• Journal of the Korea Institute of Information and Communication Engineering
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• v.5 no.4
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• pp.756-765
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• 2001

An effective dexterous motion control method of redundant robot manipulators based on neural optimization network is proposed to satisfy multi-criteria such as singularity avoidance, minimizing energy consumption, and avoiding physical limits of actuator, while performing a given task. The method employs a neural optimization network with parallel processing capability, where only a simple geometric analysis for resolved motion of each joint is required instead of computing of the Jacobian and its pseudo inverse matrix. For dexterous motion, a joint geometric manipulability measure(JGMM) is proposed. JGMM evaluates a contribution of each joint differential motion in enlarging the length of the shortest axis among principal axes of the manipulability ellipsoid volume approximately obtained by a geometric analysis. Redundant robot manipulators is then controlled by neural optimization networks in such a way that 1) linear combination of the resolved motion by each joint differential motion should be equal to the desired velocity, 2) physical limits of joints are not violated, and 3) weighted sum of the square of each differential joint motion is minimized where weightings are adjusted by JGMM. To show the validity of the proposed method, several numerical examples are illustrated.

• The Korean Journal of Ecology
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• v.1 no.2
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• pp.44-48
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• 1977

The spawning behavior and developmental pattern of the Korean eleotrid fish (Odontobutis obscurus) was investigated in one of the tributary of Han River. The spawining of this species begins on April and continues up to August, whereas, the spawning. of same species were between the end of June and the middle of July in Kyushu, Japan. August The spawning places were the margin of river, its the bottom composed of sand and pebble (Table 5). The velocity of water in the spawning places was 0-40cm/sec, and the depth of waters was 10-40cm. The egg was spawned on underside of stone in the spawning places with one or two folds and ellipsoid in shape, 3.4mm in long diameter and 2.0mm in short diameter. The yolk is 1.2mm in diameter and yellow in color. For hatching of the egg, it takes one month in, $16^{circ}C~19^{\circ}C$ water, in Japan, whereas it takes only 14 days in $20^{circ}C~30^{\circ}C$ wate rin the study area. The growth rate of larva and juvenile fish were as follows: new hatched larva is 45mm in length; after 5 days it became 5.0 to 5.5mm in length and 1.2 to 1.5mm in height after 20 days. it became 11.0mm in length and 2.3mm in length. The mean size of the mature female is 110mm in total length and larger 10mm than that of the same fish found in Japan.