• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.215-219
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• 2003

In this paper, we generate a trajectory minimized the energy gait of a biped robot for walking a staircase using genetic algorithms and apply to the computed torque controller for the stable dynamic biped locomotion. In the saggital plane, a 6 degree of freedom biped robot that model consists of seven links is used. In order to minimize the total energy efficiency, the Real-Coded Genetic Algorithm (RCGA) is used. Operators of genetic algorithms are composed of a reproduction, crossover and mutation. In order to approximate the walking gait, the each joint angle is defined as a 4-th order polynomial of which coefficients are chromosomes. Constraints are divided into equality and inequality. Firstly, equality constraints consist of position conditions at the end of stride period and each joint angle and angular velocity condition for periodic walking. On the other hand, inequality constraints include the knee joint conditions, the zero moment point conditions for the x-direction and the tip conditions of swing leg during the period of a stride for walking a staircase.

• The Journal of Fisheries Business Administration
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• v.23 no.2
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• pp.53-67
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• 1992

It has been recognized, virtually from the time of its inception, that fisheries economics, like other aspects of resource economics, should ideally be cast in capital-theoretic terms. The fish population or biomass can be viewed as a capital stock in that, like conventional or man-made capital, it is capable of yielding a sustainable consumption flow through time. This study is to introduce the optimal control theory which was extended from the theory of calculus of variations into the study of former static theory of fisheries economics started by Gordon (1954). The optimal control theory eliminated the inadequacies of the classical techniques to a large extent. From this point of view, this study, on the base of Schaefer model, summerizes most of major results achieved so far, but does so in a manner such that the links with capital theory are made transparent. This study explores two sets of problems. The first concerns the optimal approach to the equilibrium stock, i.e. the optimal investment policy. The second set of problems arises from the relaxation of the highly restrictive assumption of autonomy (i.e. the assumption that the parameters are independent of time), then concludes the relaxation of linearity assumption together with the complexities caused by that.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.40 no.8
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• pp.825-835
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• 1991

This paper deals with a case for robotic hands to grasp the objects using inner link contact as well as fingertip contact. And the case is proved to be more efficient than the case of using only fingertip contact in terms of stability and uniform distribution of the contact forces. The general algorithm for the determination of the optimal ocntact force is developed for the soft finger contact as well as the point contact with friction. To show the validity of the proposed algorithm a numerical example is illustated by employing a robotic hand with three fingers each of which has four joints.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.207-210
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• 2000

Singular points are those at which the determinant of a Jacobian matrix is zero. A parallel manipulator gains mostly an extra DOF at the singular points, where it can not be properly controlled. In this study, singular points of a cubic parallel manipulator are illustrated by obtaining the determinant of a Jacobian matrix mathematically, and the singular points of the manipulator are found to be three separate planes in a 3D space. The dependency among links for each singular point is determined by applying linear algebra. Also, the singular points and workspace of the cubic parallel manipulator are plotted to check if the workspace contain singular points.

• International Journal of Precision Engineering and Manufacturing
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• v.2 no.4
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• pp.75-80
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• 2001

An error analysis is very important to estimate performance of a precision machine. This study proposes an error analysis for a new parallel device, a cubic parallel device. The cubic parallel manipulator has error sources including upper and lower universal joint errors due to the directional changes in the link and actuation errors. The maximum errors of the end effector are affected by the axial direction changes of each links and the clearances of the universal joints when the parallel manipulator is moving along a path. It is found that the changes of errors mostly occur at the positions where the directions of exerting link forces shift. The error analysis is based on an error model formed from the relation between the universal point errors and the end-effector accuracy. The analysis method can be also used in predicting the accuracy of other parallel devices.

• Journal of the Korean Institute of Telematics and Electronics
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• v.20 no.3
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• pp.13-20
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• 1983

A method for the detecting defined vertices is described in this paper. An alogrithm detecting vertex position by means of calculating an error and distinguishing the defined inner and outer corners by the chain code of line segments is described. To calculate the error, virtual links are detected by means of a jointing relations of line segments for a contour. And so an error is calculated by measuring a minimum distance from a jointing point between the line segments to virtual link. As a result, this method is more flexible and effective than conventional Freeman's method.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.04a
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• pp.209-214
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• 2004

This paper deals with tipping over of hydraulic excavator's crane work. If excavator lift too heavy weight, excavator tipped up. This is 38% of whole excavator accidents. In this paper, tipping over load which is maximum load of excavator can lift with displacement of excavator links, real load and tipping over rate are calculated with Zero Moment Point. We designed the tipping-over stability criterion algorithm considering the dynamic characteristics to which ZMP theory is applied and discussed the usefulness of the proposed algorithm compared with the moment equilibrium equation through the simulation and the actual test.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.523-528
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• 2000

In this paper, the new type biped walking robot which is composed of the minimum number or links just for walking and its appropriate gaits are proposed. The proposed new gaits for this robot are four-crossing, crawling, standing and turning gait. In designing the biped robot we propose the Performance Index which means the needed torque per a moving distance and generate foot trajectories by $3^{rd}$ order spline Interpolation. Among those, numerically we find the optimal conditions which minimize the Performance Index. Dynamically stable walking of the biped robot is realized by satisfying the stability condition of ZMP(zero moment point), which is related to maintaining the ZMP within the region of the supporting foot during the s1n91e leg support phase. We determine the region of mass center from the stability condition of ZMP and plan references which track the mass conte. trajectory of constant velocity. Finally we implement the gaits statically tracking the planned trajectories using PD control method.

• Journal of Korean Society of Transportation
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• v.24 no.1 s.87
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• pp.73-84
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• 2006

This study was carried out to set up the logic to determine lengths of the homogeneous sections effectively in order to provide dynamic travel time on real time base for the application of the model. First, considering real time traffic pattern fluctuation, lengths of the homogeneous sections for each time period and the final homogeneous sections were determined. In order to determine lengths of the homogeneous sections according to traffic condition, the cluster analysis was used based on real time data. In order to verify the homogeneous section the case with detectors in all links and the case with detectors in homogeneous section for each time period are used. As the results of verification, each cases showed similar estimation results. The results of this study are expected to be used for National Highway traffic management and the system to Provide a traffic information in the future. According to this study, when the homogeneous section decision model are used to the ITS project for National Highway, operation cost is expected to be cut by effectively establishing point detectors.

• Journal of Korean Society of Transportation
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• v.31 no.2
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• pp.45-59
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• 2013

This study deals with the comparative analysis between two freight demand estimation methods : Unimodal O/D based method and P/C based method. The data of access/egress truck trips has been omitted from the Korean freight unimodal O/D of KTDB. This is because KTDB's unimodal O/D has not marked the series of unlinked trips down as the whole freight intermodal transport and surveyed only the main-haul trips of them. For these reasons, freight intermodal transport mechanism has not been analysed perfectly with Korean unimodal O/D data. This study tries to estimate P/C table of Korean Import/Export container freight and develop the MCC(Multimodal Channel Choice) model. Then, comparing unimodal O/D based method and P/C based method in terms of the switch commodities between production point(the initial point of freight transport) and consumption point(the terminal point of freight transport), unimodal commodities, and commodities on links is conducted. The results show that the P/C based method is able to simulate the freight intermodal transport.