• Title/Summary/Keyword: Work path

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A Motivation-Based Action-Selection-Mechanism Involving Reinforcement Learning

  • Lee, Sang-Hoon;Suh, Il-Hong;Kwon, Woo-Young
    • International Journal of Control, Automation, and Systems
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    • v.6 no.6
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    • pp.904-914
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    • 2008
  • An action-selection-mechanism(ASM) has been proposed to work as a fully connected finite state machine to deal with sequential behaviors as well as to allow a state in the task program to migrate to any state in the task, in which a primitive node in association with a state and its transitional conditions can be easily inserted/deleted. Also, such a primitive node can be learned by a shortest path-finding-based reinforcement learning technique. Specifically, we define a behavioral motivation as having state-dependent value as a primitive node for action selection, and then sequentially construct a network of behavioral motivations in such a way that the value of a parent node is allowed to flow into a child node by a releasing mechanism. A vertical path in a network represents a behavioral sequence. Here, such a tree for our proposed ASM can be newly generated and/or updated whenever a new behavior sequence is learned. To show the validity of our proposed ASM, experimental results of a mobile robot performing the task of pushing- a- box-in to- a-goal(PBIG) will be illustrated.

Path Planning of Swarm Mobile Robots Using Firefly Algorithm (Firefly Algorithm을 이용한 군집 이동 로봇의 경로 계획)

  • Kim, Hue-Chan;Kim, Je-Seok;Ji, Yong-Kwan;Park, Jahng-Hyon
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.5
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    • pp.435-441
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    • 2013
  • A swarm robot system consists of with multiple mobile robots, each of which is called an agent. Each agent interacts with others and cooperates for a given task and a given environment. For the swarm robotic system, the loss of the entire work capability by malfunction or damage to a single robot is relatively small and replacement and repair of the robot is less costly. So, it is suitable to perform more complex tasks. The essential component for a swarm robotic system is an inter-robot collaboration strategy for teamwork. Recently, the swarm intelligence theory is applied to robotic system domain as a new framework of collective robotic system design. In this paper, FA (Firefly Algorithm) which is based on firefly's reaction to the lights of other fireflies and their social behavior is employed to optimize the group behavior of multiple robots. The main application of the firefly algorithm is performed on path planning of swarm mobile robots and its effectiveness is verified by simulations under various conditions.

Comprehensive evaluation of structural geometrical nonlinear solution techniques Part I: Formulation and characteristics of the methods

  • Rezaiee-Pajand, M.;Ghalishooyan, M.;Salehi-Ahmadabad, M.
    • Structural Engineering and Mechanics
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    • v.48 no.6
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    • pp.849-878
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    • 2013
  • This paper consists of two parts, which broadly examines solution techniques abilities for the structures with geometrical nonlinear behavior. In part I of the article, formulations of several well-known approaches will be presented. These solution strategies include different groups, such as: residual load minimization, normal plane, updated normal plane, cylindrical arc length, work control, residual displacement minimization, generalized displacement control, modified normal flow, and three-parameter ellipsoidal, hyperbolic, and polynomial schemes. For better understanding and easier application of the solution techniques, a consistent mathematical notation is employed in all formulations for correction and predictor steps. Moreover, other features of these approaches and their algorithms will be investigated. Common methods of determining the amount and sign of load factor increment in the predictor step and choosing the correct root in predictor and corrector step will be reviewed. The way that these features are determined is very important for tracing of the structural equilibrium path. In the second part of article, robustness and efficiency of the solution schemes will be comprehensively evaluated by performing numerical analyses.

Auto Defect Repair Algorithm for LCD Panel Review & Repair Machine (LCD 패널 Review & Repair 장비의 결함수정 자동화 알고리즘)

  • Lee, W.C.;Lim, S.M.;Lee, S.K.;Jeong, S.H.;Hong, S.K.
    • Laser Solutions
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    • v.15 no.1
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    • pp.6-9
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    • 2012
  • In TFT-LCD manufacturing process, various defects are generated by manufacturing machine trouble or particle. These defects can be repaired through the TFT-Laser repair process that only can't be automated in TFT-LCD manufacturing Process. In this Paper, we propose auto defect algorithm for TFT-LCD laser repair machine using image processing algorithm in order to automate process. Proposed algorithm can detect very small defects (< 2um) in 98% success ratio, and generated laser repair path guarantee highly precise position accuracy. Through proposed system, much of the work still done the old-fashioned way, by hand, can be automated and manufacturing company can be strengthed the competitiveness of cost.

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Development of a Three-Dimensional CAD System for Design of Drawing Dies for Automotive Panels (자동차 패널 드로잉 금형 설계를 위한 3 차원 CAD 시스템의 개발)

  • Lee Sang-Hwa;Lee Sang-Hun
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2005.06a
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    • pp.1424-1428
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    • 2005
  • This paper describes a dedicated three-dimensional CAD system for design of drawing dies for automotive body panels. Since solid die models are useful not only for simulations for design verification, but also for NC tool path generation to machine dies and their Styrofoam patterns, 3-D CAD systems have been introduced in the tooling shop of automotive manufacturers. However, the work to build solid models requires a lot of time and effort if the designer uses only the general modeling capabilities of commercial 3-D CAD systems. To solve this problem, we customized a 3-D CAD system for the drawing die design. The system provides not only 3-D design capabilities, but also standard part libraries to enhance design productivity. By introducing this system, the drawing dies can be designed more rapidly in the 3-D space, and their solid data can be directly transferred to CAM tools for NC tool path generation and simulation tools for virtual manufacturing

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Implementation of a Virtual Environment for the HLW Disposal Process Analyses (고준위폐기물 처분공정 개념분석을 위한 가상환경 구축)

  • Lee J.Y.;Cho D.K.;Choi H.J.;Kim S.G.;Choi J.W.
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2005.06a
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    • pp.1636-1639
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    • 2005
  • The process equipment and remote handling for the deep geological disposal of high-level radioactive waste(HLW) should be checked prior to the operation in view of reliability and operability. In this study, the concept of virtual environment workcell is implemented to analyze and define the feasible disposal process instead of real mock-up, which is very expensive and time consuming. To do this, the parts of process equipment for the disposal and maintenance will be modeled in 3-D graphics, assembled, and kinematics will be assigned. Also, the virtual workcell for the encapsulation and disposal process of spent fuel will be implemented in the graphical environment, which is the same as the real environment. This virtual workcell will have the several functions for verification such as analyses for the equipment's work space, the collision detection, the path planning and graphic simulation of the processes etc. This graphic virtual workcell of the HLW disposal process can be effectively used in designing of the processes for the hot cell equipment and enhance the reliability of the spent fuel management.

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Information obtainable from transmission measurements of carbohydrates in the range from 200 to 1700 nm using water, heavy water ($D_20$) or dimethylsulfoxide (DMSO) as solvents

  • Bernhard Tauscher;Robert B.Jordan;Peter Butz;Carola Merkel
    • Proceedings of the Korean Society of Near Infrared Spectroscopy Conference
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    • 2001.06a
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    • pp.1518-1518
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    • 2001
  • In the area of the destruction-free NIR analysis of fruit and vegetables development has not yet progressed as far as in grain and similar products. One reason for that is, that in contrast to grains, in fruit and vegetables water appears as the outstanding main-component making up typically 80% by weight of the fruit. Of the M absorption spectrum of pure water the bands at 1450, 970 and 760 nm are the first, second and third overtones respectively of O-H stretch while those at 1940 and 1190 are combination bands involving O-H stretch and O-H bend. The choice of band for spectrometry is governed by considerations of sensitivity and selectivity. The overtone bands are satisfactory for use in moisture measurements from 0 to 4 % depending on path length. Measurements in fruits and vegetables at wavelength areas that are also important for the determination of carbohydrates (sucrose, glucose, fructose) often lead to total absorption in the presence of significant water even if short path lengths are possible. In this work model systems are used containing different carbohydrates in solvents like heavy water (D$_2$O) or dimethylsulfoxide (DMSO) that do not contain O-H functional groups.

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Measurement and Estimation of Dynamic Resistance of the Human Body Using Body Current at Low-Voltage Levels (저전압에서의 통전전류를 이용한 인체의 동저항 측정 및 예측)

  • 김두현;강동규;김상철
    • Journal of the Korean Society of Safety
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    • v.16 no.1
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    • pp.37-42
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    • 2001
  • The severity of electric shock is entirely dependent on body resistance. When the human body becomes a part of electric circuit, the body resistance is given as a function of shock scenario. Factors which consist of applied voltage, shock duration, body current path and contact area, etc.. The body resistance is defined as the voltage applied to subjects divided by the body current. To secure safety of the subjects, the experiment is conducted on 10 subjects, the body current is limited to 4mA. And only three factors under many shock scenario conditions are used to determine the body resistance. The three factors are the applied voltage, the current pathway and the contact area. The object of this work is to estimate the dynamic resistance of the human body as a function of applied voltage using the body current at low-voltage levels. The data of the body current at low-voltage levels are extrapolated to high-voltage levels using two analytic functions with specified constants calculated by numerical method. Also we can provide permissible body voltage for various copper electrodes on the basis of the data determined with the dynamic resistance and the body current.

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Stepwise Refinement Data Path Synthesis Algorithm for Improved Testability (개선된 테스트 용이화를 위한 점진적 개선 방식의 데이타 경로 합성 알고리즘)

  • Kim, Tae-Hwan;Chung, Ki-Seok
    • Journal of KIISE:Computer Systems and Theory
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    • v.29 no.6
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    • pp.361-368
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    • 2002
  • This paper presents a new data path synthesis algorithm which takes into account simultaneously three important design criteria: testability, design area, and total execution time. We define a goodness measure on the testability of a circuit based on three rules of thumb introduced in prior work on synthesis for testability. We then develop a stepwise refinement synthesis algorithm which carries out the scheduling and allocation tacks in an integrated fashion. Experimental results for benchmark and other circuit examples show that we are able to enhance the testability of circuits with very little overheads on design area and execution time.

What Determines the Performance of Multinational Corporation's Global R&D Activities?: Parent Company vs. Host Country vs. Home Country (다국적 기업의 글로벌 R&D 활동 성과 결정 요인에 관한 연구)

  • Cho, Jung-Eun;Kim, Dong-Hee;Kim, Soo-Wook
    • Korean Management Science Review
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    • v.27 no.2
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    • pp.1-20
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    • 2010
  • Many firms are trying to acquire innovative technologies and relative knowledge by offshoring R&D work. Although research to date has focused on the multinational corporations' motivations of R&D offshoring, such as cost reduction and market expansion, little is known about external or environmental factors influencing the performance of global R&D activities. We investigated the relationship between the offshore R&D performance and the technical capabilities of the parent company, the host country and the home country as enhancers from outside R&D facilities. The analysis uses European patent data and EU R&D scoreboard of 134 overseas R&D labs from 46 multinational corporations in 2005. Also, we calculated total patent number of each country for this. Results from path analysis supported our main hypothesis that the technological capabilities of the parent company and the host country positively affect the overseas R&D performances. By multi-group analysis, we also found that the relationships among the variables are different for each industry.