• 한국IT서비스학회지
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• 제1권1호
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• pp.45-55
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• 2002

This paper suggests a new approach to IT project management based on a regular project meeting results to consider the recent project environment. The greater part of recent IT projects are related to e-business transformation. Transforming to e-business is a new problem very different from those they have been worked, in several point of views. Under e-business era, therefore any IT project is being implemented in more complex, dynamic and uncertain environment than traditional. That is, project leaders must consider more factors to control projects including resources, quality, risks, and technologies, and human resources. The project organizations and software corporations thus need to develop and establish new concepts or methodologies to manage e-business projects. In this point of view, an entropy model in this study is introduced for estimating and managing the uncertainty in project control using multi-attributes of project meeting. This paper proposes a new frame work based on entropy model using project meeting results to consider eIT project environment with a small pilot study.

• 한국해양공학회지
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• 제9권2호
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• pp.175-185
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• 1995

본 논문은 불확실한 환경에 접촉하는 매니플레이터의 강인 제어법을 제시하였다. 이 제어법은 고차수 보상기를 응용한 표적특성에 $H_{\infty}$ 강인제어 설계법을 적용하여 얻어졌다. 접촉중의 위치와 힘에 대한 강인 안정성과 강인 성능 조건을 유도하였다. 결과에 의하면, 위치제어기는 강인 안정성과 강인 성능 조건을 동시에 향상시킬 수 있으나, 힘 제어기는 그 둘 사이에 최적화가 요구되었다. 강인 성능 제어기를 얻기 위한 최적화 설계기법은 변형 해석 기법을 사용하였으며, 결과의 예를 제시하였다. 이 예에서는 힘제어기의 강인 성능이 설계될 수 있음을 보였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 A
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• pp.408-410
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• 1992

An adaptive hybrid position/force controller for constrained manipulator with uncertain dynamic model parameters and environment stiffness is presented. In this paper, the compliance frame model is constructed by independent positions and forces to be controlled. The adaptive controller based on this compliance frame dynamic model is designed. Lyapunov theory is used for controller design and Stability analysis.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.108.6-108
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• 2002

It is greatly important to understand the mechanics of AFM-based nanorobotic manipulation for efficient and reliable handling of nanoparticles. Robust motion control of an AFM-based nanorobotic manipulation is much challenging due to uncertain mechanics in tip-sample interaction dominated by surface and intermolecular force and limitations in force and visual sensing capability to observe environment. This paper investigates a nanomechanic modeling which enables simulation for AFM-based nanorobotic manipulation , and its application to motion planning of an AFM-based nanorobot. Based on the modeling of intermolecular and adhesion force in AFM-based nanomanipulation, the behaviors of an AFM ca...

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(5)
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• pp.5-8
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• 2002

In this paper, we applied a PC interface and an embedded system in order to design a non-linear system and implement the PID algorithm as our control one. We used the inverted pendulum, one of the most generally used non-linear system models, to control uncertain factors in the environment. This paper showed how to use this non-linear system model to control the factors completely as well as to understand the PID algorithm. Furthermore, this paper applied and understood the embedded system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.423-423
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• 2000

This paper proposes an effective algorithm for following a wall by an autonomous mobile robot with sonar sensors and infrared sensors in an indoor environment. The proposed method uses deadreckoning to estimate the current position and orientation of a mobile robot. Sonar sensor data are used to estimate shape and position of wall using proposed algorithm. Infrared sensor data are used as assistant when sonar sensor data is uncertain. Simulation results using mobile robot show that the proposed algorithm is proper for the following wall.

• 한국IT서비스학회지
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• 제20권1호
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• pp.55-65
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• 2021

For smart defense innovation, the key is to apply state-of-the-art technologies of the Fourth Industrial Revolution to national defense. In order to apply state-of-the-art technology to the defense sector, we need to apply and develop technologies to analyze and respond to uncertain future operational environments. To this end, our military is investing a lot of time and effort. To understand future operational environment analysis and to apply and develop our military, we explored the perspectives of operational environment analysis in major countries and studied specific cases of U.S. troops with systematic analysis functions. The U.S. Army has established a cooperative system to analyze future operational environment under the leadership of the Education Command and operates the organization organically. It also utilizes the collective intelligence of expert groups in various fields by utilizing the MSC, and it is time for the Korean military to take the lead in keeping with the era of transformation. To that end, the organization of the U.S. Education Command should be benchmarked and the Korean Future Operation Environment Analysis Organization should be established and operated. Through this study, we have developed an understanding of the future operational environment analysis system of the U.S. Army and presented a plan to apply the ROK MND.

• 한국유통학회지:유통연구
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• 제7권1호
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• pp.41-59
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• 2002

본 연구는 제품의 영업환경에 따라 공급체인구조가 어떻게 달라지는가에 대하여 실증적으로 분석한 것으로서 환경과 공급체인구조에 있어 기존의 논의대상인 기업(business)수준이 아닌 제품 단위에서 공급체인구조에 대한 분석이 이루어 졌다. 이는 기업내 각각의 제품에 따라 제품특성별로 공급체인관리가 이루어져야 하는 중요성을 인식할 때 통합적 공급체인관리에 있어 제품단위의 분석은 필수적이라 할 수 있다. 이에 연구목적을 달성하기 위해 제품환경을 특성에 따라 분류해 공급체인 구조와의 관계를 연구하였다. 여기서 공급체인 구조변수는 기존 문헌연구를 통해 도출하였다. 본 실증 연구를 위하여 제품별 공급체인에 대한 설문조사를 실시하였으며, 통계방법은 주로 분산분석(ANOVA)을 사용하였다. 연구 결과를 요약하면, 제품 영업환경과 공급체인구조간의 관련성을 분석한 결과, 제품의 영업환경에 따라 공급체인구조가 달라짐을 보였다. 제품영업환경의 두집단, 즉 불확실한 제품환경집단과 안정된 제품환경집단에 따라 공급체인 구조변수(공급체인 참여자수, 공급체인리드타임, 관리적 독립성, 공급체인의 대응점)의 관계에 있어서는 공급체인 참여자수를 제외한 모든 구조변수에서 모두 유의미한 관계를 나타내었다. 공급체인의 구조변수에서 공급체인의 길이를 나타내는 변수로는 공급체인의 참여자수와 공급체인 리드타임이며, 공급체인에 대한 모니터링이나 트러스트 측면을 나타내는 변수로는 관리적 독립성과 공급체인의 대응점이다. 분석결과 환경이 불확실한 제품의 경우 공급체인의 길이측면에서는 안정된 제품보다 짧게 나타나고 있고 공급체인에 대한 모니터링이나 트러스트 측면에서는 환경이 불확실한 제품이 안정된 제품보다 활발히 이루어지고 있는 것으로 나타났다. 따라서 영업환경이 불확실한 제품의 경우 공급체인 구조를 디자인함에 있어서 시장(market)보다는 위계 (hierarchy)위주의 관리에 주안점을 두고 있음을 보여주고 있으며, 반면 영업환경이 안정된 제품의 경우에는 시장 (market)위주의 관리 방식에 초점을 두고 있는 것으로 나타났다.

• Journal of Mechanical Science and Technology
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• 제17권10호
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• pp.1411-1422
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• 2003

The detection of free spaces between obstacles in a scene is a prerequisite for navigation of a mobile robot. Especially for stereo vision-based navigation, the problem of correspondence between two images is well known to be of crucial importance. This paper describes multi-range approach of area-based stereo matching for grid mapping and visual navigation in uncertain environment. Camera calibration parameters are optimized by evolutionary algorithm for successful stereo matching. To obtain reliable disparity information from both images, stereo images are to be decomposed into three pairs of images with different resolution based on measurement of disparities. The advantage of multi-range approach is that we can get more reliable disparity in each defined range because disparities from high resolution image are used for farther object a while disparities from low resolution images are used for close objects. The reliable disparity map is combined through post-processing for rejecting incorrect disparity information from each disparity map. The real distance from a disparity image is converted into an occupancy grid representation of a mobile robot. We have investigated the possibility of multi-range approach for the detection of obstacles and visual mapping through various experiments.

• Journal of Communications and Networks
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• 제8권1호
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• pp.116-122
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• 2006

Most of the multimedia applications require strict quality of service (QoS) guarantee during the communication between a single source and multiple destinations. This gives rise to the need for an efficient QoS multicast routing strategy. Determination of such QoS-based optimal multicast routes basically leads to a multi-objective optimization problem, which is computationally intractable in polynomial time due to the uncertainty of resources in Internet. This paper describes a network model for researching the routing problem and proposes a new multicast tree selection algorithm based on genetic algorithms to simultaneously optimize multiple QoS parameters. The paper mainly presents a QoS multicast routing algorithm based on genetic algorithm (QMRGA). The QMRGA can also optimize the network resources such as bandwidth and delay, and can converge to the optimal or near-optimal solution within few iterations, even for the networks environment with uncertain parameters. The incremental rate of computational cost can close to polynomial and is less than exponential rate. The performance measures of the QMRGA are evaluated using simulations. The simulation results show that this approach has fast convergence speed and high reliability. It can meet the real-time requirement in multimedia communication networks.