• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1939-1943
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• 1991

Path planning is an important task for optimal motion of a robot in structured or unstructured environment. The goal of this paper is to plan the shortest collision-free path in 3D, when a robot is navigated to pick up some tools or to repair some parts from various locations. To accomplish the goal of this paper, the Path Coordinator is proposed to have the capabilities of an obstacle avoidance strategy[3] and a traveling salesman problem strategy(TSP)[23]. The obstacle avoidance strategy is to plan the shortest collision-free path between each pair of n locations in 2D or in 3D. The TSP strategy is to compute a minimal system cost of a tour that is defined as a closed path navigating each location exactly once. The TSP strategy can be implemented by the Neural Network. The obstacle avoidance strategy in 2D can be implemented by the VGraph Algorithm. However, the VGraph Algorithm is not useful in 3D, because it can't compute the global optimality in 3D. Thus, the Path Coordinator is proposed to solve this problem, having the capabilities of selecting the optimal edges by the modified Genetic Algorithm[21] and computing the optimal nodes along the optimal edges by the Recursive Compensation Algorithm[5].

• Journal of Communications and Networks
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• 제6권4호
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• pp.331-342
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• 2004

We study the problem of controlling data overhead of mesh-based multicast ad hoc routing protocols by adaptively adding redundancy to the minimal data overhead multicast mesh as required by the network conditions. We show that the computation of the minimal data overhead multicast mesh is NP-complete, and we propose an heuristic approximation algorithm inspired on epidemic algorithms. In addition, we propose a mobility-aware and adaptive mesh construction algorithm based on a probabilistic path selection being able to adapt the reliability of the multicast mesh to the mobility of the network. Our simulation results show that the proposed approach, when implemented into ODMRP, is able to offer similar performance results and a lower average latency while reducing data overhead between 25 to 50% compared to the original ODMRP.

• 조명전기설비학회논문지
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• 제29권9호
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• pp.65-70
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• 2015

Minimal line length enables low-cost construction of the transmission lines and low-loss transportation of electric power. This paper presents a derivation to determine the coordinate and length of the straight line that minimally connects two perpendicular lines x-axis and y-axis via a specific point, using the optimization technique. The author shows a formula to obtain the minimal length, which is represented by the cube root of the coordinate given by the specific point. Case studies have been also discussed to prove the optimal solutions derived by the proposed formula.

• 한국정보전자통신기술학회논문지
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• 제2권1호
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• pp.37-42
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• 2009

디지털 신호 처리 분야에서 디지털 필터는 필수불가결한 요소이다. 디지털 필터는 이진수의 곱셈 및 덧셈을 기본으로 하는 것으로 많은 연산량을 필요로 한다. 디지털 필터 내의 곱셈기는 VLSI 기술을 이용한 디지털 필터의 설계에 있어 반도체 칩 내부의 넓은 영역을 차지하고 전력의 대부분을 소비하며, 필터의 critical path를 결정하여 필터의 성능을 결정하는 중요한 요소로서 작용 한다. 본 연구에서는 특히 디지털 필터의 복잡성(complexity)를 해소하고 critical path를 줄여 필터의 연산속도를 증가시키기 위한 방법으로 2의 보수로서 표현되는 이진수를 CSD(canonical signed digit)와 MSD(minimal signed digit)로 동시에 변환하여 표현하는 방법을 제안하였다. 제안된 방법은 VHDL로 구현하고 임의의 필터에 적용하여 필터의 critical path가 감소하는 것을 보였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.79-84
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• 1992

Path planning is an important task for optimal motion of a robot in structured or unstructured environment. The goal of this paper is to plan the optimal collision-free path in 3D, when a robot is navigated to pick up some tools or to repair some parts from various locations. To accomplish the goal, the Path Coordinator is proposed to have the capabilities of an obstacle avoidance strategy and a traveling salesman problem strategy (TSP). The obstacle avoidance strategy is to plan the shortest collision-free path between each pair of n locations in 2D or in 3D. The TSP strategy is to compute a minimal system cost of a tour that is defined as a closed path navigating each location exactly once. The TSP strategy can be implemented by the Hopfield Network. The obstacle avoidance strategy in 2D can be implemented by the VGraph Algorithm. However, the VGraph Algorithm is not useful in 3D, because it can't compute the global optimality in 3D. Thus, the Path Coordinator is used to solve this problem, having the capabilities of selecting the optimal edges by the modified Genetic Algorithm and computing the optimal nodes along the optimal edges by the Recursive Compensation Algorithm.

• 드라이브 ㆍ 컨트롤
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• 제21권1호
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• pp.46-52
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• 2024

The advancement of autonomous driving technology has heightened the importance of Autonomous Mobile Robotics (AMR) within smart factories. Notably, in tasks involving the transportation of heavy objects, the consideration of weight in route optimization and path planning has become crucial. There is ongoing research on local path planning, such as Dijkstra, A^*, and RRT^*, focusing on minimizing travel time and distance within smart factory warehouses. Additionally, there are ongoing simultaneous studies on route optimization, including TSP algorithms for various path explorations and on minimizing energy consumption in mobile robotics operations. However, previous studies have often overlooked the weight of the objects being transported, emphasizing only minimal travel time or distance. Therefore, this research proposes route planning that accounts for the maximum payload capacity of mobile robotics and offers load-optimized path planning for multi-destination transportation. Considering the load, a genetic algorithm with the objectives of minimizing both travel time and distance, as well as energy consumption is employed. This approach is expected to enhance the efficiency of mobility within smart factories.

• 한국조명전기설비학회:학술대회논문집
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• 한국조명전기설비학회 2007년도 춘계학술대회 논문집
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• pp.183-186
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• 2007

국, 내외 택배시장은 과거 몇 개의 업체에서 독점했으나 현재는 대기업들과 수많은 중소기업들이 참여하고 있어 경쟁이 심화되고 있다. 우편물의 신속한 배송과 운송비용의 최소화는 매우 중요하며 이를 위하여 운송거리의 최단 거리화가 우선 필요하다. 본 논문은 전국의 주요 도시에 배치된 각 우편집중국을 기하학적으로 가장 짧게 연결하는 교환센터의 최적 위치를 찾는 방법을 제시한다. 배전시스템의 최적화, 전력계통의 routing 등에 이용되고 있는 Steiner tree 이론을 최단거리 우편물 운송망 구축에 적용하였다. Steiner tree로부터 선정된 위치에 교환센터를 설치할 경우, 운송비를 절감하여 경영수지를 개선할 뿐 아니라 신속한 배달을 최우선으로 하는 택배 시장에서 우위를 점할 수 있을 것으로 기대된다. Steiner tree 이론은 최단거리를 연결하는 전력소의 위치선정 등 전력계통에도 활용될 수 있을 것으로 사료된다.

• 인지과학
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• 제15권4호
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• pp.49-59
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• 2004

한국어의 문법적 표지 중의성 해소 과정과, 한국어의 형태론적 정보 처리과정에 관한 길-혼동 의형과 제약-기반 모형의 예측을 비교 검토하기 위해 안구운동 추적 연구를 수행하였다. 최소부착원리에 따라 구문분석될 수 있는 복합 명사구 구조와, 첫 명사에 주격조사 (-가/이), 한정사(-만), 및 주제표지(-는/은)가 부착되는 삽입 관계절 구조를 비교하였다. 실험 결과, 한국어의 표지 중의성이 최소 부착의 원리에 따라 해소됨을 확인할 수 있었고, 주제표지는 재분석 과정에 영향을 끼침을 알 수 있었다. 안구 고정 시간의 양상은 길-혼동 모형과 더 일치했으며, 제약-기반 설명과는 일치하지 않았다. 추후 연구를 위한 제안을 논의하였다.

• 대한안전경영과학회지
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• 제13권3호
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• pp.45-53
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• 2011

The research proposes seven elimination rules of redundant gates and blocks in Fault Tree Analysis (FTA) and Reliability Block Diagram (RBD). The computational complexity of cut sets and path sets is NP-hard. In order to reduce the complexity of Minimal Cut Set (MCS) and Minimal Path Set (MPS), the paper classifies generation algorithms. Moreover, the study develops six implementation steps which reflect structural importance (SI) and reliability importance (RI) from Reliability Centered Maintenance (RCM) that a priority of using the functional logic among components is to reduce (improve) the system unavailability (or availability). The proposed steps include efficient generation of state structure function by Rare Event Enumeration (REA). Effective use of importance measures, such as SI and ill measures, is presented based on the number and the size of MCS and MPS which is generated from the reference[5] of this paper. In addition, numerical examples are presented for practitioners to obtain the comprehensive understanding of six steps that is proposed in this research.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.447-449
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• 2004

We proposed the method of the production of the humanoid biped robot and apply the A* path finding algorithm, for that robot mainly used in game and mobile robot, to avoid obstacles at real time. Actually we made the robot which has 20 DOF, 12 DOF in the two legs, 6 DOF in the two arms and each 1 DOF in the neck and waist, to realize human motions with minimal DOF, And we use the CATIA V5 for 3D modeling design and simulate.