• 한국정보통신학회논문지
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• 제22권4호
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• pp.602-610
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• 2018

모델예측제어는 기준 궤적이 알려져 있을 경우 제어시스템의 예측모델을 이용하여 현재 제어상태 및 미래오차 등을 예측하여 현재 제어입력을 최적화시킬 수 있는 효과적인 방법이다. 모바일로봇의 제어입력이 물리적으로 무한히 큰 값을 가질 수 없으므로 제한조건을 갖는 예측제어기 설계가 고려되어야 한다. 또한 예측제어기의 제어성능을 결정하는 기준모델행렬 $A_r$과 가중치행렬 Q, R들이 임의로 설정됨에 따라 성능이 최적화되지 못한 부분도 설계에 고려되어야 한다. 본 연구에서는 제한조건을 갖는 quadratic programming 문제로 변형하여 모바일로봇의 예측제어기를 구성하고, 모바일 로봇의 제어성능을 결정하는 예측제어기의 제어파라미터인 기준모델행렬 $A_r$과 가중치행렬 Q, R에 대하여 유전알고리즘을 적용하여 제어파라미터들을 최적화함으로써 제어성능을 높일 수 있었다. 컴퓨터 모의실험을 통하여 본 연구에서 제안한 제어방법이 기존의 예측제어기의 추종성능보다 뛰어남을 확인하고자한다.

• 한국컴퓨터정보학회논문지
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• 제8권4호
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• pp.132-137
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• 2003

인터넷 기술과 웹 기반 응용 프로그램의 발전으로 광역 분산처리에 대한 요구가 기하급수적으로 증대되고 있다. 이러한 광역 분산처리 환경의 요구사항에 적용할 수 있는 모델로 모바일 에이전트를 들 수 있다. 그러나 현재의 모바일 에이전트 모델은 여러 가지 기술적 제약점들을 가지고 있다. 모바일 에이전트가 광역 분산 처리 환경에서 사용되기 위하여 필요한. 모바일 에이전트 시스템의 구조와 사용되는 프로그래밍 패러다임과 사용 기술 등에 있어서의 문제점들을 분석하였다.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• 제21권3호
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• pp.181-202
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• 2017

In this paper, we develop a mobile platform for pricing equity linked securities(ELS) using Monte Carlo simulation. Mobile phone or smartphone is an important part of most people's lives and has become an everyday item at the present day. Moreover, importance of technologies for anytime and anywhere is increasing daily. Thus, we construct a mobile computing environment for pricing ELS instead of desktops or laptop computers. We provide a detailed Java programming code and a process manual to easily follow up all processes of this paper.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2006년도 Proceedings of ISRS 2006 PORSEC Volume I
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• pp.417-420
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• 2006

In these days, mobile application dealing with information contents on mobile or handheld devices such as mobile communicator, PDA or WAP device face the most important industrial needs. The motivation of this study is the design and implementation of mobile application using high resolution satellite imagery, large-sized image data set. Although major advantages of mobile devices are portability and mobility to users, limited system resources such as small-sized memory, slow CPU, low power and small screen size are the main obstacles to developers who should handle a large volume of geo-based 3D model. Related to this, the previous works have been concentrated on GIS-based location awareness services on mobile; however, the mobile 3D terrain model, which aims at this study, with the source data of DEM (Digital Elevation Model) and high resolution satellite imagery is not considered yet, in the other mobile systems. The main functions of 3D graphic processing or pixel pipeline in this prototype are implemented with OpenGL|ES (Embedded System) standard API (Application Programming Interface) released by Khronos group. In the developing stage, experiments to investigate optimal operation environment and good performance are carried out: TIN-based vertex generation with regular elevation data, image tiling, and image-vertex texturing, text processing of Unicode type and ASCII type.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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• pp.667-672
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• 2000

This article presents a new acceleration/deceleration method for real-time control of autonomous mobile robots. In this method, a function which produces the table of acceleration/deceleration in real-time is proposed. This function, while satisfying the basic concept of mechanics, can choose both various ranges of velocity and distance ranges for the selected velocities. Moreover it can control motors with real time. This function is convenient to be realized by programming. and it is faster than other functions because it can be made by assembly language.

• Journal of Communications and Networks
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• 제8권1호
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• pp.85-92
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• 2006

In this paper, we study a wireless cellular network design problem. It consists of selecting the location of the base station controllers and mobile service switching centres, selecting their types, designing the network into a tree-topology, and selecting the link types, while considering the location and the demand of base transceiver stations. We propose a constraint programming model and develop a heuristic combining local search and constraint programming techniques to find very good solutions in a reasonable amount of time for this category of problem. Numerical results show that our approach, on average, improves the results from the literature.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.551-553
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• 2006

An autonomous navigation technology for the mobile robot is investigated in this paper. The proposed robot path planning algorithm employs the dynamic programming to find the optimal path. The algorithm finds the global optimal path through the local computation on the environmental map. Since the robot computes the new path at every point, it can avoid the obstacle successfully during the navigation. The experimental results of the robot navigation are included in this paper.

• 한국환경과학회지
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• 제5권2호
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• pp.229-241
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• 1996

This study was performed to find the most desirable emission reduction for each mobile source pollutant and the optimal control strategy at a given level of expenditures in Pusan City in 2000 by using the interactive s-constraint method developed by Chang-Hyo Lee and Hyung-Wook Kim, which isone of the mathematical programming models. The most desirable emission reduction is 7093 ton/year for particulate (TSP), 4871 ton/year for NOx, 5148 ton/year for HC and 36779 ton/year for CO. The optimal control strategy is as follows; 1. As to passenger car and taxi, limiting VKT (vehicle kilometers travelled) in congested areas will be necessary. In addition to this, improving vehicie inspection Program should be enforced. 2. As to small-gasoline bus, traffic adaptive control system will be necessary. 3. As to small-diesel bus, non-adjustable engine parameters will have to be applied. .4. As to heal bus and heart truck, catalytic trap oxidizer and limiting VKT in congested areas will do necessary. 5. As to motorcycle, 2-cycle motorcycles should be converted to 4-cycle motorcycles.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 하계종합학술대회 논문집
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• pp.452-455
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• 1999

We introduce an evolutionary approach to on-line learning for mobile robot control using reconfigurable hardware. We use genetic programming as an evolutionary engine. Control programs are encoded in tree structure. Genetic operators, such as node mutation, adapt the program trees based on a set of training cases. This paper discusses the advantages and constraints of the evolvable hardware approach to robot learning and describes a FPGA implementation of the presented genetic programming method.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제5권4호
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• pp.333-338
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• 2005

This paper presents the target object search algorithm under Dynamic Programming (DP) in the Tree-type maze. We organized an experimental environment with the concatenation of Y-shape diverged way, small mobile robot, and a target object. By the principle of optimality, the backbone of DP, an agent recognizes that a given whole problem can be solved whether the values of the best solution of certain ancillary problem can be determined according to the principle of optimality. In experiment, we used two different control algorithms: a left-handed method and DP. Finally we verified the efficiency of DP in the practical application using our real robot.