• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 1993년도 춘계공동학술대회 발표논문 및 초록집; 계명대학교, 대구; 30 Apr.-1 May 1993
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• pp.19-19
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• 1993

• 대한전기학회논문지:시스템및제어부문D
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• 제53권8호
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• pp.585-593
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• 2004

Fault-tolerant gait planning in legged locomotion is to design gaits with which legged robots can maintain static stability and motion continuity against a failure in a leg. For planning a robust and deadlock-free fault-tolerant gait, kinematic constraints caused by a failed leg should be closely examined with respect to remaining mobility of the leg. In this paper, based on the authors's previous results, deadlock avoidance scheme for fault-tolerant gait planning is proposed for a hexapod robot walking over even terrain. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. It is shown that for guaranteeing the existence of the previously proposed fault-tolerant tripod gait of a hexapod robot, the configuration of the failed leg must be within a range of kinematic constraints. Then, for coping with failure situations where the existence condition is not satisfied, the previous fault-tolerant tripod gait is improved by including the adjustment of the foot trajectory. The foot trajectory adjustment procedure is analytically derived to show that it can help the fault-tolerant gait avoid deadlock resulting from the kinematic constraint and does not make any harmful effect on gait mobility. The post-failure walking problem of a hexapod robot with the normal tripod gait is addressed as a case study to show the effectiveness of the proposed scheme.

• 인터넷정보학회논문지
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• 제7권6호
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• pp.79-86
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• 2006

클라이언트-서버 데이터베이스 시스템에서 많은 병행실행제어가 연구되었다. 그러나 일반적으로 알려진 기법들은 데이터베이스에서 데이터의 집중으로 인한 수많은 변화를 수용하기 어렵다. 본 논문에서는 혼성 병행실행제어를 제안한다. 제안하는 기법은 첫 번째 실행에서는 낙관적인 기법을 사용하며 두 번째 실행에서는 비관적인 기법을 사용한다. 제안하는 기법에서는 두 번째 단계에서 잠금을 미리 선언하기 때문에, 비관적인 기법에서 발생할 수 있는 교착상태는 발생하지 않는다. 또한, 낙관적 단계의 검사가 실패하더라도 단 한번만 재실행되는 것을 보장한다. 실험을 통하여 제안하는 기법과 분산 낙관적 병행실행제어를 비교하고, 제안하는 기법이 분산 낙관적 병행실행제어보다 우수하다는 것을 보인다.

• 대한전기학회논문지:시스템및제어부문D
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• 제53권4호
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• pp.246-257
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• 2004

This paper proposes two contributions. One is an analysis for the limit of the subject of goal-directed reactive robot navigation, and the other is an effective navigation method employing the scheme of the subject. The analysis for the subject is presented in order to clarify the limit of the method. On the basis of the analysis, a safety-guaranteeing and deadlock-free reactive navigation method is newly proposed. The proposed method has a simple behavior-based frame such that it can make the required navigation tasks such as obstacle avoidance, deadlock resolving, and etc. with a very small set of behaviors in entirely unknown environments such as a living room, an office, and etc. Some results of experiments show these validities.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.82-87
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• 1993

A supervisory controller design technique for multiple-AGV systems is presented in this paper. The guidepath is represented in the form of a network, and its modifications are easily tested. The network has two-layered structure, where the path sets between each two nodes are made in advance using the K-shortest path algorithm. Occupation times for all links are stored in link-occupation table, and are updated after the dispatching time. Dispatching and scheduling for each AGV are optimized in terms of minimum-time objectives. In all times, the paths are guaranteed to be conflict-free and deadlock-free. The simplicity and flexibility on this control scheme make the supervisory suitable for real applications.