• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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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.

• 수산경영론집
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• 제23권2호
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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.

• 대한전기학회논문지
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• 제40권8호
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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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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• 제2권4호
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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.

• 대한전자공학회논문지
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• 제20권3호
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• pp.13-20
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• 1983

본 논문은 도형 패턴에 대한 모서리를 결정하는 방법을 제안하였다. 도형 패턴의 윤곽선에 대한 라인 시그먼트(line segment)의 연결 상태로부터 후보 링크를 설정한다. 그리고 라인 시그먼트의 연결점으로부터 설정된 후보 링크에 대한 편차를 계산하여 모서리의 위치를 결정하는 알고리즘과 출. 철 구조의 모서리를 구분하여 식별하는 알고리즘을 제안한다. 그 결과 Freeman의 방법과 비교하여 훨씬 유연하고 효과적임을 화인하였다.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 춘계학술대회 논문집
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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.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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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.

• 대한교통학회지
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• 제24권1호
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• pp.73-84
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• 2006

본 연구는 지점검지기의 효율적 배치기준인 동질구간 결정 로직을 정립하고자 수행되었다. 동질구간의 결정은 도로 및 운영조건과 실시간 교통패턴의 변동을 고려하며 시간대별 동질구간 및 최종 동질구간을 결정하였다 교통조건의 동질구간 결정은 실시간 자료에 기반한 군집분석을 이용하였다. 동질구간의 검증을 위해 모든 링크에 검지기를 설치하는 경우와 동질구간에 검지기를 설치하는 경우에 대하여 각각 통행시간 추정력을 비교한 결과 동질구간의 효과가 입증되었다. 본 연구결과는 향후 국토교통관리 및 정보제공시스템에 유용하게 적용될 것으로 기대된다. 본 연구결과에 의하면 본 연구에서 제안한 동질구간 결정 로직을 대규모 국도 ITS 구축사업에 적용할 경우 통행시간 추정력의 향상과 함께 지점검지기의 효율적 배치를 통한 구축 및 운영비용의 절감이 예상된다.

• 대한교통학회지
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• 제31권2호
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• pp.45-59
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• 2013

이 연구는 우리나라에서 현재까지 사용되어 온 (수단O/D기반)화물수요추정법의 문제점 인식을 바탕으로 P/C기반 화물수요추정법과 비교 분석을 수행하였다. 우리나라 화물수단O/D는 화물의 최초기점과 최종종점 간 운송을 수단별 통행으로 나누어 인식하면서 접근트럭통행(Access/Egress Truck Trip)에 대한 정보가 누락되어있다. 이러한 이유로 수단O/D기반 화물수요추정법은 화물의 복합수단운송을 반영하지 못하는 단점이 있다. 이에, 본 연구는 우리나라 컨테이너 화물을 중심으로 P/C표와 복합수단선택모형을 추정하여 P/C기반 화물수요추정법을 제시하고, 기존 사용되어 오던 수단O/D기반 화물수요추정법과 기종점쌍 간 전환량, 수단통행물동량, 링크물동량을 비교하였다. 비교 결과 P/C기반 화물수요추정법은 복합운송을 제대로 모사하지 못하는 기존 수단O/D기반 화물수요추정법의 문제점을 해결할 수 있는 것으로 평가되었다.