• The Journal of Korea Robotics Society
• /
• v.2 no.4
• /
• pp.327-333
• /
• 2007

We propose a navigation algorithm using image-based visual servoing utilizing a fixed camera. We define the mobile robot navigation problem as an unconstrained optimization problem to minimize the image error between the goal position and the position of a mobile robot. The residual function which is the image error between the position of a mobile robot and the goal position is generally large for this navigation problem. So, this navigation problem can be considered as the nonlinear least squares problem for the large residual case. For large residual, we propose a method to find the second-order term using the secant approximation method. The performance was evaluated using the simulation.

• Journal of Korean Library and Information Science Society
• /
• v.45 no.2
• /
• pp.205-234
• /
• 2014

The purpose of this paper is to investigate the problem of irregular position school librarians in Korea. The backgrounds and momenta of the problem are searched and the major sufferings of irregular position librarians are presented. To identify characteristics and substantial complications of the problem, it's surface and reverse structure are discussed. Through the discussion, solutions for the problem are scrutinized and reflective attitude which the librarian should keep in their mind are proposed.

• Journal of health informatics and statistics
• /
• v.42 no.2
• /
• pp.192-198
• /
• 2017

Objectives: This study was designed to construct and test the structural equation model for the alcohol-related problem of alcohol use disorders. Methods: Data were collected by structured self-questionnaires from 229 male subjects who received > 8 (greater than 8) score on Alcohol Use Disorder Identification Test (AUDIT). The Data were analyzed by SPSS 21.0 and AMOS 21.0. Results: The model fit indices for the modified hypothetical model showed Q = 2.50, GFI = 0.90, and CFI = 0.94. As a result, Life position, parent's drinking problem, and alcohol expectancy had significantly direct effect on alcohol-related problem. Alcohol expectancy also had mediator effect between life position and alcohol-related problem. Conclusions: Consequently, the more positive life position, the less alcohol-related problem occurred. It is necessary to change their life position, which is individual factor, to prevent or reduce the alcohol related problem of alcohol use disorders.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1858-1862
• /
• 2005

Stepping motor normally operates without feedback and may loss the synchronization. This problem can be prevented by using positional feedback. This paper introduces one method for closed loop control of stepping motor and a method for combining full-step control and micro-step control. This combination controlling apparatus can perform position control with high accuracy in a high speed, so that it will not suffer from vibration (or hunting) problem when stopping motor. Controlling apparatus contains a position counter block for detecting rotor position of stepping motor, a driving block for supplying current to windings of stepping motor, a control block for comparing output signal of position counter block with command position (desired position) and outputting current command signal based on deviation between current position and command position of rotor. To output current command signal, the control block refers to a sine wave data table. This table contains value of duty cycle of Pulse Width Modulation signal. As the second object of this paper, the process of building this data table is also presented.

• Journal of Korean Institute of Industrial Engineers
• /
• v.37 no.3
• /
• pp.171-179
• /
• 2011

In this paper, we deal with the vehicle routing problem that could establish operational plan of military engineer for survivability support of artillery position construction. We propose VRPTW(vehicle routing problem with time-window) model of special form that considered service level to reflect the characteristics of military operations rather than the logic of economic efficiencies in the objective function. Furthermore we suggest modified particle swarm optimization algorithm for service based vehicle routing problem solution that can be possible to search in complicated and uncertain area and control relation softly between global and local search.

• Journal of the Korean Society for Precision Engineering
• /
• v.12 no.6
• /
• pp.80-86
• /
• 1995

A method of eliminating the branch problem in driving crank center point plane for 3 position synthesis of 4 bar mechanism is introduced. By studying various transformation characteristics from the circle point plane into the center poi t plane, the curves in the center point plane transformed from the filemon line in circle point plane are analytically obtained, which will seperate the whole center point plane into many sub-areas for the selec- tion of the center point of the driving crank. And a simple method to identify which of the sub-areas will cause the branch problem is also presented. The method will allow the selection of the center point of driving crank without the branch problem.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.17 no.6
• /
• pp.1389-1403
• /
• 1993

A procedure has be developed to optimize the product's tipping position in designing a die face for manufacturing automobile outer panels. Two design requirements are considered in optimizing the tipping position. One is to satisfy that all the points on the product should have a uniform distribution of drawing depths. The other is to guarantee that the user-specified area on the product should first contact with the binder wrap. The problem to satisfy the design requirements described above is analogous to the flatness calculation problem in the area of metrology if some constraints can be imposed. Thus the problem can be solved by the simulated annealing method, which is one of the optimization methods. The developed procedure was tested with the real die face design problem and the usefulness was verified by the diagram of the drawing depth.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.49 no.4
• /
• pp.69-77
• /
• 2012

We propose a PLL-type position control method for step motors. Our control method considerably improves the instability problem at rapid acceleration or deceleration, which is a major problem of conventional open loop control methods. Moreover, our controller reduces the steady state position error to zero and guarantees lower vibration and acoustic noise at high speed. Also, our controller can produce more torque at high speed, and hence it can extend the controllable velocity range. To demonstrate the practical significance of our control method, we present some simulation results for a commercially available step motor using Simulink.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10b
• /
• pp.1-6
• /
• 1992

A principle of "orthogonalization" is proposed as an extended notion of hybrid (force and position) control for robot manipulators under geometric endpoint constraints. The principle realizes the hybrid control in a strict sense by letting position and velocity feedback signals be orthogonal in joint space to the contact force vector whose components are exerted at corresponding joints. This orthogonalization is executed via a projection matrix computed in real-time from a gradient of the equation of the surface in joint coordinates and hence both projected position and velocity feedback signals become perpendicular to the force vector that is normal to the surface at the contact point in joint space. To show the important role of the principle in control of robot manipulators, three basic problems are analyzed, the first is a hybrid trajectory tracking problem by means of a "modified hybrid computed torque method", the second is a model-based adaptive control problem for robot manipulators under geometric endpoint constraints, and the third is an iterative learning control problem. It is shown that the passivity of residual error dynamics of robots follows from the orthogonalization principle and it plays a crucial role in convergence properties of both positional and force error signals.force error signals.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.20 no.2
• /
• pp.139-144
• /
• 2011

This paper presents a boundary element application to determine the optimal impressed current densities at defect position on the pipe line. In this protection paint, enough current must be impressed to lower the potential distribution on the metal surface to the critical values. The optimal impressed current densities are determined in order to minimize the power supply for protection. This inverse problem was formulated by employing the boundary element method. Since the system of linear equations obtained was ill-conditioned, including singular value decomposition, conjugate gradient method were applied and the accuracies of these estimation. Several numerical examples are presented to demonstrate the practical applicability of the proposed method.