• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.430-433
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• 1996

In This paper, we design the developed path generation method which is named that CBPM(Continuous path generation method Based artificial Potential field) that is able to be used in the obstacles environment. This CBPM is designed so that it puts together two obstacle avoidance algorithm-the continuous path generation method and the artificial potential field method. Here, the continuous path generation method generate the safety path using continuous path curvature. But, this method has demerits when used in obstacles environment in which are closely located. Another method which is named the artificial potential field method generates the path with the artificial potential field in the obstacles environment. But, APFM has local minima in certain places and unnecessarily calculates the path in which obstacles are not located. So, the developed path generation method, CBPM, is suggested and performances in many different obstacles environments are shown by using computer simulation.

• Journal of the Korea Institute of Military Science and Technology
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• v.4 no.2
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• pp.17-29
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• 2001

In this paper, we designed the hybrid path generation method which is named CAPM(Continuous path generation method based on artificial Potential field) that is able to be used in the obstacles environment. This CAPM was designed so that it puts together two obstacle avoidance algorithm-the continuous path generation method(CPGM) and the artificial potential field method(APFM). Here, the CAPM generate the safety path using continuous path curvature. But, this method has demerits when used in obstacles environment in which are closely located. Another method which is named the APFM generates the path with the artificial potential field in the obstacles environment. But, It has local minima in certain places and unnecessarily calculates the path in which obstacles are not located. So, the CAPM was designed for autonomous underwater vehicle(AUV) obstacle avoidance. As the result of simulation, it was confirmed that the CAPM can be applied to a safe path generation for AUV.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2022.10a
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• pp.264-266
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• 2022

In order to apply the RNN model to the radio fingerprint-based indoor path generation technology, the data set must be continuous and sequential. However, Wi-Fi radio fingerprint data is not suitable as RNN data because continuity is not guaranteed as characteristic information about a specific location at the time of collection. Therefore, continuity information of sequential positions should be given. For this purpose, clustering is possible through classification of each region based on signal data. At this time, the continuity information between the clusters does not contain information on whether actual movement is possible due to the limitation of radio signals. Therefore, correlation information on whether movement between adjacent clusters is possible is required. In this paper, a deep learning network, a recurrent neural network (RNN) model, is used to predict the path of a moving object, and it reduces errors that may occur when predicting the path of an object by generating continuous location information for path generation in an indoor environment. We propose a method of giving correlation between clustering for generating an improved moving path that can avoid erroneous path prediction that cannot move on the predicted path.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.05a
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• pp.458-459
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• 2021

Recently, researches using deep learning technology based on Wi-Fi fingerprints have been conducted for accurate services in indoor location-based services. Among the deep learning models, an RNN model that can store information from the past can store continuous movements in indoor positioning, thereby reducing positioning errors. At this time, continuous sequential data is required as training data. However, since Wi-Fi fingerprint data is generally managed only with signals for a specific location, it is inappropriate to use it as training data for an RNN model. This paper proposes a path generation method through prediction of a moving path based on Wi-Fi fingerprint data extended to region data through clustering to generate sequential input data of the RNN model.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.138-142
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• 2014

This research presents an A* based algorithm which can be applied to Unmanned Ground Vehicle self-navigation in order to make the driving path smoother. Based on the grid map, A* algorithm generated the path by using straight lines. However, in this situation, the knee points, which are the connection points when vehicle changed orientation, are created. These points make Unmanned Ground Vehicle continuous navigation unsuitable. Therefore, in this paper, B-spline curve function is applied to transform the path transfer into curve type. And because the location of the control point has influenced the B-spline curve, the optimal control selection algorithm is proposed. Also, the optimal path tracking speed can be calculated through the curvature radius of the B-spline curve. Finally, based on this algorithm, a path created program is applied to the path results of the A* algorithm and this B-spline curve algorithm. After that, the final path results are compared through the simulation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.10a
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• pp.106-110
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• 2001

The ball-end milling process is widely used in the die/mold industries, and it is very suitable for the machining of free-form surfaces. However, this process is inherently inefficient process to compared with the end-milling or face milling process, since it relays upon the machining at the cutter/surface contact point. The machined part is the result of continuous point-to-point machining on the free-form surface. And cusps (or scallops) remain at the machined part along the cutter paths and they give the geometrical roughness of the workpiece. Thus, for the good geometrical roughness of the workpiece, it is required very tightly spaced cutter paths in this ball-endmilling process. However, with the tight cutter paths, the geometrical roughness of the workpiece is not regular on the workpiece since the cusp height is variable in the previously developed ISO-parametric or Cartesian machining methods. This paper suggests a method of tool path generation which makes the geometrical roughness of workpiece be constant through the machined surface. In this method, Ferguson Surface design Model is used and cusp height is derived from the instantaneous curvatures. And, to have constant cusp height, an increment of parameter u or v is estimated along the reference cutter path. In ball-end milling experiments, the cusp pattern was examined, and it was proved that the geometrical roughness could be regular by suggested tool path generation method.

• 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.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.2
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• pp.95-102
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• 2001

In general there are many degrees of freedom(DOFs) in industrial robots. So they have many poses of several special end-effectors positions and orientations. For that reason, industrial robots are used in a wide scope of industrial applica-tions such as welding, spray painting, deburring, and so on. In this research, an off-line continuous path planning method based on linear interpolation with parabolic blend is developed. The method safely maintains the constant orientation for base frame and end-effectors path within allowable error and minimizes the number of segments in path. This algorithm may apply to welding and painting in which the orientation is particularly significant. The simulation study of cartesian curve is carried out to show the performance of this algorithm.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.3
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• pp.112-121
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• 2002

This paper describes a new bike system for the postural balance rehabilitation training. Virtual environment and three dimensional graphic model is designed with CAD tools such as 3D Studio Max and World Up. For the real time bike simulation, the optimized WorldToolKit graphic library is embedded with the dynamic geometry generation method, multi-thread method, and portal generation method. In this experiment, 20 normal adults were tested to investigate the influencing factors of balancing posture. We evaluated the system by measuring the parameters such as path deviation, driving velocity, COP(center for pressure), and average weight shift. Also, we investigated the usefulness of visual feedback information by weight shift. The results showed that continuous visual feedback by weight shift was more effective than no visual feedback in the postural balance control It is concluded this system might be applied to clinical use as a new postural balance training system.

• Korean Journal of Computational Design and Engineering
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• v.11 no.3
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• pp.205-210
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• 2006

Curve tessellation, which generates a sequence of points from a curve, is very important for curves rendering on a computer screen and for NC machining. For the most case the sequence of discrete points is used rather than a continuous curve. This paper deals with a method of tessellation by calculating the maximal deviation of a curve. The maximal deviation condition is introduced to find the point with the maximal chordal deviation on a curve segment. In the previous research a curve tessellation was tried by the subdivision method, that is, a curve is subdivided until the maximal chordal deviation is less than the given tolerance. On the other hand, a curve tessellation by sequential method is tried in this paper, that is, points are generated successively by using the local property of a curve. The sequential method generates relatively much less points than the subdivision method. Besides, the sequential method can generate a sequence of points from a spatial curve by approximation to a planar curve. The proposed method can be applied for high-accuracy curve tessellation and NC tool-path generation.