• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.293-298
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• 1993

In this paper, methods for computing the time-optimal motion of a robotic manipulator are presented that considers the nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacles. The optimization problem can be reduced to a search for the time-optimal path in the n-dimensional position space. These paths are further optimized with a local path optimization to yield a global optimal solution. Time-optimal motion of a robot with an articulated arm is presented as an example.

• Proceedings of the Korea Information Processing Society Conference
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• 2014.04a
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• pp.190-191
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• 2014

Out-of-Order Packet ($O^3P$) problem is an issue that significantly impacts to the QoS of service and network. Route optimization (RO) in PMIPv6 is proposed by P.Loureiro and M. Liebsch to reduce the load of LMAs and transmission delay. In RO scheme, at the time the optimal path is established, there exist two paths: optimal path and old path as non-optimal path for transmitting data between MN1 and MN2 that is the cause of $O^3P$ occurring. This paper proposes a scheme to prevent $O^3P$ problem by using packet buffering technique and a new mobility message, named End Traffic Marker (ETM) to mark the end of packet delivery through the old path.

• Journal of the Korea Society of Computer and Information
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• v.20 no.9
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• pp.81-86
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• 2015

This paper suggests heuristic algorithm with linear time complexity to decide the normal and optimal point at minimum loss/maximum profit maximum shortest scheduling problem with additional loss cost and bonus profit cost. This algorithm computes only the earliest ending time for each node. Therefore, this algorithm can be get the critical path and project duration within O(n) time complexity and reduces the five steps of critical path method to one step. The proposed algorithm can be show the result more visually than linear programming and critical path method. For real experimental data, the proposed algorithm obtains the same solution as linear programming more quickly.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.9
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• pp.1216-1223
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• 2018

As field of application of AMI, AMR uses the power line as the primary means of communication. PLC has a big merit without installation of the new network for communication in a field using the power line which is the existing equipment. However, there is a serious obstacle in commercialization for the instability by noise and communication environment. Therefore, the technical method for maintaining the communication state which overcome such demerit and was stabilized is required essentially. PLC routing technology is applied with the alternative plan now. The routing technology currently managed by field includes many problems by applying the algorithm of an elementary level. PLC routing path search problem can be modeled with the problem of searching for optimal solution as similar to such as optimal routing problem and TSP(Travelling salesman problem). In this paper, in order to search for a PLC routing path efficiently and to choose the optimal path, GA(Genetic Algorithm) was applied. Although PLC was similar in optimal solution search as compared with typical GA, it also has a difference point by the characteristic of communication, and presented the new methodology over this. Moreover, the validity of application technology was verified by showing the experimental result to which GA is applied and analyzing as compared with the existing algorithm.

• Management Science and Financial Engineering
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• v.10 no.1
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• pp.53-75
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• 2004

Most existing studies on time-dependent networks have been focused on finding a minimum delay path given a departure time at the origin. There, however, frequently happens a situation where users can select any departure time in a certain time interval and want to spend as little time as possible on traveling the networks. In that case. the delay spent on traveling networks depends on not only paths but also the actual departure time at the origin. In this paper, we propose a new problem in time-dependent networks whose objective is to find an optimal departure time given possible departure time interval at the origin. From the optimal departure time, we can obtain a path with minimum delay among all paths for possible departure times at the origin. In addition, we present an algorithm for finding an optimal departure time by enumerating trees which remain shortest path tree for a certain time interval.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.9
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• pp.1364-1371
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• 1990

We propose a time-optimal path planning scheme for the robot manipulator using Hopfield neural network. The time-optimal path planning, which can allow the robot system to perform the demanded tasks with a minimum execution time, may be of consequence to improve the productivity. But most of the methods proposed till now suffers from a significant computational burden and thus limits the on-line application. One way to avoid such a difficulty is to apply the neural networke technique, which can allow the parallel computation, to the minimum time problem. This paper proposes an approach for solving the time-optimal path planning by using Hopfield neural network. The effectiveness of the proposed method is demonstrarted using a PUMA 560 manipulator.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.385-386
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• 2009

• Journal of applied mathematics & informatics
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• v.17 no.1_2_3
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• pp.1-23
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• 2005

The shortest-paths problem is a fundamental problem in graph theory and finds diverse applications in various fields. This is why shortest path algorithms have been designed more thoroughly than any other algorithm in graph theory. A large number of optimization problems are mathematically equivalent to the problem of finding shortest paths in a graph. The shortest-path between a pair of vertices is defined as the path with shortest length between the pair of vertices. The shortest path from one vertex to another often gives the best way to route a message between the vertices. This paper presents an $O(n^2)$ time sequential algorithm and an $O(n^2/p+logn)$ time parallel algorithm on EREW PRAM model for solving all pairs shortest paths problem on circular-arc graphs, where p and n represent respectively the number of processors and the number of vertices of the circular-arc graph.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.9
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• pp.802-809
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• 2005

A hybrid genetic algorithm is proposed for the problem of generating laser torch paths to cut a stock plate nested with free-formed parts each having a set of sub-parts. In the problem, the total unproductive travel distance of the torch is minimized. The problem is shown to be formulated as a special case of the standard travelling salesman problem. The hybrid genetic algorithm for solving the problem is hierarchically structured: First, it uses a genetic algorithm to find the cutting path f3r the parts and then, based on the obtained cutting path, sequence of sub-parts and their piercing locations are optimally determined by using a combined genetic and heuristic algorithms. This process is repeated until any progress in the total unproductive travel distance is not achieved. Computational results are provided to illustrate the validity of the proposed algorithm.

• ETRI Journal
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• v.31 no.5
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• pp.534-544
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• 2009

Finding link-disjoint or node-disjoint paths under multiple constraints is an effective way to improve network QoS ability, reliability, and so on. However, existing algorithms for such scheme cannot ensure a feasible solution for arbitrary networks. We propose design principles of an algorithm to fill this gap, which we arrive at by analyzing the properties of optimal solutions for the multi-constrained link-disjoint path pair problem. Based on this, we propose the link-disjoint optimal multi-constrained paths algorithm (LIDOMPA), to find the shortest link-disjoint path pair for any network. Three concepts, namely, the candidate optimal solution, the contractive constraint vector, and structure-aware non-dominance, are introduced to reduce its search space without loss of exactness. Extensive simulations show that LIDOMPA outperforms existing schemes and achieves acceptable complexity. Moreover, LIDOMPA is extended to the node-disjoint optimal multi-constrained paths algorithm (NODOMPA) for the multi-constrained node-disjoint path pair problem.