• Journal of the Korea Institute of Military Science and Technology
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• v.23 no.4
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• pp.407-416
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• 2020

Recent complex battle field demands Network Centric Warfare(NCW) ability to control various parts into a cohesive unit. In path planning filed, the NCW ability increases complexity of path planning algorithm, and it has to consider a communication coverage map as well as traditional parameters such as minimum radar exposure and survivability. In this paper, pros and cons of various propagation models are summarized, and we suggest a coverage map generation method using a Longley-Rice propagation model. Previous coverage map based on line of sight has significant discontinuities that limits selection of path planning algorithms such as Dijkstra and fast marching only. If there is method to remove discontinuities in the coverage map, optimization based path planning algorithms such as trajectory optimization and Particle Swarm Optimization(PSO) can also be used. In this paper, the Longley-Rice propagation model is used to calculate continuous RF strengths, and convert the strength data using smoothed leaky BER for the coverage map. In addition, we also suggest other types of rough coverage map generation using a lookup table method with simple inputs such as terrain type and antenna heights only. The implemented communication coverage map can be used various path planning algorithms, especially in the optimization based algorithms.

• Computers and Concrete
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• v.12 no.3
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• pp.261-283
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• 2013

This paper aims to contribute to the three-dimensional generalization of numerical prediction of crack propagation through the formulation of finite elements with embedded discontinuities. The analysis of crack propagation in two-dimensional problems yields lines of discontinuity that can be tracked in a relatively simple way through the sequential construction of straight line segments oriented according to the direction of failure within each finite element in the solid. In three-dimensional analysis, the construction of the discontinuity path is more complex because it requires the creation of plane surfaces within each element, which must be continuous between the elements. In the method proposed by Chaves (2003) the crack is determined by solving a problem analogous to the heat conduction problem, established from local failure orientations, based on the stress state of the mechanical problem. To minimize the computational effort, in this paper a new strategy is proposed whereby the analysis for tracking the discontinuity path is restricted to the domain formed by some elements near the crack surface that develops along the loading process. The proposed methodology is validated by performing three-dimensional analyses of basic problems of experimental fractures and comparing their results with those reported in the literature.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1245-1248
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• 2004

This paper presents a new technique to analyze data on the coordinate x, y, z and apply these data to design the motion control to improve the efficiency of the engraving machine so that it can engrave accordingly in 3 dimensions. First, the tool path on the x-y plane is analyzed to be synchronized with the z-axis. The digital data is then sent to the motion control to guide the movement of the engrave point on the x-y plane. Tool path moves along the x-axis with zero degree and different values of the y-axis according to the coordinate of the digital data and the analysis along z-axis to determine the depth for engraving. The depth can be specified from the gray level with the 256 levels of resolution. The data obtained includes the distances on x-axis, y-axis, and z-axis, the acceleration of the engrave point's movement, and the speed of the engrave point's movement. These data is then transfered to the motion control to guide the movement of the engrave point along the z-axis associated with the x-y plane. The results indicate that engraving using this technique is fast and continuous. The specimen obtained looks perfect in 3D view.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.19 no.4
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• pp.37-43
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• 2011

Lunar exploration program has been prepared with the aim of launch in the 2020's. As part of it, a lunar lander demonstrator has been developed which is the model for verifying all the system, such as structure, propulsion and control system before launch to deep space. After verifying all the system, the demonstrator will be evaluated by flight test. This paper deals with path tracking controller based on thrusters for the demonstrator. For this, first we derive equations of motion according to the allocation of thrusters and design the path tracking controller. The signal generated from the controller is continuous so PWPF(Pulse-Width Pulse-Frequency) modulator is adopted for generating on/off signal. Finally MATLAB simulation is performed for evaluating the path tracking ability and the final landing velocity.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.464-467
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• 1995

Autonomous Mobile Robot(AMR) is a field of study which is under active research along with rapid development of the engineering technology. The main reasons for the high interest in AMR are because of its ability to change work space freely and its capability to replace human being for difficult and dangerous jobs. Also the fact that AMR provides a variety of research fields, such as path planning, navigation algorithm, sensor fusion, image processing, and controller design is part of the reason for its popularity. But relatively few researches are concerned with controller. So in this paper, a control strategy of mobile robot with nonholonomic constraint for tracking ordered discontinuous motion is proposed. The proposed control strategy has been designed as a state feedback shape to allow the AMR to obtain continuous velocity and track the path which is composed of discontinuous motions. In order to design such controller, 3 states have been reduced to 2 states through coordinate projection. These ideas are tested for validity through simulation and simulation result is compared with experiments result.

• Journal of Computational Design and Engineering
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• v.2 no.4
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• pp.206-217
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• 2015

This paper presents a complete S-shape feed rate scheduling approach (CSFA) with confined jerk, acceleration and command feed rate for parametric tool path. For a Non-Uniform Rational B-Spline (NURBS) tool path, the critical points of the tool path where the radius of curvature reaches extreme values are found firstly. Then, the NURBS curve is split into several NURBS sub-curves or blocks by the critical points. A bidirectional scanning strategy with the limitations of chord error, normal/tangential acceleration/jerk and command feed rate is employed to make the feed rate at the junctions between different NURBS blocks continuous. To improve the efficiency of the feed rate scheduling, the NURBS block is classified into three types: short block, medium block and long block. The feed rate profile corresponding to each NURBS block is generated according to the start/end feed rates and the arc length of the block and the limitations of tangential acceleration/jerk. In addition, two compensation strategies are proposed to make the feed rate more continuous and the arc increment more precise. Once the feed rate profile is determined, a second-order Taylor's expansion interpolation method is applied to generate the position commands. Finally, experiments with two free-form NURBS curves are conducted to verify the applicability and accuracy of the proposed method.

• Proceedings of the Acoustical Society of Korea Conference
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• 1994.06a
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• pp.1027-1032
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• 1994

This paper introduces a interword modeling and a Viterbi search method for continuous speech recognition. We also describe a development of a real-time voice dialing system which can recognize around one hundred words and continuous digits in speaker independent mode. For continuous digit recognition, between-word units have been proposed to provide a more precise representation of word junctures. The best path in HMM is found by the Viterbi search algorithm, from which digit sequences are recognized. The simulation results show that a interword modeling using the context-dependent between-word units provide better recognition rates than a pause modeling using the context-independent pause unit. The voice dialing system is implemented on a DSP board with a telephone interface plugged in an IBM PC AT/486.

• Computers and Concrete
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• v.23 no.4
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• pp.235-243
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• 2019

The discontinuous Galerkin method (DGM) has become widely used as it possesses several qualities, such as a natural ability to dealing with discontinuities. DGM has its major success related to fluid mechanics. Its major importance is the ability to deal with discontinuities and still provide high order of approximation. That is an important advantage when simulating cracking propagation. No remeshing is necessary during the propagation, since the crack path follows the interface of elements. However, DGM comes with the drawback of an increased number of degrees of freedom when compared to the classical continuous finite element method. Thus, it seems a natural approach to combine them in the same simulation obtaining the advantages of both methods. This paper proposes the application of the combined continuous-discontinuous Galerkin method (CDGM) to crack propagation. An important engineering problem is the simulation of crack propagation in concrete structures. The problem is characterized by discontinuities that evolve throughout the domain. Crack propagation is simulated using CDGM. Discontinuous elements are placed in regions with discontinuities and continuous elements elsewhere. The cohesive zone model describes the fracture process zone where softening effects are expressed by cohesive zones in the interface of elements. Two numerical examples demonstrate the capacities of CDGM. In the first example, a plain concrete beam is submitted to a three-point bending test. Numerical results are compared to experimental data from the literature. The second example deals with a full-scale ground slab, comparing the CDGM results to numerical and experimental data from the literature.

• Journal of the Korean Geotechnical Society
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• v.35 no.9
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• pp.5-13
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• 2019

The soil-water characteristic curve (SWCC) plays an important role in determining the soil suction parameters required to predict the seepage or shear behaviors of unsaturated soils. In addition, path dependency of the SWCC affects the mechanical and hydrologic behaviors. In general, there is a disadvantage that it takes a long time to measure both the drying and wetting paths of the SWCC by a stepwise pressurization method. Thus, the continuous pressurization method as an improved testing method for the SWCC was suggested, and the testing time for two paths of the SWCC was significantly shorter than the conventional methods. For the applicability evaluation of this method, the results of the SWCC obtained by the stepwise pressurization method and the evaporation method in this study were compared to the result obtained from this method. As a result, it was found that the difference among three methods was negligible, and the testing time of the continuous pressurization method was greatly decreased. Therefore, it can be said that it is possible to quickly and accurately measure the SWCC under various conditions by the continuous pressurization method.

• Proceedings of the KSRS Conference
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• 1999.11a
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• pp.290-295
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• 1999

Lineament extraction from mountain area often provides valuable geological information. In many cases, the lineaments correspond to a series of continuous large valleys. This paper introduces a new lineament extraction method from Digital Elevation Model (DEM) using Raindrop Tracing Algorithm (RTA). The main advantage of this algorithm over conventional Segment Tracing Algorithm (STA) is that it utilizes DEM directly unlike the STA Which utilizes the shaded relief of DEM. The RTA simulates the real life of raindrops that converge into a large valley. The simulation has been done by sprinkling the randomized raindrops over DEM and counting the number of raindrop path that follows the negative gradient of the DEM. The large counting number indicates the location of a big valley where the raindrops converge. With the help of the counting number array (accumulator array) recording the flowing path information, RTA can produce perfectly unbiased binary image of the lineament.