• Journal of the Korean Society for Precision Engineering
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• v.17 no.1
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• pp.138-144
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• 2000

Robot manipulators, which are nonlinear structures and have uncertain system parameters, have complex in dynamics when are operated in unknown environment. To compensate for estimate errors of the uncertain system parameters and to accomplish the desired trajectory tracking, nonlinear robust controllers are appropriate. However, when estimation errors or tracking errors are large, they require large input torques, which may not be satisfied due to torque limits of actuators. As a result, their stability can not be guaranteed. In this paper, a new robust control scheme is presented to solve stability problem and to achieve fast trajectory tracking in the presence of torque limits. By using fuzzy logic, new desired trajectories which can be reduced are generated based on the initial desired trajectory, and torques of the robust controller are regulated to not exceed torque limits. Numerical examples are shown to validate the proposed controller using an uncertain two degree-of-freedom underwater robot manipulator.

• Journal of Korean Institute of Industrial Engineers
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• v.33 no.4
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• pp.487-493
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• 2007

In this paper, we deal with an optimal software-release problem of determining the time to stop testing and release the software system to the user. The optimal release time problem is considered from maintenance like the periodic distribution of service packs and the unpredictable distribution of patches after the release. Moreover, the environment of software error-detection during operation differs from the environment during testing. This paper proposes the software reliability growth model which incorporates periodic service packs, unpredictable patches and operational environment. Based on the proposed model, we derive optimal release time to minimize total cost composed of fixing an error, testing and maintenance. Using numerical examples, optimal release time is determined and illustrated.

• Journal of Information Processing Systems
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• v.8 no.3
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• pp.471-482
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• 2012

For disaster exploration and surveillance application, this paper aims to present a novel application of a multi-robot agent based on WSN and to evaluate a multi-hop communication caused by the robotics correspondingly, which are used in the uncertain and unknown subterranean tunnel. A Primary-Scout Multi-Robot System (PS-MRS) was proposed. A chain topology in a subterranean environment was implemented using a trimmed ZigBee2006 protocol stack to build the multi-hop communication network. The ZigBee IC-CC2530 modular circuit was adapted by mounting it on the PS-MRS. A physical experiment based on the strategy of PS-MRS was used in this paper to evaluate the efficiency of multi-hop communication and to realize the delivery of data packets in an unknown and uncertain underground laboratory environment.

• Journal of Korea Spatial Information System Society
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• v.8 no.3
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• pp.117-130
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• 2006

With the rapid development of technologies related to Ubiquitous Sensor Network (USN), sensors are being utilized in various application areas. In general, the data sensed by each sensor node on ubiquitous sensor networks are stored into the central server for efficient search. Because update is delayed to reduce the cost of update in this environment, uncertain data can be stored in the central server. In addition, Uncertain data make query processing produce wrong results in the central server. Thus, this paper examines how to process uncertain data in ubiquitous sensor networks and suggests a new index for efficient processing of uncertain data. The index reduces the cost of update by delaying update in uncertainty areas. Uncertainty areas are areas where uncertain data are likely to exist. In addition, it solves the problem of low accuracy in search resulting from update delay by delaying update only for specific update areas. Lastly, we analyze the performance of the index and prove the superiority of its performance by comparing its performance evaluation.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1998.10a
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• pp.239-244
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• 1998

The environment of the access network service market is characterized by uncertain demand and various competing alternative technologies. In Korea, despite the introduction of competition, dominant Public Network Operator(PNO) still leads the market. Therefore, the decision of PNO has a great impact on the access network evolution. In this paper, we propose an model which aims to reduce risks and both investment and operating costs, to cope with the uncertain demand and technology evolution. We expect this model to provide a tool analyze risks and evaluate various strategies on the network evolution.

• Journal of KIISE:Software and Applications
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• v.34 no.6
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• pp.549-561
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• 2007

Vision-based scene understanding is to infer and interpret the context of a scene based on the evidences by analyzing the images. A probabilistic approach using Bayesian networks is actively researched, which is favorable for modeling and inferencing cause-and-effects. However, it is difficult to gather meaningful evidences sufficiently and design the model by human because the real situations are dynamic and uncertain. In this paper, we propose a learning method of Bayesian network that reduces the computational complexity and enhances the accuracy by searching an efficient BN structure in spite of insufficient evidences and training data. This method represents the domain knowledge as ontology and builds an efficient hierarchical BN structure under constraint rules that come from the ontology. To evaluate the proposed method, we have collected 90 images in nine types of circumstances. The result of experiments indicates that the proposed method shows good performance in the uncertain environment in spite of few evidences and it takes less time to learn.

• The Journal of Society for e-Business Studies
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• v.6 no.3
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• pp.197-207
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• 2001

The industrial structure comes to be complicated and for the production of the enterprise the rational and scientific forecast is necessary. The demand forecast has been widely used to linear regression, and up to now the linear regression was sharp the relationskp between then dependent variable and the independent variables. But, The real society demands accurate demand forecast from uncertain environment and subjective concept. This paper proposes the demand quantity forecast method to using of the fuzzy linear regression in uncertain and vague environment. Also, the optimum decision making of the demand quantity forecast uses integral calculus of the Sugeno to reflecting with the expert's (inventory manager) opinion.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.101.1-101
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• 2001

This paper describes a grid mapping for a vision based mobile robot in uncertain indoor environment. The map building is a prerequisite for navigation of a mobile robot and the problem of feature correspondence across two images is well known to be of crucial Importance for vision-based mapping We use a stereo matching algorithm obtained by singular value decomposition of an appropriate correspondence strength matrix. This new correspondence strength means a correlation weight for some local measurements to quantify similarity between features. The visual range data from the reconstructed disparity image form an occupancy grid representation. The occupancy map is a grid-based map in which each cell has some value indicating the probability at that location ...

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.12
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• pp.3072-3079
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• 2000

Assembly tasks are often performed by one robot with fixtures. This type of assembly system has low flexibility in terms of the variety of parts and the part-presentation the system can handle. This paper addresses assembly without fixtures using two-manipulator robot. An active method using force feedback is proposed for the peg-in-hole assembly in highly uncertain environment. Assembly states are defined as status having unique motion constraints and events are modeled as variation of the environmental force. The states are recognized through identification of the events using two 6-d. o. f. force/moment sensors. The proposed method is verified and evaluated by experiments with round peg-in-hole assembly.

• Journal of the military operations research society of Korea
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• v.24 no.1
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• pp.176-188
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• 1998

In this paper, it is identified that the optimal level of each performance measures (service and inventory level) is not sensitive to an uncertain environment under JIT Kanban system designed by Moeeni. Moreover, it is proposed that the optimal design method considering multiple performance characteristics is the optimal level decision method according to the relative importance differences of each performance when there exist multiple performance characteristics. The result from the simulation analysis shows that the number of Kanban for stage 3 (final process) and stage 2 is increased at the service level. It is found that the expected loss is minimal when the cycle time decreases and the container size increases. However, the stage 1 is not affected by the number and cycle time of Kanban. It is thus important to consider carefully the cycle time and the container size of the Kanban to satisfy the demand in right time. In case of inventory level, the working inventory level decreases when the container size is decreased and the working inventory level also decreases slightly when the cycle time of the Kankban is increased in stage 1 and 2.