• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.73-73
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• 2000

Assembly is usually performed by one robot and fixtures. This type of assembly system has Low flexibility in terms of variety of parts and part-presentation that 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 described by extended contact relations. Qualitative templates for events are easily derived from the token vector of the Petrinet model. 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 through experiments with round peg- in-hole assembly.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2001.05a
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• pp.136-139
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• 2001

This paper develops a sensor based navigation method that utilizes fuzzy logic and the Dempster-Shafer evidence theory for mobile robot in uncertain environment. The proposed navigator consists of two behaviors: obstacle avoidance and goal seeking. To navigate reliably in the environment, we make a map building process before the robot finds a goal position and create a robust fuzzy controller. In this paper, the map is constructed on a two-dimensional occupancy grid. The sensor readings are fused into the map using D-S inference rule. Whenever the robot moves, it catches new information about the environment and replaces the old map with new one. With that process the robot can go wandering and finding the goal position. The usefulness of the proposed method is verified by a series of simulations. This paper deals with the fuzzy modeling for the complex and uncertain nonlinear systems, in which conventional and mathematical models may fail to give satisfactory results. Finally, we provide numerical examples to evaluate the feasibility and generality of the proposed method in this paper.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.265-271
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• 2005

Randomness exists in engineering. Tolerance, assemble-error, environment temperature and wear make the parameters of a mechanical system uncertain. So the behavior or response of the mechanical system is uncertain. In this paper, the uncertain parameters are treated as random variables. So if the probability distribution of a random parameter is known, the simulation of mechanical multibody dynamics can be made by Monte-Carlo method. Thus multibody dynamics simulation results can be obtained in statistics. A new concept called functional reliability is put forward in this paper, which can be defined as the probability of the dynamic parameters(such as position, orientation, velocity, acceleration etc.) of the key parts of a mechanical multibody system belong to their tolerance values. A flexible mechanical arm with random parameters is studied in this paper. The length, width, thickness and density of the flexible arm are treated as random variables and Gaussian distribution is used with given mean and variance. Computer code is developed based on the dynamic model and Monte-Carlo method to simulate the dynamic behavior of the flexible arm. At the same time the end effector's locating reliability is calculated with circular tolerance area. The theory and method presented in this paper are applicable on the dynamics modeling of general multibody systems.

• Journal of the Ergonomics Society of Korea
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• v.25 no.3
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• pp.49-60
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• 2006

Technological encroachment provides human operators with flood of information that must be analyzed to understand the environment and make judgments that lead to strategic actions. Further, the environment is not static and therefore uncertain, changing its aspect dynamically. Complexity accompanied with its dynamics imposes substantial difficulty to human operators' task. Criticality of having situational understanding becomes more important than ever. Situationalunderstanding requires the human operators possessing tacit knowledge in order for them to make the sense out of the situation while interacting with information from many heterogeneous sources, the notion of sensemaking. Sensemaking refers to the process of developing mental framework to assemble pieces of information representing different aspects of the environment that can be used to develop one's own actionable knowledge to implement their judgments in the uncertain environment. Therefore, judgment process and performance is a key component of sensemaking process. Among many judgment and decision making models, the lens model with its extension can be utilized to partially describe the judgmental aspect of sensemaking. One of the lens model parameters, unmodeled knowledge, can be a corresponding quantitative measure for the tacit knowledge that plays an important role in sensemaking. In this paper, a comprehensive literature for sensemaking is provided to formally define the notion of sensemaking in the military domain. Also, it is proposed that there is a crucial link between the sensemaking and human judgment process and performance from the lens model perspective. Potential implications for experimental framework are also proposed.

• Journal of the Korean Society for Marine Environment & Energy
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• v.4 no.2
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• pp.35-42
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• 2001

We demonstrated the importance of initial estimates of model parameters and the utility of an optimization approach of the uncertain forcing of wind-driven circulation off the southeastern coastal waters of Korea. The wind stress represents the upper boundary condition in this model and enters in the model equation as a forcing term in the numerical formalism. The wind field contributes to maintain the almost time-independent distribution of the upper layer thickness feature in a north-south direction and negative wind stress curl to maintain the formation of warm eddy off the southeastern coastal waters of Korea. Elucidated is the variational characteristics of the East Korean Warm Current due to the variations of the zonally averaged wind stress (southward transport) from the seasonal variations of the meridional transport by the Ekman transport.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.17 no.30
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• pp.51-57
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• 1994

This paper considers the problem of equipment replacement A equipment replacement problem is treated in a thchnological development environment. Our model assumes that the costs associated with the presently available thchnology and future technology is known, but the appearance times of future technology is uncertain. A cost model is presented, and method is suggested for finding the optimal operating time for replacement A numerical example is shown.

• Journal of the Korean Operations Research and Management Science Society
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• v.38 no.2
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• pp.43-63
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• 2013

Remanufacturing is a process of recovering end-of-life products into serviceable parts for producing new products. Due to the limited supply of recovery cores to remanufacture, a remanufacturing firm also needs to produce or procure new parts for fulfilling the demand. This paper is targeted for solving the problem of determining the optimal amount of newly produced and remanufacturing parts, which is called production and remanufacturing planning (PRP) problem, under uncertain supply of recovery cores. The new production mitigates the risk of insufficient core supply while it takes more costs than the remanufacturing. The PRP model in this paper also considers disassemble-to-order (DTO) environment, in which multiple kinds of parts are remanufactured from multiple products on order of the parts. Whereas existing studies presents only heuristic solutions for DTO remanufacturing, this paper provides an exact solution for this problem and analytical sensitivity of the involved cost parameters, adopting multi-dimensional newsvendor modeling and stochastic linear programming techniques. The result shows that production and remanufacturing plans for multiple products are mutually dependent, and a change of cost parameters involved in only one part is propagated to all other parts.

• Journal of KIISE:Software and Applications
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• v.36 no.2
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• pp.144-152
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• 2009

To provide intelligent service in mobile environment, it needs to estimate user's intention or requirement, through analyzing context information of end-users such as preference or behavior patterns. In this paper, we infer context information from uncertain log stored in mobile device. And we propose the inference method of end-user's behavior to match context information with service, and the proposed method is based on context-tree. We adopt bayesian probabilistic method to infer uncertain context information effectively, and the context-tree is constructed to utilize non-numerical context which is hard to handled with mathematical method. And we verify utility of proposed method by appling the method to intelligent phone book service.

• Journal of Technology Innovation
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• v.6 no.1
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• pp.163-186
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• 1998

The psychological work environments which facilitate technology innovations in organizations are divided into two dimensions of supportive work environments and uncertain work environments. The measurement variables have significant reliability. And the confirmatory factor analysis confirm the construct validity of two dimensional work environments. Two work environments have the significant effects on motivations to the technology innovations. So, simple and hierarchical regression analyses confirm criterion-related validity. Therefore, Both of the uncertain work environments(uncertainty of external-organizational environments and tasks) and the two important work environments(supporting idea, resource supply, job autonomy) are the two important psychological work environments which indicate technology innovations in organizations. Measures for innovative psychological work environments are provided.

• Journal of Electrical Engineering and Technology
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• v.12 no.4
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• pp.1386-1396
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• 2017

In this paper, a new approach is proposed to select the optimal sitting and sizing of distributed solar photovoltaic generation (SPVG) in a radial electrical distribution systems (EDS) considering load/generation uncertainties. Here, distributed generations (DGs) allocation problem is modeled as optimization problem with network loss based objective function under various equality and inequality constrains in an uncertain environment. A boundary power flow is utilized to address the uncertainties in load/generation forecasts. This approach facilitates the consideration of random uncertainties in forecast having no statistical history. Uncertain solar irradiance is modeled by beta distribution function (BDF). The resulted optimization problem is solved by a new Dynamic Harmony Search Algorithm (DHSA). Dynamic band width (DBW) based DHSA is proposed to enhance the search space and dynamically adjust the exploitation near the optimal solution. Proposed approach is demonstrated for two standard IEEE radial distribution systems under different scenarios.