• 제어로봇시스템학회:학술대회논문집
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• 1987.10a
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• pp.915-920
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• 1987

When a task requires two robot arms to move in a cooperative manner sharing a common workspace, potential collision exists between the two robot arm . In this paper, a novel approach for collision-free trajectory planning along paths of two SCARA-type robot arms is presented. Specifically, in order to describe potential collision between the links of two moving robot arms along the designated paths, an explicit form of "Virtual Obstacle" is adopted, according to which links of one robot arm are made to grow while the other robot arm is forced to shrink as a point on the path. Then, a notion of "Coordination Chart" is introduced to visualize the collision-free relationship of two trajectories.of two trajectories.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.1
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• pp.176-181
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• 2015

In the DC electric railway system, the effective use of regenerative break energy is an important issue. Since regenerative break energy causes voltage rise or drop in the system, it should be also solved effectively. To solve the problems, applying electric double layer capacitor (EDLC) or voltage source converter (VSC) to the DC electric railway system has been studying. In this paper, the coordination of EDLC and VSC is proposed to solve the problem effectively with its coordinated control algorithm. The proposed method is tested to show its feasibility using Matlab/Simulink.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.649-652
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• 1989

In this paper we outline an approach for the collision-free trajectory planning of two robot arms which are modeled as connected line segments. A new approach to determine the collision between two robot arms and the boundary of the collision region in the coordination space is proposed. The coordination curve may then be chosen to avoid the collision region. For minimum time trajectory, time is assigned to this curve by dynamic time scaling under constraints such as maximum torque or maximum angular velocity of each actuator. A comparison of the proposed method and the graphical method of determining the collision region is also included. Finally, as an example, some simulation results for two SCARA type robots are presented.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.9
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• pp.47-56
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• 1994

In this paper, we demonstrate how to design a redundant robot which is suitable for the multiple task execution without any constraints on the work space. The implementation is possible by the rigid connection of a cacro-robot and a micro-robot. A 5 d.o.f. articulated robor designed for commercial purpose is utilized as a micro-robot which can perform a general task with the appropriate adjustment of its base location. The base of a micro-robot is located at a suitable position by the macro-robot designed and implemented through this research. A task assigned to this redundant robot is performed mainly by the micro-robot. However, when the micro-robot cannot perform the task by itself or when the micro-robot has difficulties in performing the task, the coordination of the macro-robot is requited. To monitor the task execution efficiency of the micro-robot, we used the 'Manipulability Measure' as a cost function. The coordination between the two robots are verified both by the simulation and the experiment.

• Knowledge Management Research
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• v.10 no.4
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• pp.93-114
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• 2009

This paper presents a knowledge-based view of the multi-business firm. The multi-business firm has advantages in technological innovation and knowledge creation to the extent that it embodies various ideas and resources, and recombines them more effectively and efficiently than market contracts. The purpose of this paper is to identify how to organize the multidivisional form (M-form) structure to realize such advantages. We first differentiate within-division innovation and cross-division innovation, and explain why cross-division innovation, despite its higher performance potential, would be more difficult to achieve, compared to within-division innovation. Then, we offer the propositions about how to promote cross-division innovation with references to resource capability and coordination capability that is, in turn, composed of structural and control system, social capital, and human resource management system. We conclude by discussing theoretical and practical implications.

• Proceedings of the Korean Information Science Society Conference
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• 2004.04a
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• pp.505-507
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• 2004

IEEE 802.11 무선랜 표준에서 MAC(Media Access Control)은 동기와 비동기의 두 가지 타입의 서비스를 지원한다. 동기적 실시간 트래픽은 PCF(Point Coordination Function)에 의해서 폴링 엑세스 기법에 의해 처리된다. 비동기적 비실시간 트래픽은 CSMA/CA 프로토콜 기반의 DCF(Distributed Coordination function)에 의해 처리된다. 그래서 실시간 트래픽은 지연과 패킷손실에 민감하고 비실시간 트래픽은 에러와 처리율에 민감하기 때문에 적당한 트래픽 스케줄링 알고리즘이 설계되어질 필요가 있다. 하지만 IEEE 802.11 무선랜 표준은 실시간 트래픽을 효율적으로 서비스를 해주지 못하고 있다. 그래서 본 논문에서는 PCF 구간내에서 서비스를 받지 못한 실시간 트래픽 스테이션들을 DCF 구간에서 우선적으로 서비스함으로써 QoS를 향상시킬 수 있다.

• Proceedings of the IEEK Conference
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• 2003.11c
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• pp.191-194
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• 2003

In IEEE 802.11b, Medium Access Control Sublayer consists of DCF (Distributed Coordination Function) and PCF (Point Coordination Function). DCF provides contention based services and PCF provides contention free services for QoS satisfaction. DCF uses CSMA/CA (Carrier Sense Multiple Access/Collision Avoidance) as an access protocol. And PCF uses Polling Scheme. In this paper, a modified New-PCF, which gives weights to channels with heavier traffic load, was suggested. NS-2 simulations were conducted to compare the service performances with original DCF, PCF and the modified New-PCF respectively. Simulation results has shown the increased overall throughput with the proposed New-PCF compared with other cases.

• 전기의세계
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• v.23 no.3
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• pp.53-59
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• 1974

The purpose of this paper is to use hydraulic sources optimally on the hydro-thermal power coordination in power system of Korea by means of Multiple Dynamic Programming. Four principal hydraulic power plans of Korea; Whachon, Chunchon, Uiam and Chong-pyong which are located on Han river side are treated in this research. For the illustrative purpose, a case study was made on the year round monthy optimal water control under the given load distribution and constraints.

• Proceedings of the Korean Nuclear Society Conference
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• 1996.11a
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• pp.165-170
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• 1996

In order that a mobile robot executes the real tasks such as inspection and maintenance in nuclear facility efficiently, the coordination between the mobile platform and the manipulator is essentially required In this paper, a new motion control method for a mobile robot to execute the tasks in nuclear facility efficiently is proposed. A series of simulations are performed to verify the effectiveness of the proposed method.

• Journal of Power Electronics
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• v.9 no.6
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• pp.892-902
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• 2009

This paper deals with the dynamic voltage control problem at the inverter end of a HVDC link when connected to a weak AC system which has the potential for harmonic instability and commutation failures. The dynamic voltage control problem is tackled with a STATCOM (Static Compensator), which not only provides a rapid recovery from harmonic instability and commutation failures but also offers a lower cost filter design for HVDC systems. PSCAD/EMTDC simulations are presented to validate the proposed topology and to demonstrate its robust performance.