• 대한전기학회논문지:시스템및제어부문D
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• 제52권12호
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• pp.689-695
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• 2003

Fault-tolerance is an important design criterion for robotic systems operating in hazardous or remote environments. This paper addresses the issue of tolerating a locked joint failure in gait planning for hexapod walking machines which have symmetric structures and legs in the form of an articulated arm with three revolute joints. A locked joint failure is one for which a joint cannot move and is locked in place. If a failed joint is locked, the workspace of the resulting leg is constrained, but hexapod walking machines have the ability to continue static walking. A strategy of fault-tolerant tripod gait is proposed and, as a specific form, a periodic tripod gait is presented in which hexapod walking machines have the maximum stride length after a locked failure. The adjustment procedure from a normal gait to the proposed fault-tolerant gait is shown to demonstrate the applicability of the proposed scheme.

• International Journal of Advanced Culture Technology
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• 제10권1호
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• pp.42-46
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• 2022

To cultivate talented people with creative and convergent thinking skills to live in the era of the 4th industrial revolution, the national curriculum of Korea is gradually emphasizing convergence education and software education. To meet the demands of the times, this paper suggests subject-convergent teaching-learning materials for educating core principles of Support Vector Machines, especially targeting elementary learners. Based on analysis of the national curriculum, achievement standards of three subjects are integrated. After printable worksheets for traditional face-to-face classes had developed, they were transformed to online interactive worksheets for non-face-to-face classes. The teaching-learning materials are expected to promote the growth of the learners' academic motivation and knowledge.

• 대한산업공학회지
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• 제21권1호
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• pp.119-135
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• 1995

We consider problems of tool loading and scheduling in a flexible manufacturing system (FMS) in which tool transportation constitutes the major portion of material flows. In this type of FMSs, parts are initially assigned to machines and released to the machines according to input sequencing rules. Operations for the parts released to the machines are performed by tools initially loaded onto the machines or provided by an automatic tool transport robot when needed. For an efficient operation of such systems, therefore, we may have to consider loading and scheduling problems for tools in addition to those for parts. In this paper, we consider three problems, part loading, tool loading, and tool scheduling problems with the overall objective of minimizing the makespan. The part loading problem is solved by a method similar to that for the bin packing problem and then a heuristic based on the frequency of tool usage is applied for tool loading. Also suggested are part input sequencing and tool scheduling rules. To show the effectiveness of the overall algorithm suggested here, we compare it with an existing algorithm through a series of computational tests on randomly generated test problems.

• 한국정밀공학회지
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• 제28권7호
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• pp.761-768
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• 2011

The large surface micro machining system includes the equipments and processes for manufacturing the ultra precision micro patterned products with large surface through the mechanical machining. Recent major issue on the micro machining technology may be the development of optical parts for the back light unit of display which has the largest market. This special issue makes up with three parts; the large surface micro machining system and machine, machining process and forming process. In this paper, the state-of-the-art and core technology of large surface micro machining system is introduced with focus on the manufacturing technology for the back light unit of LCD TV. Then, some research results on the development of a roll die lathe is introduced which involves the concept of machine design, improvement of thermal characteristics in the spindle system, improvement of relative parallelism and straightness between spindle system and long stroke feed table, machining of micro pitch patterns. Finally, the direct forming process is introduced as the future work in the large surface micro machining field.

• Management Science and Financial Engineering
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• 제11권2호
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• pp.19-43
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• 2005

This paper considers a variation of the customer order scheduling problem, and the variation is the case where the machine-job assignment is fixed. We examine the parallel machine environment, and the objective is to minimize the sum of the completion times of the batches. While a machine can process only one job at a time, different machines can simultaneously process different jobs in a batch. The recognition version of this problem is known to be NP-complete in the strong sense even if there exist only two parallel machines. When there are an arbitrary number of parallel machines, we establish three lower bounds and develop a dynamic programming (DP) algorithm which runs in exponential time on the number of batches. We present two simple but intuitive heuristics, SB and GR, and find some special cases where SB and GR generate an optimal schedule. We also find worst case upper bounds on the relative error. For the case of the two parallel machines, we show that GR generates an optimal schedule when processing times of all batches are equal. Finally, the heuristics and the lower bounds are empirically evaluated.

• Management Science and Financial Engineering
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• 제13권2호
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• pp.47-77
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• 2007

This paper considers a scheduling problem where a customer orders multiple products(jobs) from a production facility. The objective is to minimize the sum of the order(batch) completion times. While a machine can process only one job at a time, multiple machines can simultaneously process jobs in a batch. Although each job has a unique processing time, we consider the case where batch processing times are identical. This simplification allows us to develop heuristics with improved performance bounds. This problem was motivated by a real world problem encountered by foreign electronics manufacturers. We first establish the complexity of the problem. For the two parallel machine case, we introduce two simple but intuitive heuristics, and find their worst case relative error bounds. One bound is tight and the other bound goes to 1 as the number of orders goes to infinity. However, neither heuristic is superior for all instances. We extend one of the heuristics to an arbitrary number of parallel machines. For a fixed number of parallel machines, we find a worst case bound which goes to 1 as the number of orders goes to infinity. Then, a tighter bound is found for the three parallel machine case. Finally, the heuristics are empirically evaluated.

• 대한인간공학회지
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• 제31권4호
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• pp.499-505
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• 2012

Objective: Research on the transformation of interaction between mobile machines and users through analysis on current gesture interface technology development trend. Background: For smooth interaction between machines and users, interface technology has evolved from "command line" to "mouse", and now "touch" and "gesture recognition" have been researched and being used. In the future, the technology is destined to evolve into "multi-modal", the fusion of the visual and auditory senses and "3D multi-modal", where three dimensional virtual world and brain waves are being used. Method: Within the development of computer interface, which follows the evolution of mobile machines, actively researching gesture interface and related technologies' trend and development will be studied comprehensively. Through investigation based on gesture based information gathering techniques, they will be separated in four categories: sensor, touch, visual, and multi-modal gesture interfaces. Each category will be researched through technology trend and existing actual examples. Through this methods, the transformation of mobile machine and human interaction will be studied. Conclusion: Gesture based interface technology realizes intelligent communication skill on interaction relation ship between existing static machines and users. Thus, this technology is important element technology that will transform the interaction between a man and a machine more dynamic. Application: The result of this study may help to develop gesture interface design currently in use.

• Journal of international Conference on Electrical Machines and Systems
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• 제3권2호
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• pp.184-189
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• 2014

In this paper, a new design method of vibration suppression controller for multi-inertia (especially, 3-ineritia) resonance systems is proposed. The controller consists of a digital fuzzy controller for speed loop and a digital PI controller for current minor loop. The three scaling factor of the fuzzy controller and two PI controller gains are determined by Differential Evolution (DE). The DE is one of optimization techniques and a kind of evolutionary computation technique. In this paper, we have applied the DE/rand/1/bin strategy to design the optimal controller parameters. Comparing with the conventional design algorithm, the proposed method is able to shorten the time of the controller design to a large extent and to obtain accurate results. Finally, we confirmed the effectiveness of the proposal method by the computer simulations.

• Journal of international Conference on Electrical Machines and Systems
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• 제3권4호
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• pp.451-457
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• 2014

Parallel operation systems have an advantage in that they can be constructed quickly and inexpensively by combining existing electric power converters. However, in this case, there is a peculiar problem in that a cross current flows between the electric power converters. To design a control system more simply and commonalize the core of combination reactors, we reviewed a system construction method for parallel operation systems constructed with three electric power converters.

• 한국경영과학회:학술대회논문집
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• 한국경영과학회 2007년도 추계학술대회 및 정기총회
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• pp.12-15
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• 2007

Online parallel machine scheduling problems have been studied by many researchers and enormous results are appeared in the last 40 years. With the development of scheduling theory and application, new online scheduling problems where the partial information is known in advance, that is, semi-online, gained much interest due to their increased application in practice. So we consider the online scheduling of three machines with general eligibility and its semi-online variant where the total processing time is known in advance. For the online and semi-online problems, we develop algorithms with competitive ratio of 5/2 which are shown to be optimal.