• Ocean and Polar Research
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• v.28 no.4
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• pp.425-438
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• 2006

This study has the purpose of providing a framework for analyzing problems of institutional choice, illustrating the complex configuration of variables that must be addressed when individuals in field settings attempt to fashion rules to improve their individual and joint outcomes. The reason for presenting this complex array of variables (i.e., situational variables) as a framework rather than as a model is precisely because one cannot encompass this degree of complexity within a single model. The results of this study imply that it is important for researchers and government officials to understand that appropriators have a certain amount of ability to transform the status quo rules to the alternative rules.

• Structural Engineering and Mechanics
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• v.43 no.6
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• pp.795-821
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• 2012

The size and topology of geometrically nonlinear dome structures are optimized thereby minimizing both its entire weight & joint (node) displacements and maximizing load-carrying capacity. Design constraints are implemented from provisions of American Petroleum Institute specification (API RP2A-LRFD). In accordance with the proposed design constraints, the member responses computed by use of arc-length technique as a nonlinear structural analysis method are checked at each load increment. Thus, a penalization process utilized for inclusion of unfeasible designations to genetic search is correspondingly neglected. In order to solve this complex design optimization problem with multiple objective functions, Non-dominated Sorting Genetic Algorithm II (NSGA II) approach is employed as a multi-objective optimization tool. Furthermore, the flexibility of proposed optimization is enhanced thereby integrating an automatic dome generating tool. Thus, it is possible to generate three distinct sphere-shaped dome configurations with varying topologies. It is demonstrated that the inclusion of brace (diagonal) members into the geometrical configuration of dome structure provides a weight-saving dome designation with higher load-carrying capacity. The proposed optimization approach is recommended for the design optimization of geometrically nonlinear dome structures.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.660-665
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• 1993

Neural networks are used in the framework of sensorbased tracking control of robot manipulators. They learn by practice movements the relationship between PSD ( an analog Position Sensitive Detector) sensor readings for target positions and the joint commands to reach them. Using this configuration, the system can track or follow a moving or stationary object in real time. Furthermore, an efficient neural network architecture has been developed for real time learning. This network uses multiple sets of simple backpropagation networks one of which is selected according to which division (corresponding to a cluster of the self-organizing feature map) in data space the current input data belongs to. This lends itself to a very fast training and processing implementation required for real time control.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.914-919
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• 1993

The kinematic resolutions of redundancy is addressed in this paper. The governing equation for quasistatic behavior of compliance governed redundant manipulators is formulated and the repeatable property of the manipulator is proposed. Then the compliance paradigm is used to resolve the redundancy in a repeatable way. The compliance paradigm is one under which the controller simulates the imaginary manipulator which is governed to move by real joint stiffness. The equation is expressed as the weighted pseudoinverse with the configuration dependent weighting matrix. Algorithmic singularities arisen from this scheme are also discussed.

• Proceedings of the Korea Concrete Institute Conference
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• 2006.05a
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• pp.406-409
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• 2006

Serviceability resign is required to control the cracking at the joint of precast decks having longitudinal prestress in continuous composite bridges. Especially, details of twin girder bridges are complex not only due to main reinforcements and transverse prestress for the resign of long-span concrete slabs but also due to shear pockets for obtaining the composite action. This paper suggests the design guidelines for the magnitude of the effective prestress and for the selection of filling materials and their requirements in order to use precast decks for twin-girder continuous composite bridges. The necessary initial prestress was also evaluated through the long-term behavior analysis. From the analysis, existing design examples were revised and their effectiveness was estimated. When a filling material having bonding strength higher than the requirement is used in the region of high negative moment, uniform configuration of longitudinal prestressing steels along the whole span length of continuous composite bridges can be achieved resulting in simplification of details and enhancement of the construction costs.

• Journal of the Korea Institute of Military Science and Technology
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• v.11 no.1
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• pp.51-56
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• 2008

The counter-fire operation system performs its mission exchanging information with other related systems such as command & control systems and military information systems. In the process of exchanging information, the counter-fire operation system uses a type of data message which contains exchange data information in the format of KMTF. The requirement of data exchange of count-fire operation will continue to evolve. But the EDX(External Data eXchange) configuration item of the current counter-fire operation system can not effectively cope with the variation of data exchange requirements due to its fixed software structure. In the paper, a solution for improving flexibility of external data exchange in counter-fire operation system is proposed.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.95-97
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• 2005

This paper deals with the implementation of walking for a humanoid robot by ZMP measurement using wireless sensor network. ZMP is measured by FSR sensors which are mounted at each corner of a sole. The wireless sensor network collects the sensor data according and exchanges robot information between host PC and a robot system. The master controller mounted on robot body receives trajectory data from the host PC via sensor network and drives the joint motor based on trajectory data. The time scheduler of the master controller controls the events at the ratio of 100ms. With this configuration, the walking of the humanoid robot KHR-1 could be realized successfully.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.178.2-178
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• 2001

Today, many electronic devices and ECUs (Electronic Control Units) are used in the automotive body control systems. It becomes more common that these devices exchange data with others through an in-vehicle network. Automobile manufacturers concentrate their efforts on development of body control systems based on networks in order to save cost and to increase flexibility and safety. OSEK/VDX has been founded as a joint project in German and French automotive industry aiming at an industry standard for an open-ended architecture for distributed control units in vehicles OSEK/VDX consists of Communication (specification of data exchange within and between control units), Network Management specification of Configuration determination and monitoring and Operating System (specification of realtime executive for ECU software ...

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.844-849
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• 1991

A high speed control system for a telerobot using DSP is developed. The system is designed to resolve computational burden in advanced algorithms. The design is assumed to h ave no specific algorithm and robot configuration. The system is composed of a teaching box, a DSP board, a set of servo drivers and 16 bit microcomputer system. The teaching box is designed as a man-machine interface, which has two joysticks with three degrees of freedom for velocity generation in Cartesian space. The DSP board, i.e. DSP56000ADS based on a 10.25MIPS digital signal processor, DSP56001, computes the inverse Jacobian matrix which transforms Cartesian velocity into joint velocity. A resolved motion rate control algorithm for a 5 degrees of freedom manipulator was implemented. About 100 Hz sampling rate was achieved in this system.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.728-733
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• 2009

This paper presents the compensation of mechanical deflection error in SCARA robot. End of robot gripper is deflected by weight of arm and pay-load. If end of robot gripper is deflected constantly regardless of robot configuration, it is not necessary to consider above mechanical deflection error. However, deflection in end of gripper varies because that moment of each axis varies when robot moves, it affects the relative accuracy. I propose the compensation method of deflection error using neural network. FEM analysis to obtain the deflection of gripper end was carried out on various joint angle, the results is used in neural network teaming. The result by simulation showed that maximum relative accuracy reduced maximum 9.48% on a given working area.