• Journal of the Korean Society for Precision Engineering
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• v.14 no.4
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• pp.64-71
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• 1997

Objective of calibration is to find out the accurate kinematic relationships between robot joint angles and the position of the end-effector by estimating accurate model parameters defining the kinematic function. Estimating the model parameters requires measurement of the end-effector position at a number of different robot configurations. This paper studies the implication of measurement configurations in robot calibration. For selecting appropriate measurement configurations in robot calibration, an index is defined to measure the observability of the model parameters with respect to a set of robot configurations. It is found that, as the observability index of the selected measurement configurations increase the attribution of the position errors to the parameter errors becomes dominant while the effects of the measurement and unmodeled errors are less significant; consequently better estimation of parameter errors is expected. To demonstrate the implication of the observability measure in robot calibration, computer simulations are performed and their results are discussed.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.11
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• pp.54-64
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• 2002

This paper deals with the problem of synthesis of stable and optimal grasps with unknown objects by 3-finger hand. Previous robot grasp research has mainly analyzed with either unknown objects 2-dimensionally by vision sensor or known objects, such as cylindrical objects, 3-dimensionally. As extending the previous work, in this study we propose an algorithm to analyze grasp of unknown objects 3-dimensionally by using vision sensor. This is archived by two steps. The first step is to make a 3-dimensional geometrical model for unknown objects by using stereo matching. The second step is to find the optimal grasping points. In this step, we choose the 3-finger hand which has the characteristic of multi-finger hand and is easy to model. To find the optimal grasping points, genetic algorithm is employed and objective function minimizes the admissible force of finger tip applied to the objects. The algorithm is verified by computer simulation by which optimal grasping points of known objects with different angle are checked.

• Korean Journal of Hydrosciences
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• v.4
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• pp.1-9
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• 1993

It is a major objective for the management and operation of water resources system to forecast streamflows. The applicability of artificial neural network model to hydrologic system is analyzed and the performance is compared by statistical method with observed. Multi-layered perception was used to model rainfall-runoff process at Pyung Chang River Basin in Korea. The neural network model has the function of learning the process which can be trained with the error backpropagation (EBP) algorithm in two phases; (1) learning phase permits to find the best parameters(weight matrix) between input and output. (2) adaptive phase use the EBP algorithm in order to learn from the provided data. The generalization results have been obtained on forecasting the daily and hourly streamflows by assuming them with the structure of ARMA model. The results show validities in applying to hydrologic forecasting system.

• Proceedings of the Korea Water Resources Association Conference
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• 2006.05a
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• pp.540-545
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• 2006

The objective of the study is to assess the water quality improvement resulted from the rearrangement of the irrigation water supply systems at Mankyeong River and Ansung Chun basin. There is a mixed type of watershed composed of urban and rural areas in the region. The water intake facilities for agricultural use such as reservoir, weir and pumping station are generally located at upstream river where the water quality maintains relatively clean. However, this study focuses on moving the water intake to downstream and rearranging the irrigation water supply system, then investigating how effective they are for water quality improvement in the river. When the water intake is moved downstream, the stream flow is increased as much as the amount of irrigation water that is to be taken upstream. The augmented flow which is frequently referred to as environmental flow can function as dilution water for improving the quality of polluted water that is originated from the wastewater in tributaries.

• Journal of Korean Institute of Industrial Engineers
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• v.25 no.3
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• pp.310-320
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• 1999

A mixed model assembly line (MMAL) is a special type of production line where a variety of product models similar in product characteristics are assembled. Determining the model sequence is an important problem for the efficient use of MMALs. This paper considers interactive multiobjective decision making problems for MMAL sequencing. Evolution program is employed as an underlying framework. In this study, a way of approximating the linear utility function is first studied. To improve its search efficiency to the solution space preferred by a decision maker, some modifications of a standard evolution program are made: operating several subpopulations instead of a single population and merging two or more subpopulations to a single subpopulation, and using a Pareto pool. Extensive computational experiments are carried out to verify the performance of the proposed approach. The computational results show that our approach is promising in solution quality.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2005.05a
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• pp.1020-1025
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• 2005

The set covering(SC) problem has many practical application of modeling not only real world problems in civilian but also in military. In this paper we study optimal allocation model for maximizing utility of consolidating old fashioned and new air defense weapon system like Patriot missile and develop the new computational algorithm for the SC problem by using simulated annealing(SA) algorithm. This study examines three different methods: 1) simulated annealing(SA); 2) accelerated simulated annealing(ASA); and 3) selection by effectiveness degree(SED) with SA. The SED is adopted as an enhanced SA algorithm that the neighboring solutions could be generated only in possible optimal feasible region at the PERTURB function. Furthermore, we perform various experiments for both a reduced and an extended scale sized situations depending on the number of customers(protective objective), service(air defense), facilities(air defense artillery), threat, candidate locations, and azimuth angles of Patriot missile. Our experiment shows that the SED obtains the best results than others.

• Journal of the Korean Operations Research and Management Science Society
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• v.19 no.3
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• pp.81-91
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• 1994

This paper is to build an economic production quantity model for situations, in which, during the stockout period, a fraction .betha.(backorder ratio) of the demand is backordered and remaining fraction (1-.betha.) is lost. This paper develops an objective function representing the average annual cost of a production system by defining a time-weighted backorder cost and a lost sales penalty cost per unit lost under the assumptions of deterministic demand rate and deterministic production rate, and provides an algorithm for its optimal solution. At the extreme .betha.= 1, the presented model reduces to the Fabrycky's model with complete backorders.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.12
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• pp.57-64
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• 2007

There have been many researches for optimal controllers in multivariable systems, and they generally use accurate linear models of the plant dynamics. Real systems, however, contain nonlinearities and high-order dynamics that may be difficult to model using conventional techniques. Therefore, it is necessary a PID gain tuning method without explicit modeling for the multivariable plant dynamics. The PID tuning method utilizes the sign of Jacobian and gradient descent techniques to iteratively reduce the error-related objective function. This paper, especially, focuses on the role of I-controller when there is a steady state error. However, it is not easy to tune I-gain unlike P- and D-gain because I-controller is mainly operated in the steady state. Simulations for an overhead crane system with dynamic friction show that the proposed PID-LC algorithm improves controller performance, even in the steady state error.

• Journal of the Korean Society of Safety
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• v.14 no.2
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• pp.32-41
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• 1999

If the Leak-Before-Break (LBB) concept is applicable to the nuclear piping design, it is not necessary to consider the dynamic effect due to pipe rupture. Therefore, the construction cost can be significantly reduced by eliminating unnecessary pipe whip restraints and jet impingement devices. The objective of this paper is to develop the Piping Evaluation Diagram (PED) for efficient application of LBB concept to piping system at an initial piping design stage. For this purpose, the 3-D finite element analyses were performed to evaluate the crack stability. And the stress-strain curve based on the pipe material tests were used to calculate the detectable leakage crack length. Finally, the present PED which was composed as a function of NOP load and allowable SSE load, was developed for an application of LBB concept to the safety injection and shutdown cooling line in Korean Next Generation Reactor (KNGR).

• Journal of the Korea Institute of Information and Communication Engineering
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• v.2 no.4
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• pp.553-558
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• 1998

We present in this paper the ture union bound of the performance of chip level detection for coded DS/CDMA system operating in Rician fading channels such as LEO satellite mobile radio where the maximum doppler frequency is very high. The main objective of this paper is to calculate the exact doe union bound of BER performance of different performance of different quadrature detectors and to find a optimum spreading factor as a function of fade rate. The rationale of using multiple chip detection is to reduce the effective fade rate or variation. We considered chip level differential detection, chip level maximum likelihood sequence estimation, noncoherent detection and coherent detection with perfect channel state information as a reference.