• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 1995년도 춘계공동학술대회논문집; 전남대학교; 28-29 Apr. 1995
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• pp.629-634
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• 1995

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for an articulated robot. First, the configuration of the robot is formed by a set of robot joint angles derived fromm robot inverse kinematics. The joint space that is made of the joint angle set, forms a Configuration space (Cspace). Obstacles in the robot workcell are also transformed and mapped into the Cspace, which makes Cobstacles in the Cspace. (The Cobstacles represented in the Cspace is actually the configurations of the robot causing collision.) Secondly, a connected graph, a kind of roadmap, is constructed from the free configurations in the 3 dimensional Cspace, where the configurations are randomly sampled form the free Cspace. Thirdly, robot paths are optimally in order to minimize of the sum of joint angle movements. A path searching algorithm based on A is employed in determining the paths. Finally, the whole procedures for the CFPP method are illustrated with a 3 axis articulated robot. The main characteristics of the method are; 1) it deals with CFPP for an articulated robot in a 3-dimensional workcell, 2) it guarantees finding a collision free path, if such a path exists, 3) it provides distance optimization in terms of joint angle movements. The whole procedures are implemented by C on an IBM compatible 486 PC. GL (Graphic Library) on an IRIS CAD workstation is utilized to produce fine graphic outputs.

• Nuclear Engineering and Technology
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• 제53권12호
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• pp.3990-4002
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• 2021

CSPACE (Core meltdown, Safety and Performance Analysis CodE for nuclear power plants) for a simulation of severe accident progression in a Pressurized Water Reactor (PWR) is developed by coupling of verified system thermal hydraulic code of SPACE (Safety and Performance Analysis CodE for nuclear power plants) and core damage progression code of COMPASS (Core Meltdown Progression Accident Simulation Software). SPACE is responsible for the description of fluid state in nuclear system nodes, while COMPASS is responsible for the prediction of thermal and mechanical responses of core fuels and reactor vessel heat structures. New heat transfer models to each phase of the fluid, flow blockage, corium behavior in the lower head are added to COMPASS. Then, an interface module for the data transfer between two codes was developed to enable coupling. An implicit coupling scheme of wall heat transfer was applied to prevent fluid temperature oscillation. To validate the performance of newly developed code CSPACE, we analyzed typical severe accident scenarios for OPR1000 (Optimized Power Reactor 1000), which were initiated from large break loss of coolant accident, small break loss of coolant accident, and station black out accident. The results including thermal hydraulic behavior of RCS, core damage progression, hydrogen generation, corium behavior in the lower head, reactor vessel failure were reasonable and consistent. We demonstrate that CSPACE provides a good platform for the prediction of severe accident progression by detailed review of analysis results and a qualitative comparison with the results of previous MELCOR analysis.

• 대한산업공학회지
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• 제22권4호
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• pp.579-588
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• 1996

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for an articulated robot. First, the configuration of the robot is built by a set of robot joint angles derived from robot inverse kinematics. The joint space, that is made of the joint angle set, forms a Configuration space (Cspcce). Obstacles in the robot workcell are also transformed into the Cobstacles using slice projection method. Actually the Cobstacles means the configurations of the robot causing collision with obstacles. Secondly, a connected graph, a kind of roadmap, is constructed by the free configurations in the Cspace, where the free configurations are randomly sampled from a free Cspace immune from the collision. Thirdly, robot paths are optimally determinant in the connected graph. A path searching algorithm based on $A^*$ is employed in determining the paths. Finally, the whole procedures for the CFPP method are shown for a proper articulated robot as an illustrative example.