• Journal of Dairy Science and Biotechnology
• /
• v.19 no.1
• /
• pp.1-3
• /
• 2001

This study was conducted to increase the content of taurine in milk from the dairy cows fed the rumen protected DL-methionine matrix and methionie hydroxy analog matrix for 42days. Dairy cows fed rumen protected DL-methionine matrix showed 23% increased milk taurine concentration compared to the value of the control groups. Dairy cows fed rumen protected methionine hydroxy analog matrix showed 53% increased milk taurine concentration compared to the value for the control groups (p<0.01).

• Journal of the Korean Institute of Telematics and Electronics T
• /
• v.36T no.2
• /
• pp.14-20
• /
• 1999

In this paper, we discuss about implementation of a wireless communication system for a distributed autonomous robotic system. In order to achieve cooperative behavior among mobile robots, it is required to perform communication. Based on this requirements, we examined to the application in a wireless communication system used by mobile robots. This paper describes a conceptual and experimental framework which provides a distributed control architecture for the study of interactions between multiple mobile robots.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.73-73
• /
• 2000

Assembly is usually performed by one robot and fixtures. This type of assembly system has Low flexibility in terms of variety of parts and part-presentation that the system can handle. This paper addresses assembly without fixtures using two-manipulator robot. An active method using force feedback is proposed for the peg-in-hole assembly in highly uncertain environment. Assembly states are described by extended contact relations. Qualitative templates for events are easily derived from the token vector of the Petrinet model. The states are recognized through identification of the events using two 6-d.o.f force/moment sensors. The proposed method is verified and evaluated through experiments with round peg- in-hole assembly.

• Proceedings of the Korean Society of Computer Information Conference
• /
• 2017.07a
• /
• pp.113-114
• /
• 2017

본 논문에서는 셀룰라시스템의 상향링크 자원을 사용하는 D2D 단말의 전송전력 최적화문제를 게임이론적 방법으로 고찰해본다. 먼저, 전송전력 최적화문제를 비협력적 전송전력게임으로 구성하고, 구성된 전송전력게임이 나쉬 평형을 가지게 됨을 확인한다. 본 논문에서 도출된 나쉬 평형에서는 개별 D2D 단말은 오로지 자신의 전송전력을 최적화하도록 전송전력값을 선택한다. 하지만, 시스템 입장에서는 결국 모든 단말의 전송전력값은 나쉬평형이라고 하는 전송전력의 유일한 수렴점에 도달하게 된다. 컴퓨터실험을 통하여 다수 개의 D2D 사용자 환경에서 나쉬평형이 존재함을 확인한다.

• International Journal of Control, Automation, and Systems
• /
• v.2 no.3
• /
• pp.333-342
• /
• 2004

This paper presents a framework for the self-organization of swarm systems based on coupled nonlinear oscillators (CNOs). In this scheme, multiple agents in a swarm self-organize to flock and arrange themselves as a group using CNOs, which are able to keep a certain distance by the attractive and repulsive forces among different agents. A theoretical approach of flocking behavior by CNOs and a design guideline of CNO parameters are proposed. Finally, the formation scenario for cooperative multi-agent groups is investigated to demonstrate group behaviors such as aggregation, migration, homing and so on. The task for each group in this scenario is to perform a series of processes such as gathering into a whole group or splitting into two groups, and then to return to the base while avoiding collision with agents in different groups and maintaining the formation of each group.

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.5
• /
• pp.497-504
• /
• 2006

This paper presents a new technique that derives the dynamic acceleration bounds of multiple cooperating robot systems from given individual torque limits of robots. A set of linear algebraic homogeneous equation is derived from the dynamic equations of multiple robots with friction contacts. The mobility of the robot system is analyzed by the decomposition of the null space of the linear algebraic equation. The acceleration bounds of multiple robot systems are obtained from the joint torque constraints of robots by the medium of the decomposed null space. As the joint constraints of the robots are given in the infinite norm sense, the resultant acceleration bounds of the systems are described as polytopes. Several case studies are presented to validate the proposed method in this paper.

• Proceedings of the Korea Association of Information Systems Conference
• /
• 2000.11a
• /
• pp.12-15
• /
• 2000

An SADT-based methodology is presented for systematically analyzing the container working process in container terminal, as well as an object-oriented design method for an integrated information system for container terminal resource planning and management. Our design architecture is composed of four levels, activity interface, activity PDCA control, human resource management, and facility resource management. Especially, the consideration of the human resource management level makes it possible to support cooperative tasks, to make the authority and responsibility on a task clear, and to extremely promote the balance between human and facility resources. Finally, The system architecture is suggested for Virtual Container Terminal, in which a planned container working process is simulated for previous feasibility check, work orders are transferred to control real devices, and to manage the entire process and related data.

• Proceedings of the Korea Database Society Conference
• /
• 1995.12a
• /
• pp.132-142
• /
• 1995

Development in multimedia technology enhances Computer Supported Cooperative Work(CSCW) such as tole-conferencing and tole-education. These applications are also called groupware applications and usually composed of AM conferencing module and shared working space such as group editors. Through this shared working space users can present, manipulate and save common artifacts interactively. Since users are allowed to operate on common artifacts simultaneously, conflicts between user transactions are bound to happen and can cause unnatural effects on user interfaces. In this paper we reviewed these problems and presented common solutions to concurrency control problems. We also presented Coshed/SAS, a group editor, as an example of groupware applications and related concurrency control problems.

• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.4
• /
• pp.322-329
• /
• 2005

This paper considers the application of mobile robot to the herding problem. The herding problem involves a ‘pursuer’ trying to herd a moving ‘evader’ to a predefined location. In this paper, two mobile robots act as pursuer and evader in the fenced area, where the pursuer robot uses a fuzzy cooperative decision strategy (FCDS) in the herding algorithm. To herd evader robot to a predefined position, the pursuer robot calculates strategic herding point and then navigates to that point using FCDS. FCDS consists of a two-level hierarchy: low level motion descriptors and a high level coordinator. In order to optimize the FCDS, we use the multi­thread evolutionary programming algorithm. The proposed algorithm is implemented in the real mobile robot system and its performance is demonstrated using experimental results.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.12
• /
• pp.1179-1185
• /
• 2007

This paper presents a new approach to automotive embedded systems development and validation. Recently automotive embedded systems become even more complex and the product life cycle is getting reduced. To overcome these problems AUTOSAR, a standardized software platform and component based approach, was introduced. Model-based approach has been widely applied in the development of embedded systems and has strong benefits such as early validation and automated testing. In this paper cooperative development and validation of AUTOSAR and model-based approach are introduced and automated testing techniques are proposed. With the proposed techniques we can improve complexity management through increased reuse and exchangeability of software module and automated testing is realized.