• pp.3566-3582
• /
• 2019

In intelligent warehouse picking system, the allocation of tasks has an important influence on the efficiency of the whole system because of the large number of robots and orders. The paper proposes a method to solve the task allocation problem that multi-robot task allocation problem is transformed into transportation problem to find a collision-free task allocation scheme and then improve the capability of task processing. The task time window and the power consumption of multi-robot (driving distance) are regarded as the utility function and the maximized utility function is the objective function. Then an integer programming formulation is constructed considering the number of task assignment on an agent according to their battery consumption restriction. The problem of task allocation is solved by table working method. Finally, simulation modeling of the methods based on table working method is carried out. Results show that the method has good performance and can improve the efficiency of the task execution.

• Journal of Korean Medical Ki-Gong Academy
• /
• v.1 no.1
• /
• pp.13-59
• /
• 1996

Dep. of Classics &Medical History, College of Oriental Medicint, Kyung Hee University Today, many people are more interested Today, many people are more interested in preventing the disease than curing it. Chi-Kung(氣功) is the way of Life-Cultivation(養生法) peculiar to the orient, it is reported in china that Chi-Kung has an excellent curative value not only in curing the disease but also in preventing it. But the full-scale study of Chi-Kung is not be made up to now in Korea, so I studied the developmental history of chinese Chi-Kung through the oriental medical books. From this study, I reached the following conclusions; 1. Chi-Kung is naturally derived from the self-preservation instinct to adapt oneself to circumstances of the nature, but in the investigation from the documentational records, it is originated in the treatment method of the Sam-Huang-O-Jae(三皇五帝) period to cure the abnormal circulation of the vital force and blood caused by damp(濕). 2. As the principle and the method of the Life-Cultivation of the Chun-Chu-Jeon-Kook(春秋戰國) period were recorded in Huang-Jae-Nai-Gyung(黃帝內經) detailly and the remedy examples by ancient Chi-Kung such as Tao-Yin(導引), Haeng-Chi(行氣) were presented, we considered that theoretical basis of the development of Life-cultivation and Chi-Kung study was furnished in that period. 3. A famous doctor, Hwa-Ta(華引) lived in Han dynasty, researched the theory and practice of Tao-Yin transmitted from the former generations, as that result, he formed a kind of medical, gymnastics what is called O-Keum-Hi(五禽?). It is considered that 'O-Keum-Hi' is a Tao-Yin method developed more practically and systemetically than the Tao-Yin appeared in the 'Jang-Ja'(莊子) or 'Hoy-Nam-Ja'(淮南子). 4. In Wui-Jin-Nambook-Jo(魏曺南北朝) periods, the contents of Chi-Kung were more abundant under the influence of Buddhism(佛敎) and Taoism(道敎). Galhong(葛洪), the author of 'Po-Bak-Ja'(抱朴子) arranged the ancient Chi-Kung method systematically first of all, Tao-Goeng-Gyung, the author of 'Yang-Seong-Yeun-Myung-Rok'(養性延命錄) recorded the 'Yook-Ja-Geul'(六字訣) first time. 5. There is a new development of Chi-Kung therapy in Soo-Tang-Odae(隋唐五代) periods, especially So-Won-Bang(巢元方), the author of 'Jey-Bang-Won-Hwu-Ron' collected almost all of the Chi-Kung method, for curing the disease formed before Soo(隋) period. From that fact, we supposed that Chi-Kung was utilized more widely in curing the disease. 6. 'So-Ju-Cheon-Hwa-Hu-Peob'(小周天火候法) was adopted as the best orthodox approach under the influence of Nae-Tan-Taoist(道敎內丹學波) in Song-Keum-Won(宋金元) periods, especially in the song dynasty, 'Pal-Dan-Geum'(八段錦) was appearde and assignment of six-Chi(六氣) for bowel and viscera in the 'Yook-Ja-Geul'(六字訣) was decided firmly, that is to say Lung-Si(肺-?), Heart-Kha(心-呵), Spleen-Hoa(脾-呼), liver-Hoe(肝-噓), Kidney-chui(賢-吹), Three-Burner-shi(三焦-?). 7. In Myung-Cheong(明淸) periods, The general practitioner applied the principle of 'Byun-Jeng-Ron-Chi(辨證論治) to the Chi-Kung field, and after Myung dynasty the style of doing 'Yook-Ja-Gyel'(六字訣) was developed to the moving style. 8. Today, in china, the study on the Chi-Kyung is being progressed constantly under the positive assistance of government, Chi-Kung-Hak(氣功學) has taking its place as a branch of study step by step. It is considered that the establishment of Chi-Kung-Hak Classroom(氣功學敎室) and Medical Chi-Kung Center(氣功療法室) for special and systematic research are needed, at the same time the settlement of institutional system for training the Chi-Kung technician(氣功師) is also needed.

• Journal of Korean Medical classics
• /
• v.4
• /
• pp.19-73
• /
• 1990

Today, many people are more interested in preventing the disease than curing it. Chi-Kung (氣功) is the way of Life-Cultivation (養生法) peculiar to the orient, it is reported in china that Chi-Kung has an excellent curative value not only in curing the disease but also in preventing it. But the full-scale study of Chi-Kung is not be made up to now in Korea, so I studied the developmental history of chinese Chi-Kung through the oriental medical books. From this study, I reached the following conclusions ; 1. Chi-Kung is naturally derived from the self-preservation instinct to adapt oneself to circumstances of the nature, but in the investigation from the documentational records, it is originated in the treatment method of the Sam-Huang-O-Jae (三皇五帝 )period to cure the abnormal circulation of the vital force and blood caused by damp (濕). 2. As the principle and the method of the Life-Cultivation of the Chun-chu-Jeon-Kook (春秋戰國) periods were recorded in Huang-Jae-Nai-Gyung (黃帝內徑) detailly and the remedy examples by ancient Chi-Kung such as Tao-Yin (導引), Haeng-Chi (行氣) were presented, we considered that theoretical basis of the development of Life-cultivation and Chi-Kung study was furnished in that period. 3. A famous doctor, Hwa-Ta (華陀) lived in Han dynasty, researched the theory and practice of Tao-Yin transmitted from the former generations, as that result, he formed a kind of medical gymnastics what is called O-Keum-Hi (五禽戱). It is considered that 'O-Keum-Hi' is a Tao-Yin method developed more practically and systemetically than the Tao-Yin appeared in the 'Jang-Ja' (莊子) or 'Hoy-Nam-Ja' (淮南子). 4. In Wui-Jin-Nambook Jo (魏晋南北朝) periods, the contents of Chi-Kung were more abundant under the influence of Buddhism (佛敎) and Taoism (道敎). Galhong (葛洪), the author of 'Po-Bak-Ja' (抱朴子) arranged the ancient Chi-Kung method systematically first of all, Tao-Goeng-Gyung (陶宏景), the author of 'Yang-Seong-Yeun-Myung-Rok' (養性延命錄) recorded the 'Yook-Ja-Geul' (六字訣) first time. 5. There is a new development of Chi-Kung therapy in Soo-Tang-Odae (隋唐五代) pefiods, especially So-Won-Bang (巢元方), the author of 'Jey-Byung-Won-Hwu-Ron' (諸病源候論) collected aimost all of the Chi-Kung method, for curing the disease formed before soo (隋) period. From that fact, we supposed that Chi-Kung was utilized more widely in curing the disease. 6. 'So-Ju-Cheon-Hwa-Hu-Peob' (小周天火候法) was adopted as the best orthodox approach under the influence of Nae-Tan-Taoist (道敎內丹學派) in Song-Keum-Won (宋金元) periods, especially in the song dynasty, 'Pal-Dan-Geum' (八段錦) was appeared and assignment of six-Chi (六氣) for bowel and viscera in the 'Yook-Ja-Geul' (六字訣) was decided firmly, that is to say Lung-Si (肺-呬), Heart-Kha (心-呵), Spleen-Hoa (脾-呼), Liver-Hoe (肝-噓), Kidneychui (賢-吹), Three-Burner-shi (三焦-嘻). 7. In Myung-Cheong (明淸) periods, The general practitioner applied the principle of 'Byun-Jeng-Ron-Chi' (辨證論治) to the Chi-Kung field, and after Myeong dynasty the style of doing 'Yook-Ja-Gyel' (六字訣) was developed to the moving style. 8. Today, in china, the study on the Chi-Kung is being progressed constantly under the positive assistance of government, Chi-Kung-Hak (氣功學) has taking its place as a branch of study step by step. It is considered that the establishment of Chi-Kung-Hak Classroom (氣功學教室) and Medical Chi-Kung Center (氣功療法室) for special and systematic research are needed, at the same time the settlement of institutional system for training the Chi-Kung technician (氣功師) is also needed.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.8 no.3
• /
• pp.965-983
• /
• 2014

Concurrent behaviors of multithreaded programs cannot be described effectively by automata-based models. Thus, concurrent program intrusion attempts cannot be detected. To address this problem, we proposed the process algebra-based detection model for multithreaded programs (PADMP). We generate process expressions by static binary code analysis. We then add concurrency operators to process expressions and propose a model construction algorithm based on process algebra. We also present a definition of process equivalence and behavior detection rules. Experiments demonstrate that the proposed method can accurately detect errors in multithreaded programs and has linear space-time complexity. The proposed method provides effective support for concurrent behavior modeling and detection.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.9 no.2
• /
• pp.659-679
• /
• 2015

Distributed applications are composed of multiple nodes, which exchange information with individual nodes through message passing. Compared with traditional applications, distributed applications have more complex behavior patterns because a large number of interactions and concurrent behaviors exist among their distributed nodes. Thus, it is difficult to detect anomalous behaviors and determine the location and scope of abnormal nodes, and some attacks and misuse cannot be detected. To address this problem, we introduce a method for detecting anomalous behaviors based on process algebra. We specify the architecture of the behavior detection model and the detection algorithm. The anomalous behavior detection and analysis demonstrate that our method is a good discriminator between normal and anomalous behavior characteristics of distributed applications. Performance evaluation shows that the proposed method enhances efficiency without security degradation.

• Transactions on Control, Automation and Systems Engineering
• /
• v.3 no.4
• /
• pp.272-282
• /
• 2001

Uncertainties are the main reasons of deterioration of contour control of industrial articulated robot arm. In this paper, a high-precision contour control method was proposed to overcome some main uncertainties, such as torque saturation, system delay dynamics, interference between robot links, friction, and so on. Firstly, each considered factor of uncertainties was introduced briefly. Then proper realizable objective trajectory generation was presented to avoid torque saturation from objective trajectory. According to the model of industrial articulated robot arm, construction of Gaussian neural network controller with considering system delay dynamic, interference between robot links and friction was explained in detail. Finally, through the experiment and simulation, the effectiveness of proposed method was verified. Furthermore, based on the results it was shown that the Gaussian neural network controller can be also adapted for the various kinds of friction and high-speed motion of industrial articulated robot arm.

• Korean System Dynamics Review
• /
• v.4 no.1
• /
• pp.55-68
• /
• 2003

1960년대 이후 서양에서 발전된 시스템 사고는 동양 사고와는 상이한 사고 체계로 받아들여져 왔다. 피드백 시스템에 초점을 두는 시스템 사고는 오히려 전통적인 동양 사고와 유사하다는 점을 본 논문을 통하여 밝히고자 하였다. 특히 본 논문에서는 노자의 도덕경에서 자신의 행위가 자신에게로 되돌아온다는 순환적 사구 즉 피드백 사고를 발견할 수 있다는 점을 지적하였다. 아울러 동양의 전통적 관점이라고 할 수 있는 음양오행이론 역시 피드백 사고로 해석될 수 있다는 점을 밝히고자 하였다. 본 논문은 이러한 사상적 유사성이야말로 시스템 사고를 동양 사회에 도입할 수 있는 유연한 토대를 제공한다는 점을 지적하였다. 동양사고와 시스템 사고의 유사성이야말로 시스템 사고를 동양 사회에 적용하고 확산시키는데 있어서 지렛대의 역할을 수행할 것이다.

• Nuclear Engineering and Technology
• /
• v.42 no.3
• /
• pp.305-312
• /
• 2010

The protection sequence of an AC/DC converter for an ITER PF coil system is developed in this study. Possible faults in the coil system are simulated and the results reflected in the design of a sequence to protect the coil and converter. The inductances of the current sharing reactors and thyristor numbers in parallel with the bridge arms are optimized with the designed protection sequence.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.23 no.3
• /
• pp.45-52
• /
• 2009

Power line communication or power line carrier (PLC) is a system for carrying data on a conductor and can also used for electric power transmission. Now the powers used in the motor drive system are mostly DC sources. Even AC powers in some systems are generated from DC sources by the inverter. It is can be forecasted that the DC-link PLC technology will be widely used in various industrial fields. In this paper a novel BLDC motor control system using ASK DC-link PLC technology is proposed. The characteristic of this system is that the communication only needs 2 DC lines and there are no additional lines to translate the reference signals. The number of signal cables can be minimized when the DC-link PLC method is applied in the multi motor control system and the slip ring design also can be simplified when this method is applied in rotation machines. The proposed motor control system is clarified by the PSIM and MATLAB simulations and tested through the hardware prototype.

• Proceedings of the KIPE Conference
• /
• 2008.06a
• /
• pp.592-594
• /
• 2008

The powers used in the robot drive motor system are mostly DC sources such as batteries. Even AC powers in some systems are generated from DC sources by the inverter. It is can be forecasted that the DC-link communications will be widely used invarious industrial application. In this paper a novel BLDC motor drive system by using DC-link communications is proposed. The characteristic of this system is the communication only needs 2 DC lines. There are not additional lines to translate the reference signals and the reliability of the system is enhanced especially in some badly circumstance. The number of lines can be least when applied in the multi motor control system and the slip ring design can be simplified when applied as rotation machine. The reasonableness of proposed motor system is clarified by the PSIM simulation and the hardware prototype.