• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.36-41
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• 2011

Configuration space(C-space) including configuration obstacle(C-obstacle) is one of the most important concepts in mobile robot path planning. Using C-space and C-obstacles, the robot with different shapes and moving mechanisms can be considered as a point in the C-space. And, as a result, the collision-free path for the robot can be easily achieved. To make C-space including C-obstacle, many researchers used circular approximation method for the efficient caluculation time. This method can help us to save our time by approximating the shape of a robot as the minimum sized circle which can cover all the area of robot. But, by using the circle larger than the robot, more space are considered as the part of robot and, as a result, some obstacles which are very near each other may be considered as a combined one obstacle. To solve this problem, multi-level configuration space is proposed by this paper. This multi-level method also use the circular approximation method as the initial step. But, after finding the initial path, it will check how many obstacles are combined. And then, for each combined obstacle, more accurate C-space generation will be continued. To check the efficiency of the proposed algorithm, time for c-space generation are compared with the well-known accurate C-space generation method using various types of robot shape.

• Korean Journal of Computational Design and Engineering
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• v.7 no.1
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• pp.34-41
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• 2002

Five-axis NC machining, in general, is utilized in fabricating impellers, turbine blades, marine propellers that can be machined more effectively rather than three-axis machining. There have been many researches concerning tool interference avoidance, optimization of tool orientation. The C-space or Configuration-space was originated from the robotics area, which depicts interference-free joint-values in motion planning. In the paper we propose an optimizing scheme by which the maximum effective-radius of a face-milling cutter can be achieved for each CC(cutter-contact) point. Also the concept of a C-space for a CC point, the effective-radius map for 5-axis face-milling, and some illustrative examples of marine propeller machining, are presented.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.11
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• pp.970-975
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• 2002

We suggests an effective method to construct time-varying C-obstacles in the 3-dimensional configuration space (C-space) using free arc. The concept of free arc was defined mathematically and the procedure to find free arc in the case off-dimensional C-space was derived in [1]. We showed that time-varying C-obstacles can be constructed efficiently using this concept, and presented simulation results for two SCARA robot manipulators to verify the efficacy of the proposed approach. In this paper, extensions of this approach to the 3-dimensional C-space is introduced since nearly all industrial manipulators are reasonably treated ill the too or three dimensional C-space f3r collision avoidance problem The free arc concept is summarized briefly and the method to find lice arc in the 3-dimensional f-space is explained. To show that this approach enables us to solve a practical collision avoidance problem simulation results f3r two PUMA robot manipulators are presented.

• Journal of the Mineralogical Society of Korea
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• v.11 no.1
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• pp.45-67
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• 1998

FORTRAN program PHYLS was developed to model the structures of 2:1 1M and 2M1 phyllosilicates on the basis of geometrical analyses. Input to PHYLS requires the chemical composition and d(001) spacing of the mineral. The output from PHYLS consists of the coordinates of the crystallographically independent sites in the unit cell, and such structural parameters as the cell dimensions, interaxial angle, cell volume, interatomic distances, and deformation angles of the polyhedra. PHYLS can generate these structural details according to the user's choice of space group and cation configuration. User can choose one of such space groups as C2/m, C2,and C2/c and such cation configurations as random and ordered tetrachedral/octahedral cation configurations. PHYLS simulated the structures of dioctahedral and trioctahedral phyllosilicates having random tetrahedral cation configuration fairly close to the reported experimentally determined structures. In contrast, the simulated structures for ordered tetrahedral cation configurations showed greater deviation from the experimentally determined structures than those for random configurations. However, if the cations were partially ordered and the sizes of the tetrahedra became similar, the simulated PHYLS may be helpful in various investigations on the relationships between structures and physicochemical properties of the phyllosilicates.

• The Transactions of the Korean Institute of Electrical Engineers C
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• v.52 no.7
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• pp.310-313
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• 2003

The purpose of this paper is to evaluate the effects of pre-formed space charges by DC stress on partial discharge(PD) characteristics in XLPE. We have suggested a modified pulsed electro-acoustic(PEA) method and successfully measured both space charge distribution and current simultaneously. It has been demonstrated that the PD patterns are strongly influenced by the pre-formed space charge distributions, which are hardly disappeared up to AC 8㎸ in electrode configuration including air gap between XLPE layer and electrode. From the results, it could be said that the pre-formed space charges by DC stress can play harmful and dangerous roles in insulating system under AC operating voltages because of the field distortion and localization due to the pre-formed space charge.

• The Journal of Korea Robotics Society
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• v.3 no.1
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• pp.1-8
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• 2008

Automatic parking assist system is one of the key technologies of the future automobiles. Control problem of a car-like vehicle is not easy due to the nonholonomic constraints. In this paper, a practical solution for planning a car-parking path is proposed according to the proposed motion space (M-space) approach. The M-space is the extension of the conventional configuration space (C-space). A collision-free, nonholonomic feasible path can be directly computed by the M-space conversion and a back-propagation of reachable regions from the goal. The proposed planning scheme provide not a single solution, but also a candidate solution set, therefore, optimization of the parking path can be easily carried out with respect to performance criteria such as safety, maneuvering, and so on. Presented simulation results clearly show that the proposed scheme provides various practical solutions.

• Advances in aircraft and spacecraft science
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• v.5 no.2
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• pp.251-258
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• 2018

This work illustrates the progress of a TAS activity at exploring the challenges and the benefits of the Virtual Shaker Testing (VST) approach. The definition and the validation of new computational methodologies with respect to the state of the art were encouraged throughout this activity. The shaker Finite Element (FE) model in lateral configuration was built for the purpose and it was merged with the SpaceCraft (S/C) FE model, together with the S/C-Shaker adapter. FE matrices were reduced through the Craig-Bampton method. The VST transient analysis was performed in MATLAB(R) numerical computing environment. The closed-loop vibration control is accounted for and the solution is obtained through the fourth-order Runge Kutta method. The use of pre-existing built-in functions was limited by authors with the aim of tracing the impact of all the problems' parameters in the solution. Assumptions and limitations of the proposed methodology are detailed throughout this paper. Some preliminary results pertaining to the current progress of the activity are thus illustrated before the conclusions.

• Korean Institute of Interior Design Journal
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• v.20 no.3
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• pp.249-258
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• 2011

As the elderly population are rapidly growing, the elderly who needs special care and nursing homes for them are also growing. However, many nursing homes were planned without considering the hierarchial space organization such as division of housing unit and nursing unit based on the cognitive and behavioral characteristics of the elderly or accessibility and supportiveness of the staff. This study was to examine the hierarchial characteristics in space organization of nursing homes by using Space Syntax. The subjects were 8 nursing homes in Busan. First, spaces in nursing homes were divided into five areas based on the literature review. Then the hierarchy of space organization for the access layer and layers of living floors was grasped by using G-graph. The access layer has a tree-type hierarchical structure and high visuality. Also, average depth of the space was 5. Then the full integration was analyzed. Mobile area, such as elevator, hallways, or living rooms has a high accessibility and the middle corridor type has commonly been characterized. The nursing stations were analyzed through the control degree and it was low in three nursing homes such as B, C, and G. The low clarity was showed in B, D, and F. The low clarity means that it is relatively difficult to recognize the whole space organization of nursing home. Even though the hierarchy of their living floors was tree-type structure with a high visuality, they has a type of grouping spaces around hallways and spreading, or a ring type.

• Korean Journal of Crystallography
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• v.16 no.1
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• pp.21-29
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• 2005

The crystal structure of an enantiomeric compound di-(2-picolyl)sulfur dichloro zinc(II), $C_{12}H_{12}N_2SCl_2Zn$, could be elucidated with two space groups $P4_12_12\;and\;P4_32_12$. However, its absolute configuration with the space group $P4_12_12$ was confirmed by means of the effect of anomalous dispersion.

• Journal of Aerospace System Engineering
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• v.16 no.4
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• pp.68-76
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• 2022

The purpose of this paper was to design the cable networks for mesh reflector antennas, considering the flexibility of structures. An effective form-find methodology is proposed. The whole parts of the cable networks are described by the absolute nodal coordinate formulation. Additionally, nonlinear deformation of the cable can be obtained. The form-finding analysis of the reflector with standard configuration is performed, to validate the proposed methodology. The truss ring structure is numerically modeled using the frame elements. To consider the flexibility of the truss ring as well as the cable net structure, an iteration analysis between the truss ring and the cable net under tensional forces is also performed in the form-finding process. The finial configuration of the reflector with tensioned cable networks is demonstrated.