• 제어로봇시스템학회논문지
• /
• 제3권5호
• /
• pp.461-468
• /
• 1997

A real-time collision-free trajectory control method for dual arm robot system is proposed. The proposed method is composed of two stages; one is to calculate the minimum distance between two robot arms and the other is to control the trajectories of the robots to ensure collision-free motions. The calculation of minimum distance between two robots is, also, composed of two steps. To reduce the calculation time, we, first, apply a simple modeling technique to the robots arms and determine the interested part of the robot arms. Next, we apply more precise modeling techniques for the part to calculate the minimum distance. Simulation results show that the whole algorithm runs within 0.05 second using Pentium 100MHz PC.

• Journal of Communications and Networks
• /
• 제17권5호
• /
• pp.463-472
• /
• 2015

This paper considers a limited feedback system for two-way wireless relaying channels with physical network coding (PNC). For full feedback systems, the optimal structure with the PNC has already been studied where a modulo operation is employed. In this case, phase and power of two end node channels are adjusted to maximize the minimum distance. Based on this result, we design new quantization methods for the phase and the power in the limited feedback system. By investigating the minimum distance of the received constellation, we present a code-book design to maximize the worst minimum distance. Especially, for quantization of the power for 16-QAM, a new power quantization scheme is proposed to maximize the performance. Also, utilizing the characteristics of the minimum distance observed in our codebook design, we present a power allocation method which does not require any feedback information. Simulation results confirm that our proposed scheme outperforms conventional systems with reduced complexity.

• Structural Engineering and Mechanics
• /
• 제78권2호
• /
• pp.219-230
• /
• 2021

International seismic codes stipulate that adjacent buildings should be separated by a specified minimum distance, otherwise the pounding effect should be considered in the design. Recent researches proposed an alternative method (Double Difference Combination Rule) to estimate seismic gap between structures, as this method considers the cross relation of adjacent buildings behavior during earthquakes. Four different criteria were used to calculate the minimum separation distance using this method and results are compared to the international codes for five separation cases. These cases used four case study buildings classified by different heights, lateral load resisting systems and fundamental periods of vibrations to assess the consistency in results for the alternative methods. Non-linear analysis was performed to calculate the inelastic displacements of the four buildings, and the results were used to evaluate the relation between elastic and inelastic displacements due to the ductility of structural elements resisting seismic loads. A verification analysis was conducted to guarantee that the separation distance calculated is sufficient to avoid pounding. Results shows that the use of two out of the four studied methods yields separation distances smaller than that calculated by the code specified equations without under-estimating the minimum separation distance required to avoid pounding.

• 정보처리학회논문지A
• /
• 제14A권5호
• /
• pp.317-326
• /
• 2007

본 논문에서 GOSST(Grade of Services Steiner Minimum Tree) 문제에 대한 개선된 휴리스틱을 제안한다. GOSST 문제는 스타이너 포인트 문제의 한 변형으로 G-Condition을 만족하는 최소비용의 네트워크 구성을 찾는 문제이며, NP-Hard 혹은 NP-Complete 문제로 알려져 있다. 이 문제에 대한 이전의 연구에서 우리는 거리 우선 최소 신장 트리 생성방법과 직접 스타이너 포인트 배치 방법을 결합한 휴리스틱을 제안했었다. 본 논문에서는 스타이너 포인트 배치 방법으로 지그재그 스타이너 포인트 배치방법을 새롭게 제안한다. 이 방법과 거리우선 최소 신장 트리 생성 방법을 결합한 거리 지그재그 GOSST 휴리스틱은 컨트롤인 G-MST에 비해 31.5%의 네트워크 구축 비용의 절감을 얻었고 이전의 가장 좋은 GOSST 휴리스틱인 거리 직접 GOSST 휴리스틱에 비해 2.2%의 비용 개선을 보였다.

• Journal of Communications and Networks
• /
• 제17권6호
• /
• pp.634-646
• /
• 2015

Assuming perfect channel state information (CSI) at the transmitter and receiver, the optimization problem of maximizing the minimum Euclidean distance between two received signals by a linear precoder is considered for multiple-input multiple-output (MIMO) systems with arbitrary dimensions and arbitraryary quadrature amplitude modulation (QAM) input. A general precoding framework is first presented based on the Gram matrix, which is shown for 2-dimensional (2-D) and 3-dimensional (3-D) MIMO systems when employing the ellipse expanding method (EEM). An extended precoder for high-dimensional MIMO system is proposed following the precoding framework, where the Gram matrix for high-dimensional precoding matrix can be generated through those chosen from 2-D and 3-D results in association with a permutation matrix. A complexity-reduced maximum likelihood detector is also obtained according to the special structure of the proposed precoder. The analytical and numerical results indicate that the proposed precoder outperforms the other precoding schemes in terms of both minimum distance and bit error rate (BER).

• 대한전기학회논문지:전력기술부문A
• /
• 제50권3호
• /
• pp.112-119
• /
• 2001

This paper proposes an adaptive reclosing scheme which is based on the classification of fault patterns. In case that the first reclosing is unsuccessful in distribution system employing with two-shot reclosing scheme, the proposed method can determine whether the second reclosing will be attempted of not. If the first reclosing is unsuccessful two fault currents can be measured before the second reclosing is attempted, where these two fault currents are utilized for an adaptive reclosing scheme. Total harmonic distortion and RMS are used for extracting the characteristics of two fault currents. And the pattern of two fault currents is respectively classified using a mountain clustering method a minimum-distance classifier. Mountain clustering method searches the cluster centers using the acquired past data. And minimum-distance classifier is used for classifying the measured two currents into one of the searched centers respectively. If two currents have the different pattern it is interpreted as temporary fault. But in case of the same pattern, the occurred fault is interpreted as permanent. The proposed method was tested for the fault data which had been measured in KEPCO's distribution system, and the test results can demonstrate the effectiveness of the adaptive reclosing scheme.

• 한국도로학회논문집
• /
• 제11권1호
• /
• pp.37-45
• /
• 2009

도로의 터널출구에서 인터체인지 분기점 구간은 도로이용자가 본선을 주행하다가 인근 목적지로 나가기 위하여 터널을 벗어나서 전방에 설치된 표지상의 목적지 지명을 확인하고, 차로를 변경해서 인터체인지 연결로로 들어가는 단계를 갖는다. 따라서 이 구간에서는 도로이용자의 다양한 행동이 요구되므로 도로이용자의 인간공학적 요소를 중시한 도로설계가 되어야 하는 구간이다. 본 연구는 도로이용자의 인간공학 요소를 고려하여 터널출구와 인터체인지 분기점구간의 최소이격거리를 제공하고자 하였다. 연구수행을 위해서 도로주행 시뮬레이터를 이용하여 다양한 연령층(20대${\sim}$70대)이 실험에 참여하여 터널과 인터체인지 분기점 산정에 대한 통계적 검증을 수행하였다. 그 결과 터널출구에서 인터체인지 변이구간(감속차로 시점)의 시점까지는 최소 500m 이상의 거리가 확보되어야 하는 것으로 나타났다. 본 연구는 과학적인 근거를 통해서 터널과 인터체인지 분기점간의 최소이격거리 정립에 대한 기초연구 수행이 이루어졌다는 점에서 논문의 의의가 있다. 향후 이용자에게 보다 안전한 지침을 제공하여 도로주행의 안전성을 도모할 수 있는 기반을 제공할 것으로 기대할 수 있다.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1987년도 정기총회 및 창립40주년기념 학술대회 학회본부
• /
• pp.425-429
• /
• 1987

This paper describes a collision avoidance method for planning safe trajectories for multi-robot system in common work space. Usually objects have been approximated to convex polyhedra in most previous researches, but in case using such the approximation method it is difficult to represent objects analytically in terms of functions and also to describe tile relationship between the objects. In this paper, in order to solve such problems a modeling method which approximates objects to cylinder ended by hemispheres and or sphere is used and the maximum distance functions is defined which call be calculated simply. Using an objective function with inequality constraints which are related to minimum distance functions, work range and maximum allowable angular velocities of the robots, tile collision avoidance for two robots is formulated to a constrained function optimization problem. With a view to solve tile problem a penalty function having simple form is defined and used. A simple numerical example involving two PUMA-type robots is described.

• Communications for Statistical Applications and Methods
• /
• 제12권1호
• /
• pp.149-167
• /
• 2005

The minimum disparity estimators introduced by Lindsay and Basu (1994) are studied empirically. An extensive simulation in this paper provides a location estimate of the small sample and supplies empirical evidence of the estimator performance for the univariate contaminated normal model. Empirical results show that the minimum generalized negative exponential disparity estimator (MGNEDE) obtains high efficiency for small sample sizes and dominates the maximum likelihood estimator (MLE) and the minimum blended weight Hellinger distance estimator (MBWHDE) with respect to efficiency at the contaminated model.

• 한국산업정보학회논문지
• /
• 제14권5호
• /
• pp.43-51
• /
• 2009

본 논문에서는 PCA(principal component analysis)기반의 특징을 이용한 효율적인 얼굴검색 방법을 제안한다. coarse-to-fine 전략을 사용하여 저차원 고유얼굴 공간에서 검색 결과들을 1차 정렬한 후 상위 후보들을 확장된 차원의 고유얼굴 공간에서 재정렬하는 방식으로 검색 순위를 재조정한다. 질의 영상과 클래스간의 유사도의 측정을 위해 PD(projection distance), MQDF(modified quadratic distance function), MED(minimum Euclidean distance)를 사용한다. 실험 결과 $32{\times}32$ 크기의 질의 영상에 PD를 활용하여 점진적으로 검색 결과를 조정하는 제안하는 방법이 얼굴검색에 효율적임을 알 수 있었다.