• International Journal of Control, Automation, and Systems
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• 제4권1호
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• pp.10-16
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• 2006

In this paper, moving a fragile object from an initial point to a specific location in the minimum time without damage is studied. In order to achieve this goal, initially, the maximum acceleration and velocity ranges are specified. These ranges can be dynamically generate on the planned path by the manipulator. The path can be altered by considering the geometrical constraints. Later, considering the impulsive force constraint on the object, the range of maximum acceleration and velocity are obtained to preserve object safety while the manipulator is carrying it along the curved path. Finally, a time-optimal trajectory is planned within the maximum allowable range of acceleration and velocity. This time-optimal trajectory planning can be applied to real applications and is suitable for both continuous and discrete paths.

• 한국전자거래학회지
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• 제6권3호
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• pp.163-180
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• 2001

New information technology contributes to raising of business productivity in many construction companies. The application of construction integrated management system is expected to save the time of decision-making in business management and shorten the closing account schedule. Construction Integrated Management System based on ERP(Enterprise Resource Planning) system allows to control core business procedure by monitoring technique on real-time. In this paper, we achieves 10％ raise up business productivity in site business area, and 30％ raise up business productivity in head of nce business area by means of DW-CIMS (Daewoo Construction Integrated Management System)

• 한국전자거래학회:학술대회논문집
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• 한국전자거래학회 2001년도 International Conference CALS/EC KOREA
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• pp.127-140
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• 2001

New Information Technology Contributes to raising of Business Productivity in many Construction Companies. The Application of Construction Integrated Management System is Expected to Save the time of decision-making in Business Management and shorten the Closing Account Schedule. Construction Integrated Management System Based on ERP(Enterprise Resource Planning) System allows to Control core Business Procedure by Monitoring Technique on Real-time. In This Paper, We achieves 10% Raise up Business Productivity in Site Business Area, and 30% Raise up Business Productivity in Head Office Business Area by means of DW-CIMS (DAEWOO Construction Integrated Management System)

• 제어로봇시스템학회논문지
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• 제6권5호
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• pp.404-414
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• 2000

This paper addresses the development of a 3-fingered humanoid robot hand system and a real-time grasp synthesis of multifingered robot hands to find grasp configurations which satisfy the force closure condition of arbitrary shaped objects. We propose a fast and efficient grasp synthesis algorithm for planar polygonal objects, which yields the contact locations on a given polygonal object to obtain a force closure grasp by the multifingered robot hand. For an optimum grasp and real-time computation, we develop the preference and the hibernation process and assign physical constraints of the humanoid hand to the motion of each finger. The preferences consist of each sublayer reflecting the primitive preference similar to the conditional behaviors of humans for given objectives and their arrangements are adjusted by the heuristics inspired from human's grasping behaviors. The proposed method reduces the computational time significantly at the sacrifice of global optimality, and enables the grasp posture to be changable within two-finger and three-finger grasps. The performance of the presented algorithm is evaluated via simulation studies to obtain the force-closure grasps of polygonal objects with fingertip grasps. The architecture suggested is verified through experimental implementation to our robot hand system by solving the 2- or 3-finger grasp synthesis.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권1호
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• pp.33-40
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• 2000

In this paper, an integrated method for the path planning and motion control of wheeled mobile robots using a hybrid system model and control is presented. The hybrid model including the continuous dynamics and discrete dynamics with the continuous and discrete state vector is derived for a two wheel driven mobile robot. The architecture of the hybrid control system for real time path planning and following is designed which has the 3-layered hierarchical structure : the discrete event system using the digital automata as the higher process, the continuous state system for the wheel velocity controls as the lower process, and the interface system as the interaction process between the continuous system as the low level and the discrete event system as the high level. The reference motion commands for autonomous navigation are generated by the abstracted motion in the discrete event system. The motion control tasks including the feasible path planning and autonomous motion control with various initial conditions are investigated as the applications by the simulation studies.

• 전기학회논문지P
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• 제55권2호
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• pp.103-109
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• 2006

In this paper, the detection scheme of the spatial coordinates based on stereo camera for a intelligent path planning of an automatic mobile robot is proposed. In the proposed system, face area of a moving person is detected from a left image among the stereo image pairs by using the YCbCr color model and its center coordinates are computed by using the centroid method and then using these data, the stereo camera embedded on the mobile robot can be controlled for tracking the moving target in real-time. Moreover, using the disparity mad obtained from the left and right images captured by the tracking-controlled stereo camera system and the perspective transformation between a 3-D scene. and an image plane, depth information can be detected. Finally, based-on the analysis of these calculated coordinates, a mobile robot system is derived as a intelligent path planning and a estimation.

• 농촌계획
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• 제20권2호
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• pp.1-10
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• 2014

Smartphones change the picture of data and information sharing and make it possible to share various real-time flooding data and information. The vulnerability indicators of farmland inundation is needed to calculate the risk of farmland flood based on changeable hydro-meteorological data over time with morphologic characteristics of flood-damaged areas. To find related variables show the vulnerability of farmland inundation using the binary-logit model and correlation analysis and to provide vulnerability indicators were estimated by fuzzy set method. The outputs of vulnerability indicators were compared with the results of Monte Carlo simulation (MCS) for verification. From the result vulnerability indicators are applicable to mobile_based information system of farmland inundation.

• 전기학회논문지
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• 제59권3호
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• pp.485-491
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• 2010

Total Transfer Capability (TTC) should be pre-determined in order to estimate Available Transfer Capability (ATC). Typically, TTC is determined by considering three categories; voltage, stability and thermal limits. Among these, thermal limits are treated mainly in this paper on the evaluation of TTC due to the relatively short transmission line length of Korea Electric Power Corporation (KEPCO) system. This paper presents a new approach to evaluate the TTC using the Dynamic Line Rating (DLR) for the thermal limit. Since the approach includes not only traditional electrical constraints but also real-time environmental constraints, this paper obtains more cost-effective and exact results. A case study using KEPCO system confirms that the proposed method is useful for real-time operation and the planning of the electricity market.

• 제어로봇시스템학회논문지
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• 제13권11호
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• pp.1082-1091
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• 2007

In this paper, we developed a new hybrid mobile robot which can climb stairs and go over thresholds by crawl gait with embedded real-time control software. This robot is also categorized into hybrid robot that has advantages of wheeled mobile robot and legged mobile robot, but adopts gait feature of crocodile named belly crawl. We imitated the belly crawl using four legs of 2 DOF, four omni-directional wheels, and embedded control software which controls legs and wheels. This software is developed using RTAI/Linux, real-time drivers. As a result, the new hybrid mobile robot has crawl gait. Using this feature, the new hybrid mobile robot can climb stairs and go over thresholds just by path planning of each leg with size of stairs and thresholds, and computing the movement distance of robot body center without considering stability. The performance of our new hybrid mobile robot is verified via experiments.

• 산업경영시스템학회지
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• 제13권22호
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• pp.87-98
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• 1990

The performance analysis and capacity planning of Service Control Point which is real time response system is studied. The system is modeled by multiclass open queueing network. The analytical method is used to solve the queueing network. The solution of the model has product form solution. The focus of this paper is to investigate the capacity of system under the restriction of response time. To get the reasonable capacities, nonlinear programming problem is formulated and is solved by GINO. And the simulation model using SLAM II is formulated.