• 한국지능시스템학회논문지
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• 제21권1호
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• pp.36-41
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• 2011

모바일 로봇의 경로 계획을 위해 형태 공간(Configuration space)과 형태 장애물(Configuration obstacle)이라는 개념이 많이 활용되고 있다. 이 개념은 이동로봇을 공간 상에서 하나의 점으로 간주할 수 있도록 주변 장애물을 확장시킨다는 것으로, 이를 통해 장애물과의 충돌로부터 자유로운(Collision free) 이동 경로를 쉽게 찾아낼 수 있게 된다. 또한, 이러한 형태 공간 및 형태 장애물을 쉽게 생성하는 가장 보편적인 방법 중 하나는 이동 로봇의 형태를 원형으로 근사화하는 것이다. 이는 그 방법이 간단하기 때문에 이동 로봇의 구체적인 형태 및 이동 메커니즘을 고려하여 형태 공간을 생성하는 방법보다 형태장애물 생성 시간을 크게 단축시킬 수 있게 해준다. 하지만 이동 로봇을 원형으로 근사화하여 형태 장애물을 생성할 경우 비교적 가까이에 있는 실제 장애물들이 하나의 형태 장애물로 병합될 수 있다는 문제점이 있다. 이로 인하여 형태 공간내에서 이동 경로를 생성할 경우 최적의 이동 경로를 찾는다는 보장을 할 수가 없게 된다. 따라서 형태 공간 내에서 최적에 가까운 이동 경로를 효율적으로 찾도록 하기 위해 부분적으로 보다 정확한 형태 공간을 생성하면서도 전체 생성시간을 단축시킬 수 있는 다단계 형태 공간 생성 방법을 제안하였다. 제안된 방법은 로봇을 원형으로 근사화시킨 뒤 시작지점과 목표 지점을 잇는 이상적인 경로를 생성하고 이 경로 상에 존재하는 형태 장애물이 로봇의 원형근사화로 인해 주변의 다른 형태 장애물과 병합되었다면 해당 형태 장애물에 대해서만 보다 정확한 형태 장애물을 재 생성한다는 방법이다. 또한, 본 논문에서는 기존의 정확한 형태 공간 생성 방법과 새롭게 제안한 다단계 근사화 형태 공간 생성 방법을 비교하기 위해 다양한 이동 로봇의 형태와 회전 각도에 대해 형태 공간을 생성하는데 소요되는 생성 시간을 비교 분석해 보았다.

• 한국CDE학회논문집
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• 제7권1호
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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.

• 제어로봇시스템학회논문지
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• 제8권11호
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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.

• 한국광물학회지
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• 제11권1호
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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.

• 대한전기학회논문지:전기물성ㆍ응용부문C
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• 제52권7호
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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.

• 로봇학회논문지
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• 제3권1호
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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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• 제5권2호
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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.

• 한국실내디자인학회논문집
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• 제20권3호
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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.

• 한국결정학회지
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• 제16권1호
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• pp.21-29
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• 2005

거울상 이성질체인 di-(2-picolyl) sulfur dichloro Zinc(II), $C_{12}H_{12}N_2SCl_2Zn$의 결정구조가 두 개의 공간군 $P4_12_12\;과\;P4_32_12$로 밝혀질 수 있었다. 그러나 공간군 $P4_12_12$를 갖는 그의 absolute configuration이 anomalous dispersion의 효과에 의하여 확인되었다.

• 항공우주시스템공학회지
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• 제16권4호
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• pp.68-76
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• 2022

본 논문에서는 기하학적 특성을 고려한 케이블 네트 형상설계 방법론을 제시하고, 트러스 링 그리고 케이블 네트의 구조 유연도를 고려한 반사판 안테나의 케이블 네트워크 형상 실효성을 검증한다. 기하학적 비선형성을 고려한 케이블 네트의 유한요소 모델을 개발한다. 경계조건의 하중에 따른 형상변형 해석을 통하여, 케이블 네트의 형상 설계변수 특성을 제시 한다. 프레임 요소를 이용하여 전개형 트러스 링 구조를 모델링하고 정적 하중 해석을 수행한다. 전개된 링 구조에 가해지는 장력에 의해 케이블 네트 반사판은 정확한 형상을 유지하게 된다. 가해지는 장력, 케이블 네트 그리고 트러스 링 구조의 유연도를 고려하여, 케이블 네트워크 형상설계에 반영하고 최종 형상을 제시한다.