• 동력기계공학회지
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• 제21권5호
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• pp.41-47
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• 2017

To implement Argentina tango dancer-like walking of the humanoid robot, a new trajectory generation scheme based on particle swarm optimization of the blending polynomial is presented. Firstly, the characteristics of Argentina tango walking are derived from observation of tango dance. Secondly, these are reflected in walking pose conditions and cost functions of particle swarm optimization to determine the coefficients of blending polynomial. For the stability of biped walking, zero moment point and reference trajectory of swing foot are also included in cost function. Thirdly, after tango walking cycle is divided into 3 stages with 2 postures, optimal trajectories of ankles, knees and hip of lower body, which include 6 sagittal and 4 coronal angles, are derived in consequence of optimization. Finally, the feasibility of the proposed scheme is validated by simulating biped walking of humanoid robot with derived trajectories under the 3D Simscape environment.

• 한국CDE학회논문집
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• 제2권2호
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• pp.122-129
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• 1997

Ball rolling blending is a popular technique for blending between parametric surfaces. The ball rolling blend surface is conceptually a trajectory of a ball rolling between two base sufaces. It is constructed by sweeping a circular arc along a ball contact curve pair. Since a ball rolling blend surfaces does not have a polynomial form like a Bezier surface patch, it is impossible to apply this method directly to a commercial CAD/CAM system. In this paper an algorithm is developed to approximate a ball rolling blend surface into Bezier surface patches. Least square method is applied to obtain proper Bezier surface patches under a given tolerance. The Bezier surface patches have degree three or more and guarantee VC1-continuity.

• 품질경영학회지
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• 제38권3호
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• pp.413-424
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• 2010

Mixture experiments involve combining ingredients or components of a mixture and the response is a function of the proportions of ingredients which is independent of the total amount of a mixture. The purpose of the mixture experiments is to find the optimum blending at which responses such as the flavor and acceptability are maximized. We assume the quadratic or special cubic canonical polynomial model over the experimental region for a mixture since the current mixture is assumed to be located in the neighborhood of the optimal mixture. The cost of the mixture is proportional to the cost of the ingredients of the mixture and is the linear function of the proportions of the ingredients. In this paper, we propose mixture response surface methods to develop a mixture such that the cost is down more than ten percent as well as mean responses are as good as those from the current mixture. The proposed methods are illustrated with the well known the flare experimental data described by McLean and Anderson(1966).

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.774-778
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• 1996

Developed in this research is a surface modeling kernel for various CAD/CAM applications. Its internal surface representations are rational parametric polynomials, which are generalizations of nonrational Bezier, Ferguson, Coons and NURBS surface, and are very fast in evaluation. The kernel is designed under the OOP concepts and coded in C++ on PCs. The present implementation of the kernel supports surface construction methods, such as point data interpolation, skinning, sweeping and blending. It also has NURBS conversion routines and offers the IGES and ZES format for geometric information exchange. It includes some geometric processing routines, such as surface/surface intersection, curve/surface intersection, curve projection and so forth. We are continuing to work with the kernel and eventually develop a B-Rep based solid modeler.

• 전기학회논문지
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• 제58권2호
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• pp.373-381
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• 2009

In this paper, a humanoid robot is simulated and implemented to walk up a staircase using the blending polynomial and genetic algorithm. Using recently developed kinematics for a biped robot, four schemes for walking up a staircase are newly proposed and simulated separately. For the two schemes of landing a swaying leg on the upper stair, the joint trajectories of seven motors are particularly optimized to generate an energy-minimal motion with the guarantee of walking stability. The proposed scheme of walking upstair is validated by an experiment with a small humanoid robot.

• 한국식품영양과학회지
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• 제35권8호
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• pp.1051-1056
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• 2006

온도와 ATP 증가에 따라 사과.당근 배합비율과 상관없이 혼합주스의 투과플럭스가 비례적으로 증가했으며, 특히 온도변화에 따른 투과플럭스의 증가가 뚜렷했다. 사과와 당근비가 3:1인 실험구에서 가용성 고형분과 총당의 함량이 높게 측정되었고, 가용성 고형분의 경우 시료배합비율의 영향이, 총당의 경우 온도의 영향이 큰 것으로 나타났다. 시료배합비율에 따른 비타민 C 함량차이는 크지 않았으나 당근의 함량이 많을수록 비타민 C의 함량이 높게 측정되었고, 압력증가에 따른 비타민 C 함량 증가가 뚜렷했다. 사과의 함량이 높을수록 산도도 높았고, 온도증가에 따른 산도의 증가도 뚜렷했다. 한외여과 결과, 전 시료에 걸쳐 우수한 청징효과를 나타내었고, 사과와 당근비가 3:1인 실험구에서 그 청징효과가 두드러졌으며, 또한 점도변화도 가장 컸다. 또한 공정최적화 결과 공정온도 및 ATP가 각각 $44.97^{\circ}C$, 113.57 kPa이고 사과의 혼합비율이 28.50%인 경우 $flux=0.216\;L/m^2.h$, soluble $solids=10.39^{\circ}Brix$, total sugar=71.32 mg/mL, vitamin C=315.18 mg%, acidity=7.78 mL, turbidity=0.017, viscosity=1.44 cp인 사과.당근 혼합과채주스를 제조할 수 있는 것으로 나타났다.

• 품질경영학회지
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• 제40권3호
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• pp.347-358
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• 2012

Purpose: Given the mixture components - process variables experimental data, we propose the strategy to find the proper combined model. Methods: Process variables are factors in an experiment that are not mixture components but could affect the blending properties of the mixture ingredients. For example, the effectiveness of an etching solution which is measured as an etch rate is not only a function of the proportions of the three acids that are combined to form the mixture, but also depends on the temperature of the solution and the agitation rate. Efficient designs for the mixture components - process variables experiments depend on the mixture components - process variables model which is called a combined model. We often use the product model between the canonical polynomial model for the mixture and process variables model as a combined model. Results: First we choose the reasonable starting models among the class of admissible product models and practical combined models suggested by Lim(2011) based on the model selection criteria and then, search for candidate models which are subset models of the starting model by the sequential variables selection method or all possible regressions procedure. Conclusion: Good candidate models are screened by the evaluation of model selection criteria and checking the residual plots for the validity of the model assumption. The strategy to find the proper combined model is illustrated with examples in this paper.

• 품질경영학회지
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• 제39권3호
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• pp.400-411
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• 2011

Process variables are factors in an experiment that are not mixture components but could affect the blending properties of the mixture ingredients. For example, the effectiveness of an etching solution which is measured as an etch rate is not only a function of the proportions of the three acids that are combined to form the mixture, but also depends on the temperature of the solution and the agitation rate. Efficient designs for the mixture components-process variables experiments depend on the mixture components-process variables model which is called a combined model. We often use the product model between the canonical polynomial model for the mixture and process variables model as a combined model. In this paper we propose three starting models for the mixture components-process variables experiments. One of the starting model we are considering is the model which includes product terms up to cubic order interactions between mixture effects and the linear & pure quadratic effect of the process variables from the product model. In this paper, we propose a method for finding robust designs and practical designs with respect to D-, G-, and I-optimality for the various starting combined models and then, we find practically efficient and robust designs for estimating the regression coefficients for those models. We find the prediction capability of those recommended designs in the case of three components and three process variables to be good by checking FDS(Fraction of Design Space) plots.

• 한국지능시스템학회논문지
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• 제21권2호
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• pp.268-275
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• 2011

본 논문에서는 uDEAS(Univariate Dynamic Encoding Algorithm for Searches)를 이용하여 두 가지의 이동 로봇 최적 전역 경로 계획을 제안한다. 이동 로봇의 자율 주행을 위해서는 빠른 시간 내에 작업 공간에서의 최적 경로를 생성해야 한다. 따라서 본 논문에서는 이동 로봇의 실시간 최적 경로 계획을 위해 전역 경로 계획을 도입하여 장애물 지역과 비장애물 지역을 확인하고, 지도상의 노드점과 노트점을 이용하여 출발 지점과 도착 지점 사이의 기본 경로를 생성한다. 그리고 기본 경로를 사용하여 두 가지의 방법으로 경로를 생성하게 된다. 첫 번째 방법은 기본 경로에서 세 개의 노드점을 이용하여 대각선 경로를 생성하는 방법이다. 두 번째는 혼합 다항식의 파라미터를 uDEAS를 이용하여 탐색하고, 곡선 궤적을 생성하는 방법이다. 시뮬레이션을 통해 두개의 방법에 대해 비교 분석하였다.