• Transactions on Control, Automation and Systems Engineering
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• 제4권4호
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• pp.289-295
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• 2002

In this paper, a linear matrix inequality(LMI)-based robust control method, which combines model predictive control(MPC) with the feedback linearization(FL), is presented for constrained nonlinear systems with parameter uncertainty. The design procedures consist of the following 3 steps: Polytopic description of nonlinear system with a parameter uncertainty via FL, Mapping of actual input constraint by FL into constraint on new input of linearized system, Optimization of the constrained MPC problem based on LMI. To verify the performance and usefulness of the control method proposed in this paper, some simulations with application to a flexible single link manipulator are performed.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.403-404
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• 2006

In this paper, we proposed muli-dimensional feature vector matching method combined with disparity smoothness constraint. The smoothness constraint was calculated using the difference between disparity of center pixel and those of 4-neighbor pixels. By applying proposed algorithm to IKONOS satellite stereo imagery, we obtained robust stereo matching result in urban areas.

• 한국정보통신학회논문지
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• 제16권3호
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• pp.571-578
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• 2012

본 논문에서는 크게 두 가지 사항에 대해서 제안하고자 한다. 첫 번째는 논리합성을 위한 제약조건 방법에 대한 것이고, 두 번째는 효율적인 논리합성방법에 대한 것이다. 논리 합성은 주어진 제약조건(constraint)을 최대한 만족 시키면서 논리 사상과 최적화 등을 통하여 RTL(register transfer level) 코드로부터 게이트-수준의 네트리스트를 얻는 과정이다. 논리합성의 결과는 주어진 제약조건과 합성 방법에 매우 종속적이다. 이들에 의해서 설계의 면적 및 타이밍이 크게 변화하므로 우리는 제약조건과 합성방법을 철저하게 고려하여야 한다. 본 논문에서는 논리합성을 하는 과정에서 실제로 고려해야하는 사항들에 대해서 경험적이고 실험적인 결과를 바탕으로 혼합방식의 논리합성 기법을 제안한다. 제안된 기법을 이용하여 약 65만 게이트의 하드웨어 자원량을 사용하는 회로에 적용시켜본 결과로 상향식 방법에 비해서 합성 시간이 약 47% 감소하였고, 하향식 방법에 비해서 타이밍 특성이 우수하였다.

• 한국항공운항학회지
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• 제14권1호
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• pp.28-35
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• 2006

Substructure coupling or component mode synthesis may be employed in the solution of dynamic problems for large, flexible structures. The model is partitioned into several subdomains, and a generalized Craig-Bampton representation is derived. In this paper the mode sets (normal modes, constraint modes) is employed for model reduction. A generalized model reduction procedure is described. Vaious reduction methods that use constraint modes is described in detail. As examples, a flexible structure and a 10 DOF damped system are analyzed. Comparison with a conventional reduction method based on a complete model is made via eigenpair and dynamic responses.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.265-265
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• 2000

In this paper the systematic modeling method of general wheeled mobile robot is proposed. First we show how to describe kinematics properties of wheeled mobile robot in the method formulating constraint equations using Basic Homogeneous Transform(BHT) which is used mainly the kinematics modeling of manipulator, and, under assumption it's provided part of nullvector in given constraint equations, find kinematics model of mobile robot related to actuators in real robot.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 학술대회 논문집 정보 및 제어부문
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• pp.323-324
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• 2008

In this paper, we present performance comparison of two methods to localize multiple robots. One is extended Kalman filter and the other is constraint propagation technique. Extended Kalman filter is conventional probabilistic method which gives the sub-optimal estimation rather than guarantee any boundary for true position of robot. In case of constraint propagation, it can give a boundary containing true robot position value. Especially, we deal with cooperative localization problem in outdoor environment for multiple robots equipped with GPS, gyro meter, wheel encoder. In simulation results, we present strength and weakness for localization methods based on extend Kalman filter and constraint propagation technique.

• 산업경영시스템학회지
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• 제25권1호
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• pp.1-8
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• 2002

The traditional approaches of association rule mining have relied on high support condition to find interesting rules. However, in some application such as analyzing the web page link and discovering some unusual combinations of some factors that have always caused some disease, we are interested in rules with high confidence that have very low support or need not have high support. In these cases, the traditional algorithms are not suitable since it relies on first satisfying high support. In this paper, we propose a new model, CP(Confidence Pattern)-Tree, to identify high confidence rule between 2-items without support constraint. constraint. In addition, we discuss confidence association rule between two more items without support constraint.

• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 2002년도 춘계공동학술대회
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• pp.979-986
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• 2002

Constraint Programming is an appealing technology for modeling and solving various real-world problems. and metaheuristic is the most successful technique available for solving large real-world vehicle routing problems. Constraint Programming and metaheuristic are complementary to each other. This paper describes how iterative improvement techniques can be used in a Constraint Programming framework(LOG Solver and ILOG Dispatcher) for Vehicle Routing Problem. As local search gets trapped in local solution, the improvement techniques are used in conjunction with metaheuristic method.

• 대한지리학회지
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• 제30권2호
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• pp.120-131
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• 1995

이동행태를 분석하기 위해 시.공간이론 중 3가지 제약조건인 능력제약, 조합제약, 권위제약이 공간특성에 따라 성별, 연령이 이동에 어느 정도 영향을 주는지를 분석하고 적 정 이동군집수를 결정하고자 한다. 이중 권위제약은 사회적 제약조건으로서 도시시설물이나 교통수단의 이용에 있어 사회적 신분이나 규약에 의해 이동영역이 통제되는 것을 의미한다. 공간특성에 의한 이동의 통제는, 도시와 농촌으로 구분하였을 때 도시지역 사람들은 농촌지 역 사람들에 비해 첨두시간대의 이동 참여율이 높으며, 이동군집수 결정에 있어서도 여러 연령층이 유사한 이동행태를 지니고 있음을 알 수 있다. 도시지역 사람들은 공간특성상에 따른 이동의 다양성이 군집수 결정에 상관되었으며, 이는 공간특성에 따라 이동행태가 달라 질 수 있다고 볼 수 있다. 성별 및 연령에 의한 통제 역시 사회적 제약조건으로서 이동행태 에 영향이 있음을 알 수 있다.

• 대한기계학회논문집
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• 제17권10호
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• pp.2543-2554
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• 1993

In this paper, the kinematic and dynamic analyses of spatial complex kinematic chain are studied. Through the new method both using the set of identification numbers and applying the DenavitHartenberg link representation method to the spatial complex kinematic chain, the kinematic configuration of the chain is represented. Some link in the part of closed chain being fictitiously cutted, the complex kinematic chain is transformed to the branched chain. The kinematic constraint equations are derived from the constraint conditions which the cutted sections of the link have to satisfy. And the joint variables being partitioned in the independent joint variables and the dependent joint variables, the dependent variables are calculated from the independent variables by using the Newton-Raphson iterative method and the pseudoinverse matrix. The equations of motion are derived under the independent joint variables by using the principle of virtual work. Algorithms for dynamic analysis are presented and simulations are done to verify accuracy and efficiency of the algorithms.