• Journal of Institute of Control, Robotics and Systems
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• v.18 no.9
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• pp.845-853
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• 2012

We propose time-optimal cornering motion trajectory planning and control algorithms for differential wheeled mobile robot with motor actuating voltage constraint, under piecewise constant control input condition. For time-optimal cornering trajectory generation, 1) we considered mobile robot's dynamics including actuator motors, 2) divided the cornering trajectory into one liner section, followed by two cornering section with angular acceleration and deceleration, and finally one liner section, and 3) formulated an efficient trajectory generation algorithm satisfying the bang-bang control principle. Also we proposed an efficient trajectory control algorithm and implemented with an X-bot to prove the performance.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.370-375
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• 1992

An algorithm for the notion planning of the robotic hand is proposed to generate finite displacements and changes in orientation of objects by considering sliding effects between the fingertips and the object at contact points. Specifically, an optimization problem is firstly solved to find minimum contact forces and minimum joint velocities to impart a desired motion to the object at each time step. Then the instantaneous relative velocity at the contact point is found by determining velocities of the fingertip and the velocity of the object at the contact point. Finally time derivatives of the surface variables and contact angle of the fingertip and the object at the present time step is computed using the Montana's contact equation to find the contact parameters of the fingertip and the object at the next time step. To show the validity of the proposed algorithm, a numerical example is illustrated by employing the robotic hand manipulating a sphere with three fingers each of which has four joints.

• Nuclear Engineering and Technology
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• v.55 no.11
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• pp.4077-4082
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• 2023

Large areas must be rapidly screened to monitor radiation in marine environments. For this purpose, this study developed a mobile real-time gamma-ray measurement system for shipboard use and evaluated its performance. The system was developed to measure engine or generator cooling water by installing a canister inside the ship. The minimum detectable activity of the system is about 0.8 Bq/L for a 60 s measurement period, and real-time data transmission and remote control are possible. The system was tested in the field and is currently being installed and operated on ships in service. Such a ship-based real-time gamma-radiation measurement system is suitable for a wide range of marine radiation surveillance applications and is expected to be rapidly deployed.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.26 no.12A
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• pp.1978-1982
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• 2001

In a Multi-carrier modulation system, CP (Cyclic prefix) is inserted in the transmit tame in order to eliminate the ISI (Intersymbol Interference) and ICI (Interchannel Interference) caused by delay spread of a received signal, which in rum degrades the throughput of the system. TEQ (Time-domain equalizer) improves the system throughput by shortening the CIR (Channel Impulse Response) time and maintaining the CP length to the minimum regardless of the channel condition. In this paper, a new MMSE (Minimum Mean Square Error) TEQ algorithm is proposed and its performance is analyzed in order to speed up computing the optimum tap coefficients of the equalizer by employing Newton method.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.990-995
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• 1990

A minimum-time trajectory planning for two robot arms with designated paths and coordination is proposed. The problem considered in this paper is a subproblem of hierarchically decomposed trajectory planning approach for multiple robots : i) path planning, ii) coordination planning, iii) velocity planning. In coordination planning stage, coordination space, a specific form of configuration space, is constructed to determine collision region and collision-free region, and a collision-free coordination curve (CFCC) passing collision-free region is selected. In velocity planning stage, normal dynamic equations of the robots, described by joint angles, velocities and accelerations, are converted into simpler forms which are described by traveling distance along collision-free coordination curve. By utilizing maximum allowable torques and joint velocity limits, admissible range of velocity and acceleration along CFCC is derived, and a minimum-time velocity planning is calculated in phase plane. Also the planning algorithm itself is converted to simple numerical iterative calculation form based on the concept of neural optimization network, which gives a feasible approximate solution to this planning problem. To show the usefulness of proposed method, an example of trajectory planning for 2 SCARA type robots in common workspace is illustrated.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.2 s.257
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• pp.160-165
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• 2007

To predict long-term creep life from short-term creep life data, various parametric methods such as Larson-Mille. (L-M), Orr-Sherby-Dorn (O-S-D), Manson-Haferd (M-H) parameters, and a Minimum Commitment Method (MCM) were suggested. A number of the creep data were collected through literature surveys and experimental data produced in KAERI. The polynomial equations for type 316LN SS were obtained by the time-temperature parameters (TTP) and the MCM. Standard error (SE) and standard error of mean (SEM) values were obtained and compared with the each method for various temperatures. The TTP methods showed good creep-life prediction, but the MCM was much superior to the TTP ones at $700^{\circ}C$ and $750^{\circ}C$. It was found that the MCM were lower in the SE values when compared to the TTP methods.

• Fire Science and Engineering
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• v.25 no.2
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• pp.23-32
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• 2011

When the power outage occurred, the emergency power equipments are demanded instead of disaster prevention and security electric power. However, in domestic area, the rules and regulations of emergency power equipment are different so we use different terminologies. Thus, this paper proposes differences of rules and regulations of emergency power equipment between domestic and foreign countries about terms and concepts. Also, we found some problems of the emergency power equipment. To solve these problems, according to the minimum response time in IEC standards, we suggest five emergency power systems and fire load classification in this paper.

• Journal of Astronomy and Space Sciences
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• v.36 no.2
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• pp.97-103
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• 2019

An automated signal-acquisition method for the NASA's space geodesy satellite laser ranging (SGSLR) system is described as a selection of two system parameters with specified probabilities. These parameters are the correlation parameter: the minimum received pulse number for a signal-acquisition and the frame time: the minimum time for the correlation parameter. The probabilities specified are the signal-detection and false-acquisition probabilities to distinguish signals from background noise. The steps of parameter selection are finding the minimum set of values by fitting a curve and performing a graph-domain approximation. However, this selection method is inefficient, not only because of repetition of the entire process if any performance values change, such as the signal and noise count rate, but also because this method is dependent upon system specifications and environmental conditions. Moreover, computation is complicated and graph-domain approximation can introduce inaccuracy. In this study, a new method is proposed to select the parameters via a conditional equation derived from characteristics of the signal-detection and false-acquisition probabilities. The results show that this method yields better efficiency and robustness against changing performance values with simplicity and accuracy and can be easily applied to other satellite laser ranging (SLR) systems.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.21 no.4
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• pp.177-182
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• 2021

Generally, the linear programming (LP) with O(n⁴) time complexity is applied to mixture optimization problem that can be produce the given ingredients grade product with minimum cost from mixture of various raw materials. This paper suggests heuristic algorithm with O(n log n) time complexity to obtain the solution of this problem. The proposed algorithm meets the content range of the components required by the alloy steel plate while obtaining the minimum raw material cost, decides the quantity of raw material that is satisfied with ingredients grade for ascending order of unit cost. Although the proposed algorithm applies simple decision technique with O(n log n) time complexity, it can be obtains same solution as or more than optimization technique of linear programing.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.45 no.3
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• pp.18-30
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• 2022

Predicting remaining useful life (RUL) becomes significant to implement prognostics and health management of industrial systems. The relevant studies have contributed to creating RUL prediction models and validating their acceptable performance; however, they are confined to drive reasonable preventive maintenance strategies derived from and connected with such predictive models. This paper proposes a data-driven preventive maintenance method that predicts RUL of industrial systems and determines the optimal replacement time intervals to lead to cost minimization in preventive maintenance. The proposed method comprises: (1) generating RUL prediction models through learning historical process data by using machine learning techniques including random forest and extreme gradient boosting, and (2) applying the system failure time derived from the RUL prediction models to the Weibull distribution-based minimum-repair block replacement model for finding the cost-optimal block replacement time. The paper includes a case study to demonstrate the feasibility of the proposed method using an open dataset, wherein sensor data are generated and recorded from turbofan engine systems.