• Journal of the Korean Association of Geographic Information Studies
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• v.27 no.1
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• pp.67-80
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• 2024

In south korea, the elderly population has been continuously increasing, so blind spots in administrative welfare services for the elderly are expected to increase. therefore, this study aimed to analyze the types of blind spots in administrative welfare services for the elderly in gijang-gun, Busan, where the elderly population is increasing. using a network analysis, the demand and service supply ranges were derived. after that, in comparison to their sizes, the blind spots were divided into three types: i) blind spots in service supply, ii) blind spots in mobility constraint, and iii) dual blind spots. As a result, in gijang-gun, the blind spots in mobility constraint were 21.5%, the dual blind spots were 9.5%, and the blind spots in service supply were 3.2%. Based on these results, this study suggested policy directions for resolving the blind spots in administrative welfare services for the elderly by type.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2737-2742
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• 2003

Kinematic calibration enhances absolute accuracy by compensating for the fabrication tolerances and installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed. While the Cartesian postures are measured completely, all of the geometric parameters can be identified to their true values. With partial pose measurements, however, few geometric parameters may not be identifiable and effectiveness of the calibration results may vary significantly within the workspace. QR decomposition of the identification Jacobian matrix can reveal the non-identifiable parameters. Selecting postures for measurement is also an important issue for efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to find optimum postures. This paper investigates identifiable parameters and optimum postures for four different calibration procedures - measuring postures completely with inverse kinematic residuals, measuring postures completely with forward kinematics residuals, measuring only the three position components, and restraining the mobility of the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel HexaSlide type paralle manipulator, HSM. Results verify that all parameters are identifiable with complete posture measurements. For the case of position measurements, one and for the case of constraint link, three parameters were found non-identifiable. Optimal postures showed the same trend of orienting themselves on the boundaries of the search space.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1780-1783
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• 2005

In this paper ZMP was considered in order to get a walking stability, so the gait in the stable domain was realized through putting the stability margin in the sole domain of a foot. It is assumed that the robot's legs have 12 joints to operate a open-loop drive and there was no external disturbance under walking phases, additionally, the robot is walking on the flat plane. It was observed that the robot's walking trajectory, locus of COM and ZMP after imposing the motion to each joint. For realizing the simulation considering ZMP and movement of mass center, it was checked if it is stable for the constraint robot model to walk in stability and the feasibility was estimated about its dynamic gait. Eventually it was shown that a constraint gait algorithm is able to realize. To verify the proper walking process, ZMP(Zero Moment Point) theory is applied and the simulation has been done by ADAMS.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1146-1154
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• 2008

This paper presents a method for the acceleration analysis of multi-legged walking robots in consideration of the frictional ground contact. This method is based on both unified dynamic equation for finding the acceleration of a robot's body and constraint equation for satisfying no-slip condition. After the dynamic equation representing relationship between actuator torques and body acceleration, is derived from the force and acceleration relationship between foot and body's gravity center, the constraint equation is formulated to reconfigure the maximum torque boundaries satisfying no-slip condition from given original actuator torque boundaries. From application of the reconfigured torques to the dynamic equation, interested acceleration boundaries are obtained. The approach based on above two equations, is adapted to the changes of degree-of-freedoms of legs as well as friction of ground. And the method provides the maximum translational and rotational acceleration boundaries of body's center that are achievable in every direction without occurring slipping at the contact points or saturating all actuators. Given the torque limits in infinite normsense, the resultant accelerations are derived as a polytope. From the proposed method, we obtained achievable acceleration boundaries of 4-legged and 6-legged walking robot system successfully.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1476-1481
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• 2003

Kinematic calibration enhances absolute accuracy by compensating for the fabrication tolerances and installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed. This paper investigates identifiable parameters and optimum postures for four different calibration procedures - measuring postures completely with inverse kinematic residuals, measuring postures completely with forward kinematics residuals, measuring only the three position components, and restraining the mobility of the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel HexaSlide type parallel manipulator, HSM. Results verify that all parameters are identifiable with complete posture measurements. For the case of position measurements, one and for the case of constraint link, three parameters were found non-identifiable. Selecting postures for measurement is also an important issue for efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to find optimum postures. Optimal postures showed the same trend of orienting themselves on the boundaries of the search space.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.8
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• pp.585-593
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• 2004

Fault-tolerant gait planning in legged locomotion is to design gaits with which legged robots can maintain static stability and motion continuity against a failure in a leg. For planning a robust and deadlock-free fault-tolerant gait, kinematic constraints caused by a failed leg should be closely examined with respect to remaining mobility of the leg. In this paper, based on the authors's previous results, deadlock avoidance scheme for fault-tolerant gait planning is proposed for a hexapod robot walking over even terrain. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. It is shown that for guaranteeing the existence of the previously proposed fault-tolerant tripod gait of a hexapod robot, the configuration of the failed leg must be within a range of kinematic constraints. Then, for coping with failure situations where the existence condition is not satisfied, the previous fault-tolerant tripod gait is improved by including the adjustment of the foot trajectory. The foot trajectory adjustment procedure is analytically derived to show that it can help the fault-tolerant gait avoid deadlock resulting from the kinematic constraint and does not make any harmful effect on gait mobility. The post-failure walking problem of a hexapod robot with the normal tripod gait is addressed as a case study to show the effectiveness of the proposed scheme.

• Journal of Positioning, Navigation, and Timing
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• v.11 no.1
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• pp.29-34
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• 2022

In this paper, we analyze the Non-Holonomic Constraint (NHC) satisfaction of Inertial Navigation System (INS) for vehicular navigation according to Inertial Measurement Unit (IMU) location. In INS-based vehicle navigation, NHC information is widely used to improve INS performance. That is, the error of the INS can be compensated under the condition that the velocity in the body coordinate system of the vehicle occurs only in the forward direction. In this case, the condition that the vehicle's wheels do not slip and the vehicle rotates with the center of the IMU must be satisfied. However, the rotation of the vehicle is rotated by the steering wheel which is controlled based on the Ackermann geometry, where the center of rotation of the vehicle exists outside the vehicle. Due to this, a phenomenon occurs that the NHC is not satisfied depending on the mounting position of the IMU. In this paper, we analyze this problem based on Ackermann geometry and prove the analysis result based on simulation.

• Journal of Advanced Navigation Technology
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• v.22 no.2
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• pp.111-122
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• 2018

At present, the ground transportation system is saturated in many countries including Korea. To overcome this problem, many researches of developing a roadable personal air vehicle (PAV) are being carried out to alleviate traffic congestion and to accomplish door-to-door mobility through three-dimensional traffic system. In this study, the thrust-to-weight ratio, the wing loading, and the power-to-weight ratio that are major design parameters for the sizing of roadable PAVs were calculated under the constraints of ground roll, climb rate, maximum cruise speed, service ceiling, stall speed. Also, in the sizing process, the study was conducted to determine the design point using the graphs of thrust-to-weight ratio, wing loading, power-to-weight ratio, and brake horse power for the mission profiles considering domestic environments and the FAR PART 23 which is the GA class aircraft certification standard.

• KIPS Transactions on Computer and Communication Systems
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• v.11 no.12
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• pp.437-444
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• 2022

Recently, research on mobile edge services has been conducted to handle computationally intensive and latency-sensitive tasks occurring in wireless networks. However, MEC, which is fixed on the ground, cannot flexibly cope with situations where task processing requests increase sharply, such as commuting time. To solve this problem, a technology that provides edge services using UAVs (Unmanned Aerial Vehicles) has emerged. Unlike ground MEC servers, UAVs have limited battery capacity, so it is necessary to optimize energy efficiency through load balancing between UAV MEC servers. Therefore, in this paper, we propose a load balancing technique with consideration of the energy state of UAVs and the mobility of vehicles. The proposed technique is composed of task offloading scheme using genetic algorithm and task migration scheme using Q-learning. To evaluate the performance of the proposed technique, experiments were conducted with varying mobility speed and number of vehicles, and performance was analyzed in terms of load variance, energy consumption, communication overhead, and delay constraint satisfaction rate.

• The Journal of the Korea Contents Association
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• v.11 no.1
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• pp.357-370
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• 2011

Using strategy group theory, this thesis reviewed the status of program providers analysis and the performances it has made so far, and sought measures to improve its limitations. The constraint of program providers analysis based on existing concept of strategy group is that the strategy group was derived from the statistics, and therefore only applied the characteristics of program provider's channels to the analysis, on account of which a systematic and sophisticated classification as well as generalization of strategy or strategy group were hard to obtain. Moreover, the PP strategy variables used to be selected at the firm level and business level, and in relation with resource and competition scope. In future, more appropriate procedure should be followed to obtain objectivity in selecting variables to avoid controversy over intentionality. The measures in this thesis to improve the study of PP strategy group can be summarized as follows: firstly analysis of variables for strategy group classification should be made to single out key variables which are to be classification criteria. Secondly, variables are to be cross-checked by industry experts to increase generalizability. Thirdly, proxy variables should be sublated, and strategy group model which enables the reflection of subsistent properties of PP industry, and the cognitive perception of the executives(CEO) needs to be established. Fourthly, the concepts of mobility barrier and isolating mechanism should be applied to the classification criteria of strategy group to reveal the gap of performance between different strategy groups. Lastly, chronicle study on PP strategy group should be done to perceive the dynamic changes of PP strategy group.