• Journal of the Korean Society for Precision Engineering
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• v.15 no.4
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• pp.111-117
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• 1998

In order to increase productivity of an assembly system composed of multiple robots along a conveyer line, an efficient sequence planning is necessary because the assembly time is dependent upon the assembly sequence. In this paper, a two-robot assembly system is considered in which two robots operate simultaneously and transfer parts from the part feeders to the workpiece on the conveyer one by one. In this case, the distance from the feeder to the workpiece varies with time because the workpiece moves at a constant speed on the conveyer. Hence, the sequence programming is not a trivial problem. Also, the two robots may interfere with each other kinematically and dynamically due to the simultaneous operation, so the sequence should be programmed to avoid the interferences. In this paper, the task sequence optimization problem is formulated and is solved by employing the simulated annealing which has been shown to be effective for solving large combinatorial optimizations.

• Journal of applied mathematics & informatics
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• v.37 no.3_4
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• pp.163-176
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• 2019

Given a distribution of pebbles on the vertices of a connected graph G, a pebbling move is defined as the removal of two pebbles from some vertex and the placement of one of those pebbles at an adjacent vertex. The t-pebbling number, $f_t(G)$, of a connected graph G, is the smallest positive integer such that from every placement of $f_t(G)$ pebbles, t pebbles can be moved to any specified vertex by a sequence of pebbling moves. A graph G has the 2t-pebbling property if for any distribution with more than $2f_t(G)$ - q pebbles, where q is the number of vertices with at least one pebble, it is possible, using the sequence of pebbling moves, to put 2t pebbles on any vertex. In this paper, we determine the t-pebbling number for the middle graph of a complete binary tree $M(B_h)$ and we show that the middle graph of a complete binary tree $M(B_h)$ satisfies the 2t-pebbling property.

• The Pure and Applied Mathematics
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• v.9 no.1
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• pp.57-61
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• 2002

Let G be a connected graph. A pebbling move on a graph G is the movement of taking two pebbles off from a vertex and placing one of them onto an adjacent vertex. The pebbling number f(G) of a connected graph G is the least n such that any distribution of n pebbles on the vertices of G allows one pebble to be moved to any specified, but arbitrary vertex by a sequence of pebbling moves. In this paper, the pebbling numbers of the compositions of two graphs are computed.

• Journal of the Chungcheong Mathematical Society
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• v.19 no.4
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• pp.403-408
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• 2006

A pebbling move on a connected graph G is taking two pebbles off of one vertex and placing one of them on an adjacent vertex. The domination cover pebbling number ${\psi}(G)$ is the minimum number of pebbles required so that any initial configuration of pebbles can be transformed by a sequence of pebbling moves so that the set of vertices that contain pebbles forms a domination set of G. We determine the domination cover pebbling number for fans, fuses, and pseudo-star.

• Journal of the Chungcheong Mathematical Society
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• v.14 no.1
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• pp.7-14
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• 2001

Let G be a connected graph. A pebbling move on a graph G is taking two pebbles off one vertex and placing one of them on an adjacent vertex. The pebbling number of a connected graph G, f(G), is the least n such that any distribution of n pebbles on the vertices of G allows one pebble to be moved to any specified, but arbitrary vertex by a sequence of pebbling moves. In this paper, the pebbling numbers of the lexicographic products of some graphs are computed.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.27.4-27
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• 2001

A stabilizing control method for linear systems with model uncertainties and hard input constraints is developed, which does not require on-line optimizations. This work is motivated by the constrained robust MPC(CRMPC) approach [3] which adopts the dual mode prediction strategy (i.e. free control moves and invariant set) and minimizes a worst case performance criterion. Based on the observation that, a feasible control sequence for a particular state can be found as a linear combination of feasible sequences for other states, we suggest a stabilizing control algorithm providing sub-optimal and feasible control sequences using pre-computed optimal sequences for some canonical states. The on-line computation of the proposed method reduces to simple matrix multiplication.

• Journal of Broadcast Engineering
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• v.2 no.2
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• pp.125-135
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• 1997

This paper is concerned with realistic mainpulation of content in video sequences. Manipulation of content in video sequences is one of the content-based functionalities for MPEG-4 Visual standard. We present an approach to synthesizing video sequences by using the intermediate outputs of three-dimensional (3D) motion and depth analysis. For concreteness, we focus on video showing 3D motion of an observer relative to a scene containing planar runways (or roads). We first present a simple runway (or road) model. Then, we describe a method of identifying the runway (or road) boundary in the image using the Point of Heading Direction (PHD) which is defined as the image of, the ray along which a camera moves. The 3D motion of the camera is obtained from one of the existing 3D analysis methods. Then, a video sequence containing a runway is manipulated by (i) coloring the scene part above a vanishing line, say blue, to show sky, (ii) filling in the occluded scene parts, and (iii) overlaying the identified runway edges and placing yellow disks in them, simulating lights. Experimental results for a real video sequence are presented.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.2323-2326
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• 2003

Theoretical analysis of the depth measurement system with the use of a single camera and a rotating mirror has hem done. A camera in front of a rotating mirror acquires a sequence of reflected images, from which depth information is extracted. For an object pint at a longer distance, the corresponding pixel in the sequence of images moves at a higher speed. In this paper, the principle d the depth measurement-based on the relation of the pixel movement speed and the depth of objects have been investigated. Also, necessary mathematics to implement the technique is derived and presented. The factors affecting the measurement precision have been studied Analysis shows that the measurement m increases with the increase of depth. The rotational angle of the mirror between two image-takings also affects the measurement precision. Experimental results using the real camera-mirror setup are reported.

• Proceedings of the Korea Information Processing Society Conference
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• 2004.05a
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• pp.1417-1420
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• 2004

The combination of Fast-Handoff and Hierarchical Mobile IPv6 (F-HMIPv6) allows the anticipation of the layer3 handoff such that data traffic can be efficiently redirected to the mobile node's new location before it moves there. However, after moving to the new Access Router (NAR), if the mobile node (MN) sends the Local Binding Update (LBU) to the Mobility Anchor Point (MAP) before receiving all of the buffered packet from the NAR, the MN may receive the general packet from the MAP. That is, the MN may simultaneously receive two types of packet which has different sequence number. These cause the confusion in packet order, and the MN sends the dup ack for the packet retransmission to the CN. It results in the degradation of the TCP performance. Therefore, we propose the scheme for minimizing the out-of-sequence packet in F-HMIPv6.

• International Journal of Control, Automation, and Systems
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• v.3 no.4
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• pp.542-551
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• 2005

A new distance measurement method with the use of a single camera and a rotating mirror is presented. A camera in front of a rotating mirror acquires a sequence of reflected images, from which distance information is extracted. The distance measurement is based on the idea that the corresponding pixel of an object point at a longer distance moves at a higher speed in a sequence of images in this type of system setting. Distance measurement based on such pixel movement is investigated. Like many other image-based techniques, this presented technique requires matching corresponding points in two images. To alleviate such difficulty, two kinds of techniques of image tracking through the sequence of images and the utilization of multiple sets of image frames are described. Precision improvement is possible and is one attractive merit. The presented approach with a rotating mirror is especially suitable for such multiple measurements. The imprecision caused by the physical limit could be improved through making several measurements and taking an average. In this paper, mathematics necessary for implementing the technique is derived and presented. Also, the error sensitivities of related parameters are analyzed. Experimental results using the real camera-mirror setup are reported.