• Korean Journal of Computational Design and Engineering
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• v.15 no.1
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• pp.11-23
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• 2010

A flexible and correct model of the activity flows is required for workflows in product development environments. In particular, the design activity flows are not known until run-time, and conventional approaches have limit to handle this situation because they cannot predefine all the potentially reachable paths. Thus, the structure of the workflow model must be flexible enough to describe variety in workflow design and accommodate dynamic changes during workflow execution. In this paper, we provide the general primitive axioms and change patterns based on event calculus for dynamic workflow specification and execution mechanisms in product development environments. Also, we describe how to execute the workflow dynamically based on the workflow specification and workflow change patterns using abductive planning technique.

• Journal of Computing Science and Engineering
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• v.6 no.2
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• pp.89-104
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• 2012

In dynamic Web service environments, the performance of the Internet is unpredictable; the reliability and effectiveness of remote Web services are also unclear. Therefore, it can hardly be guaranteed that the quality of Web service (QoWS) attributes of Web services do not fluctuate with the dynamic Web service environments. When a composite service is planned in the context of dynamic service environments, there is another aspect which has not been taken into account by existing works, namely, concurrency - the fact that multiple requests to a composite service may arrive at the same time. Considering the dynamics of Web service environments and concurrency of requests, we propose in this paper a service selection scheme which adopts top-k dominating queries to generate a composition solution rather than only select the best composition solution for a given request. The experimental results have investigated the efficiency and effectiveness of our approach and shown that it outperforms baseline and traditional methods for service selection.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.2
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• pp.16-28
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• 2000

In this paper, we propose a navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments using an ultrasonic sensor. Instead of using "sensor fusion"method which generates the trajectory of a robot based upon the environment model and sensory data, "command fusion"method is used to govern the robot motions. The major factors for robot navigation are represented as a cost function. Using the data of the robot states and the environment, the weight value of each factor is determined for an optimal trajectory in dynamic environments. For the evaluation of the proposed algorithm, we peformed simulations in PC as well as real experiments with ZIRO. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1921-1926
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• 2003

We build a local minimum free motion planning for mobile robots considering dynamic environments by simple sensor fusion assuming that there are unknown obstacles which can be detected only partially at a time by proximity sensors and can be cleaned up or moved slowly (dynamic environments). Potential field is used as a basic platform for the motion planning. To clear local minimum problem, the partial information on the obstacles should be memorized and integrated effectively. Sets of linked line segments (SLLS) are proposed as the integration method. Then robot's target point is replaced by virtual target considering the integrated sensing information. As for the main proximity sensors, we use laser slit emission and simple web camera since the system gives more continuous data information. Also, we use ultrasonic sensors as the auxiliary sensors for simple sensor fusion considering the advantages in that they give exact information about the presence of any obstacle within certain range. By using this sensor fusion, the dynamic environments can be dealt easily. The performance of our algorithm is validated via simulations and experiments.

• School Mathematics
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• v.15 no.2
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• pp.481-501
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• 2013

The purpose of this study is to review the role of dragging in dynamic geometry environments. Dragging is a kind of dynamic representations that dynamically change geometric figures and enable to search invariances of figures and relationships among them. In this study dragging in dynamic geometry environments is divided by three perspectives: dynamic representations, instrumented actions, and affordance. Following this review, six conclusions are suggested for future research and for teaching and learning geometry in school geometry as well: students' epistemological change of basic geometry concepts by dragging, the possibilities to converting paper-and-pencil geometry into experimental mathematics, the role of dragging between conjecturing and proving, geometry learning process according to the instrumental genesis perspective, patterns of communication or discourse generated by dragging, and the role of measuring function as an affordance of DGS.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.6
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• pp.549-559
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• 2015

In this paper, an efficient dynamic reactive motion planning method for an autonomous vehicle in a dynamic environment is proposed. The purpose of the proposed method is to improve the robustness of autonomous robot motion planning capabilities within dynamic, uncertain environments by integrating a virtual plane-based reactive motion planning technique with a sensor fusion-based obstacle detection approach. The dynamic reactive motion planning method assumes a local observer in the virtual plane, which allows the effective transformation of complex dynamic planning problems into simple stationary ones proving the speed and orientation information between the robot and obstacles. In addition, the sensor fusion-based obstacle detection technique allows the pose estimation of moving obstacles using a Kinect sensor and sonar sensors, thus improving the accuracy and robustness of the reactive motion planning approach. The performance of the proposed method was demonstrated through not only simulation studies but also field experiments using multiple moving obstacles in hostile dynamic environments.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.658-662
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• 1988

The performance of a strapdown attitude reference system(SDARS) under dynamic environments was analyzed by means of computer simulation. The study is aimed toward the performance evaluation in the presence of translational or angular vibration during 20 sec of flight time. The simulation was based on the error model of rate gyro, and Euler angle algorithm was employed to compute the attitude.

• Journal of Information Technology Services
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• v.9 no.3
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• pp.163-178
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• 2010

A service composition has received much interest to provide users with the ad-hoc, seamless, and context-sensitive services dynamically composed from various networked services in context-aware computing environments. In this paper, with the purpose of guiding trends in the researches for dynamic service composition technologies, we investigate and analyze the major related works. For this, we separate semantic based composition from syntax based composition and then establish the comparison criteria by dividing the service composition processes into 3 steps：definition, construction, and execution.

• ETRI Journal
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• v.37 no.2
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• pp.369-379
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• 2015

Fault management of virtualized network environments using user-driven network provisioning systems (NPSs) is crucial for guaranteeing seamless virtual network services irrespective of physical infrastructure impairment. The network service interface (NSI) of the Open Grid Forum reflects the need for a common standard management API for the reservation and provisioning of user-driven virtual circuits (VCs) across global networks. NSI-based NPSs (that is, network service agents) can be used to compose user-driven VCs for mission-critical applications in a dynamic multi-domain. In this article, we first attempt to outline the design issues and challenges faced when attempting to provide mission-critical applications using dynamic VCs with a protection that is both user-driven and trustworthy in a dynamic multi-domain environment, to motivate work in this area of research. We also survey representative works that address inter-domain VC protection and qualitatively evaluate them and current NSI against the issues and challenges.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1816-1819
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• 1997

Using the vision system, robotic tasks in unstructured environments can be accompished, which reduces greatly the cost and steup time for the robotic system to fit to he well-defined and structured working environments. This paper proposes a dynamic control scheme for robot manipulator with eye-in-hand camera configuration. To perfom the tasks defined in the image plane, the camera motion Jacobian (image Jacobian) matrix is used to transform the camera motion to the objection position change. In addition, the dynamic learning controller is designed to improve the tracking performance of robotic system. the proposed control scheme is implemented for tasks of tracking moving objects and shown to outperform the conventional visual servo system in convergence and robustness to parameter uncertainty, disturbances, low sampling rate, etc.