• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.507-512
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• 1997

This paper presents a method of finding optitnal joint torques of two robots when they hold an object simultaneously. Although the importance of the multiple cooperating robot system increases for more flcviblc ni;mufacturing automation, dynamic solutions to multi-robot system forming closcd kinematic chain is not easy to find. Newton-Eulcr approach is used for the dynamic formulation of two robots fonn~ng closcd kincmatic chains gmsping a rigid body object. The nrcthodology to optimize the joint torques to satisfy given criterta and obtain bettcr control of the system is discussed. The scheme is illustrated by an example.

• 정보통신설비학회논문지
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• 제8권4호
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• pp.216-222
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• 2009

This paper proposes an integrated mobile sink networks management system which can monitor and control various kinds of wireless lan access points, located in many different areas divided by their managing groups, from multi-vendors, and their operations in networks. The proposed system has the center-local interoperability structure cooperating with local-center servers which can perform the same operations as the central servers for wireless lan access points from multi-vendors and wireless lan centric management features. For this purpose, we propose a new way of data design, messaging policy, and hierarchical system structure such that we can achieve stable and consistent management methods for various wireless access points on distributed networks.

• 대한전기학회논문지:전력기술부문A
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• 제48권4호
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• pp.452-460
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• 1999

Sawing experiments using a two-arm system have been performed in this work. The two-arm system under consideration of two kinematically-nonidentical arms. A passive joint is inserted at the end-point of one robot in order to increase the mobility up to the motion degree required for sawing tasks. A hybrid control algorithm for control of the two-arm system is designed. We experimentally show that the performance of the velocity and force response are satisfactory, and that one additional passive joint not only prevents the system from unwanted yaw motion in the sawing task, but also allows an unwanted pitch motion to be notably reduced by an internal load control. To show the general applicability of the proposed algorithms, we perform experimentation under several different conditions for saw, such as three saw blades, two sawing speeds, and two vertical forces.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제8권1호
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• pp.61-67
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• 2008

This paper introduces the multi-vehicle routing problem(MRP) which is different from the traveling sales problem(TSP), and presents the ant system(AS) applied to the MRP. The proposed MRP is a distributive model of TSP since many vehicles are used, not just one salesman in TSP and even some constraints exist. In the AS, a set of cooperating agents called vehicles cooperate to find good solutions to the MRP. To make the proposed MRP extended more, Tokyo city model(TCM) is proposed. The goal in TCM is to find a set of routes that minimizes the total traveling time such that each vehicle can reach its destination as soon as possible. The results show that the AS can effectively find a set of routes minimizing the total traveling time even though the TCM has some constraints.

• 제어로봇시스템학회논문지
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• 제8권6호
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• pp.477-483
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• 2002

This paper deals with a workspace analysis of multi-legged walking robots in velocity domain(velocity workspace analysis). Noting that when robots are holding the same object in multiple cooperating robotic arm system the kinematic structure of the system is basically the same with that of a multi-legged walking robot standing on the ground, we invented a way ot applying the technique for multiple arm system to multi-legged walking robot. An important definition of reaction velocity is made and the bounds of velocities achievable by the moving body with multi-legs is derived from the given bounds on the capabilities of actuators of each legs through Jacobian matrix for given robot configuration. After some assumption of hard-foot-condition is adopted as a contact model between feet of robot and the ground, visualization process for the velocity workspace is proposed. Also, a series of application examples will be presented including continuous walking gaits as well as several different stationary posture of legged walking robots, which validate the usefulness of the proposed technique.

• 인터넷정보학회논문지
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• 제2권3호
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• pp.63-70
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• 2001

웹 기술과 컴퓨터 하드웨어 기술이 빠르게 발전함에 따라 편리하고 현실적인 인터페이스는 전송시간과 실행시간보다 중요하다. VRML은 웹에서 가상 현실을 구현하는 적합한 언어지만 일반 사용자에게 사용하기에 너무 어렵다. 또한 VRML이 변경될 때마다 다시 구성해야하는 복잡성이 있다. 이러한 문제를 해결하기 위해 본 논문은 웹 기반의 VRML 저작도구로 구현한다. 또한 기존의 VRML과 데이터베이스 시스템을 분석하여 확장된 VRML 지원 시스템을 구현하여 이를 평가한다.

• 한국정보과학회논문지:시스템및이론
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• 제34권9호
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• pp.416-424
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• 2007

생태계 모방형 시스템[1]은 생태계에서 여러 객체들의 진화 및 협동 과정을 모방한 계산 모델로써, 기존의 알고리즘으로는 해결하기 어려운 문제들을 해결할 수 있는 방법으로 많은 연구가 진행되고 있다. 하지만, 이런 시스템은 많은 수의 객체가 진화 및 협동을 하는 과정을 필요로 하기 때문에 이런 시스템에 바탕을 둔 응용 시스템을 설계/분석하는데 많은 시간을 필요로 한다는 문제점을 가지고 있다. 본 논문에서는 이런 생태계 모방형 시스템의 동작을 확인할 수 있는 시뮬레이터를 여러 대의 PC상에서 동작하는 OMNeT++[2]를 확장하여 설계/구현하고, 몇 가지 응용 시뮬레이션을 통하여 그 유용성을 증명한다. 제안한 병렬 시뮬레이터에서는 Ecogent라는 객체가 진화/협동할 수 있는 기능을 제공하는 ERS 플랫폼을 OMNeT++에서 제공하는 기능으로 사상하여 여러 개의 플랫폼 상에서의 Ecogent가 동시에 진화/협동할 수 있게 함으로써 시뮬레이션 시간을 단축시킨다. 시뮬레이션 과정과 결과는 시뮬레이션 모니터 GUI를 통해서 실시간으로 확인할 수 있으며, 또한 시뮬레이션 결과의 체계적인 관리를 위하여 각 시뮬레이션 결과는 데이타베이스를 통해 저장되고 관리된다. 본 논문에서는 4개의 PC로 이루어진 PC cluster상에서 다양한 응용에 대한 생태계 모방형 시스템의 시뮬레이션 및 분석을 통하여 그 유용성을 검증하였다.

• 한국방재학회 논문집
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• 제8권5호
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• pp.93-102
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• 2008

자원봉사자 활동을 분석하여 자원봉사활동체계를 정비하는데 기여코자 하였는데, 주요 정책적 제언은 다음과 같다. 관리체계에서는 민관산학의 통합적 협력체계, 구호품관리체계 개선, 봉사활동 운영 매뉴얼 개발의 필요성 등을 제언하였다. 그리고 교육체계에서는 재난분야별 전문교육, 현장 오리엔테이션교육, 자원봉사자관리자 양성교육 등의 필요성을 설명하였다. 지원체계에 대해서는 국가안전관리정보시스템, 봉사자관리전산프로그램, 봉사자 상해보험, 봉사활동 시간확인서 발급, 봉사활동 행정지원, 비상통신체계 확보 그리고 예방 예산 및 의연금 등에 대한 개선을 제시하였다.

• Interdisciplinary Bio Central
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• 제3권2호
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• pp.8.1-8.6
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• 2011

Background: Thanks to the development of the mathematical/statistical reverse engineering and the high-throughput measuring biotechnology, lots of biologically meaningful genegene interaction networks have been revealed. Steady-state analysis of these systems provides an important clue to understand and to predict the systematic behaviours of the biological system. However, modeling such a complex and large-scale system is one of the challenging difficulties in systems biology. Results: We introduce a new stochastic modeling approach that can describe gene regulatory mechanisms by dividing two (DNA and protein) layers. Simple queuing system is employed to explain the DNA layer and the protein layer is modeled using G-networks which enable us to account for the post-translational protein interactions. Our method is applied to a transcription repression system and an active protein degradation system. The steady-state results suggest that the active protein degradation system is more sensitive but the transcription repression system might be more reliable than the transcription repression system. Conclusions: Our two layer stochastic model successfully describes the long-run behaviour of gene regulatory networks which consist of various mRNA/protein processes. The analytic solution of the G-networks enables us to extend our model to a large-scale system. A more reliable modeling approach could be achieved by cooperating with a real experimental study in synthetic biology.

• 한국산업융합학회 논문집
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• 제7권2호
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• pp.199-205
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• 2004

This paper describes the fault diagnosis method to order to construct CIM in complex system with hierarchical structure similar to human body structure. Complex system is divided into unit, item and component. For diagnosing this hierarchical complex system, it is necessary to implement a special neural network. Fault diagnosis system can forecast faults in a system and decide from the signal information of current machine state. Comparing with other diagnosis system for a single fault, the developed system deals with multiple fault diagnosis, comprising hierarchical neural network (HNN). HNN consists of four level neural network, i.e. first is fault symptom classification and second fault diagnosis for item, third is symptom classification and forth fault diagnosis for component. UNIX IPC is used for implementing HNN with multitasking and message transfer between processes in SUN workstation with X-Windows (Motif). We tested HNN at four units, seven items per unit, seven components per item in a complex system. Each one neural network represents a separate process in UNIX operating system, information exchanging and cooperating between each neural network was done by message queue.