• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.6
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• pp.749-754
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• 2009

Two gait generation methods using GP(genetic programming) and CPG(Central Pattern Generator) are compared to develop a fast locomotion for quadruped robot. GP based technique is an effective way to generate few joint trajectories instead of the locus of paw positions and lots of stance parameters. The CPGs are neural circuits that generate oscillatory output from a input coming from the brain. Optimization for two proposed methods are executed and analysed using Webots simulation for the quadruped robot which is built by Bioloid. Furthermore, simulation results for two proposed methods are experimented in real quadruped robot and performances and motion features of GP and CPG based methods are investigated.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.8
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• pp.3698-3703
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• 2012

The architectural design process is consisted of the phase of programming and the phase of the design. The contemporary architectural scheme, as a datascape, a rhizome structure and a diagram, is based on the concept of modern physics. And it is applied on the phase of design by synthesizing data. Like this, the design of the architectural field is accomplished in the phase of design. For design of the architectural field, the characteristics of the architectural field is considered as the viewpoint of design in the procedure. First, according to the area which is defined by relations of environments, around architectures and so on, the net system of relations is designed as area. Second, design the linkage between building and space, building and building, space and space, according to the correspondence each other. Third, design the method or form of connecting building and space to one as a building and a space are no longer divided but are understood by one. As a result, for the design of architectural field, it is necessary to define the criteria by the characteristics of architectural field and the architectural field is designed by process.

• Journal of applied mathematics & informatics
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• v.12 no.1_2
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• pp.211-218
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• 2003

Let H be a Hilbert space, X be a real Banach space, A : H \longrightarrow X be an operator with D(A) dense in H, G： H \longrightarrow H be positive definite, $\chi$ $\in$ D(A) and b $\in$ H. Consider the quadratic programming problem: QP： Minimize $\frac{1}{2}$〈p, $\chi$〉 + 〈$\chi$, G$\chi$〉 subject to A$\chi$= b In this paper, we obtain an explicit solution to the above problem using generalized inverses.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.377-382
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• 2005

This paper presents a new method for the attitude control of planar space robots. In order to control highly constrained non-linear system such as a 3D space robot, the analytical formulation for the system with complex dynamics and effective control methodology based on the formulation, are not always obtainable. In the proposed method, correspondingly, a non-analytical but effective self-organizing modeling method for controlling a highly constrained system is proposed based on a polynomial data mining algorithm. In order to control the attitude of a planar space robot, it is well known to require inputs characterized by a special pattern in time series with a non-deterministic length. In order to correspond to this type of control paradigm, we adopt the Model Predictive Control (MPC) scheme where the length of the non-deterministic horizon is determined based on implementation cost and control performance. The optimal solution to finding the size of the input pattern is found by a solving two-stage programming problem.

• KIPS Transactions on Software and Data Engineering
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• v.5 no.2
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• pp.107-116
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• 2016

Industrial robots have been usually controlled using text-based programming languages provided by each manufacturer with its button-based TP(Teaching Pendent) terminal. Unfortunately, when we consider that people who manipulate TPs in manufacturing sites are mostly unskilled with no background knowledge about computer programming, these text-based programming languages using button-based interaction on manufacturing sites are too difficult for them to learn and use. In order to overcome the weaknesses of the text-based programming language, we propose a visual programming language that can be easily used on gesture-enabled devices. Especially, in our visual programming environment, each command is represented as a block and robots are controlled by stacking those blocks using drag-and-drop gestures, which is easily learnable even by beginners. In this paper, we utilize a widely-spread device, Tablet PC as the gesture-enabled TP. Considering that Tablet PC has limited display space in contrast to PC environments, we designed different kinds of sets of command blocks and conducted user tests. Based on the experiment results, we propose an effective set of command blocks for Tablet PC environment.

• Journal of Navigation and Port Research
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• v.45 no.6
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• pp.314-324
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• 2021

Competition between ports around the world is intensifying to attract transshipment cargo. However, recently, there have been concerns about the departure of transshipment cargo volume at Busan Port, such as the lifting of the cabotage policy in China's shipping sector and the implementation of a safe fare system. In terms of operation, terminal congestion and vehicle waiting time are seriously occurring due to imbalance in the transshipment volume of each terminal and vehicles concentrated in a specific time period. In this paper, we propose a method of inter-terminal transportation (ITT) using buffer space to solve the problem caused by inefficient ITT systems and presented a mixed integer programming (MIP) for the problem. The effect of using the buffer space was analyzed for various work volumes and capacity fluctuation ranges by applying the terminal congestion pattern and ITT vehicle in/out pattern based on the Busan New Port data.

• Korean Institute of Interior Design Journal
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• v.15 no.4 s.57
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• pp.97-105
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• 2006

Richard Meier has earned his recognition by developing his unique design approach and keeping consistency in design concept in museum architecture over the years of his practice. The purpose of this study is finding common characteristics of the exhibition space spatial organization based on actual site visit analysis. This study will mainly focus on the museums Richard Meier designed between 1979, which is the year he started, until 1997 which is the year Getty Museum opened. For the purpose of this study, Museum of Applied Art, Frankfurt(1979-85), High Museum of Art, Atlanta(1980-83), Museum of Contemporary Art, Barcelona(1987-95), and The J.Paul Getty Museum(1984-1997) have been selected for analysis. This study will reveal fundamental characteristics of Richard Meier's architectural philosophy through his early residential projects and give background information of the 'white architecture' Close analysis will continue by reviewing four museums selected specifically for this study and focus more from the point of issues such as; 1)applying various axis in space programming, 2)symbolic significance of exhibition space, 3)hierarchy of each space, 4)design elements and characteristics of the exhibition space. Furthermore, quantitative research on exhibition space organization will be done by Space Syntax theory method. The result of the study will be a significant data in designing a modern museum.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.6C
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• pp.848-856
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• 2004

In this paper, a fast stereo matching algorithm based on pixel-wise matching strategy, which can get a stable and accurate disparity map, is proposed. Since a stereo image pair has small differences each other and the differences between left and right images are just caused by horizontal shifts with some order, the matching using a large window will not be needed within a given search range. However, disparity results of conventional pixel-based matching methods are somewhat unstable and wrinkled, the principal direction of disparities is checked by the accumulated cost along a path on array with the dynamic programming method. Experimental results showed that the proposed method could remove almost all disparity noise and set a good quality disparity map in very short time.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.10
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• pp.60-66
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• 2004

Redundant thrusters are generally adopted to satellite designs for a highly reliable attitude control system. So efficient redundancy management is required to take advantage of these redundant thrusters. In this paper, control allocation method is proposed as a method for controlling redundant thrusters. Control allocation is a method to calculate optimal distribution on redundant controls for realizing desired forces/torques. It is shown that a control allocation problem for redundant thrusters is formulated as a linear programming problem which minimizes fuel consumptions with thrusters, constraints. We also show that the proposed method is more efficient than an existing method by numerical examples.

• International Journal of Aeronautical and Space Sciences
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• v.10 no.1
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• pp.67-74
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• 2009

In general, the lunar landing stage can be divided into two distinct phases: de-orbit and descent, and the descent phase usually comprises two sub-phases: braking and approach. And many optimization problems of minimal energy are usually focused on descent phases. In these approaches, the energy of de-orbit burning is not considered. Therefore, a possible low perilune altitude can be chosen to save fuel for the descent phase. Perilune altitude is typically specified between 10 and 15km because of the mountainous lunar terrain and possible guidance errors. However, it requires more de-orbit burning energy for the lower perilune altitude. Therefore, in this paper, the perilune altitude of the intermediate orbit is also considered with optimal thrust programming for minimal energy. Furthermore, the perilune altitude and optimal thrust programming can be expressed by a function of the radius of a parking orbit by using continuation method and co-state estimator.