• 제어로봇시스템학회논문지
• /
• 제13권4호
• /
• pp.358-364
• /
• 2007

Intelligent walking modeling of humanoid robot using learning based neuro-fuzzy system is presented in this paper. Walking pattern, trajectory of the zero moment point (ZMP) in a humanoid robot is used as an important criterion for the balance of the walking robots but its complex dynamics makes robot control difficult. In addition, it is difficult to generate stable and natural walking motion for a robot. To handle these difficulties and explain empirical laws of the humanoid robot, we are modeling practical humanoid robot using neuro-fuzzy system based on the two types of natural motions which are walking trajectories on a t1at floor and on an ascent. Learning based neuro-fuzzy system employed has good learning capability and computational performance. The results from neuro-fuzzy system are compared with previous approach.

• 한국지능시스템학회:학술대회논문집
• /
• 한국퍼지및지능시스템학회 2004년도 추계학술대회 학술발표 논문집 제14권 제2호
• /
• pp.63-66
• /
• 2004

The SGA(stochastic gradient ascent) algorithm is one of the most important tools in the area of reinforcement learning, and has been applied to a wide range of practical problems. In particular, this learning method was successfully applied by Kimura et a1. [1] to the control of a simple creeping robot which has finite number of control input choices. In this paper, we considered the application of the SGA algorithm to Kimura's robot control problem for the case that the control input is not confined to a finite set but can be chosen from a infinite subset of the real numbers. We also developed a MATLAB-based robot animation program, which showed the effectiveness of the training algorithms vividly.

• 한국가시화정보학회:학술대회논문집
• /
• 한국가시화정보학회 2003년도 추계학술대회 논문집
• /
• pp.83-86
• /
• 2003

Synchrotron X-ray micro imaging technique was employed to non-invasively monitor the water flow inside xylem vessels in a bamboo leaf. The phase contrast X-ray images clearly visualized plant anatomy and the rise of a water front inside the vessels. Consecutive X-ray images taken for 60 seconds revealed water rise kinetics against gravity in the xylem of a cut dry leaf taken from a bamboo tree. For the first time, traces of water rise, variation of contact angle between water and xylem wall as well as the internal structure of xylem were obtained. In xylem vessels, a repeating flow pattern has a typical flow velocity of $30.7{\mu}m/s$ and faster flow is established intermittently. It is concluded that the transmission type of X-ray micro imaging can be used as a powerful tool to investigate the ascent of sap in the xylem vessels at a resolution higher than that of MRI.

• 한국경영과학회지
• /
• 제19권1호
• /
• pp.153-168
• /
• 1994

This paper is concerned with the development of tree-search algorithm for the exact solution to the vehicle problem (VRP), where set of vehicles of known capacity based at depot, have to be routed in order to supply customers with known requirements. When is required is to design routes, so that the total cost (i. e. total route length or time duration, ect.) is minimized. For obtianing the exact solution, the most important factors are the value of bound and branching strategy. Using the bound based on with bound ascent procedures from subgradient and state-space ascents, the incorporation of bounds into tree search algorithm to solve the problem is shown. Computational results of the corresponding algorithm show that VRPs with up to 40 customers can be solved optimally with this algorithm.

• 한국분말재료학회지
• /
• 제14권5호
• /
• pp.327-332
• /
• 2007

In a view point of environment, the advanced electric contact material without environmental load element such as cadmium has to be developed. Extensive studies have been carried out on $Ag-SnO_2$ electric contact material as a substitute of Ag-CdO contact materials. In the present study, powder metallurgy including compaction and sintering is introduced to solve the incomplete oxidation problems in manufacturing process of $Ag-SnO_2$ electrical contact material. The $Ag-SnO_2$ contact material, fabricated in this study, was actually set in an electric switchgear of which working voltage is 462V and current is between 25 and 40A, for the purpose of testing its performance. As a result, it exceeded the existing Ag-CdO contact materials in terminal-temperature ascent and main contact resistance.

• 한국가구학회지
• /
• 제12권1호
• /
• pp.1-9
• /
• 2001

This study was carried out to elucidate the relationship between wood anatomy and the water flow path in P. koraiensis and L. leptolepis. through the experiment of penetration of the dye solution. The experiment was performed by permeating 1% acid, alkali and direct solution into the xylem just after being cut. The results obtained were summarized as follows : 1. In P. koraiensis and L. leptolepis, the dye solution penetrated into sapwood and annual rings adjacent to cambial zone were only dyed according to ascent of tree height. 2. The penetrability of latewood was better than that of earlywood. 3. In P. koraiensis and L. leptolepis, the main water flow path in longitudinal direction was the trachied and that in transverse direction was ray trachied and ray parenchyma. Also, the dye solution was found in resin canal. 4. P. koraiensis was more permeable than L. leptolepis. 5. Among the acid, alkali and direct dye solution, the acid dye solution was the most permeable.

• Nuclear Engineering and Technology
• /
• 제49권8호
• /
• pp.1696-1710
• /
• 2017

An improved Reactor Regulating System (RRS) logic architecture, which is combined with genetic algorithm (GA), is implemented in this work. It is devised to provide an optimal solution to the current RRS. The current system works desirably and has contributed to safe and stable nuclear power plant operation. However, during the ascent and descent section of the reactor power, the RRS output reveals a relatively high steady-state error, and the output also carries a considerable level of overshoot. In an attempt to consolidate conservatism and minimize the error, this work proposes to apply GA to RRS and suggests reconfiguring the system. Prior to the use of GA, reverse engineering is implemented to build a Simulink-based RRS model. Reengineering is followed to produce a newly configured RRS to generate an output that has a reduced steady-state error and diminished overshoot level. A full-scope APR1400 simulator is used to examine the dynamic behaviors of RRS and to build the RRS Simulink model.

• 제어로봇시스템학회논문지
• /
• 제7권2호
• /
• pp.173-182
• /
• 2001

Ascent trajectory optimization and optimal explicit guidance problems for a satellite launch vehicle in a 2-dimensional pitch plane are studied. The trajectory optimization problem with boundary conditions is formulated as a nonlinear programming problem by parameterizing the pitch attitude control variable, and is solved by using the SQP algorithm. The flight constraints such as gravity-turn are imposed. An optimal explicit guidance algorithm in the exoatmospheric phase is also presented, the guidance algorithm provides steering command and time-to-go value directly using the current states of the vehicle and the desired orbit insertion conditions. To verify the optimality and accuracy of the algorithm simulations are performed.

• 전기학회논문지
• /
• 제62권6호
• /
• pp.825-832
• /
• 2013

In this study, Independent Component Analysis (ICA) algorithms are suggested to extract the original ECG part from the mixed signal contaminated with the unwanted frequency components and especially 60Hz power line disturbances. With this aim, we implement a novel method to suppress the baseline-wandering disturbances and power line artefacts contained in patch-electrodes sensory ECG data by separating the unmixed signal with finding the optimal weight W based on Kurtosis value. With applying brutal force and gradient ascent searching algorithm to find W, we can conclude that the unwanted frequency components especially in the ambulatory ECG data can be eliminated by Independent Component Analysis.

• 항공우주산업기술동향
• /
• 제9권1호
• /
• pp.150-157
• /
• 2011

일반적으로, 우주센터 또는 위성발사장 에서는 발사체의 비행초기구간에 대한 비행영상을 획득, 분석하기 위하여 고성능 렌즈가 탑재된 광학추적장비를 사용한다. 본 원고에서는 위성 발사분야에서 광학추적장비에 탑재되어 사용되고 있는 렌즈의 종류와 기술동향에 대해 서술하였다. 또한 국내, 외 광학추적장비용 렌즈의 운용현황에 대해서도 간략히 기술하였다.