• Journal of Electrical Engineering and Technology
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• v.10 no.2
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• pp.676-687
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• 2015

Path planning algorithms are used to allow mobile robots to avoid obstacles and find ways from a start point to a target point. The general path planning algorithm focused on constructing of collision free path. However, a high continuous path can make smooth and efficiently movements. To improve the continuity of the path, the searched waypoints are connected by the proposed polynomial interpolation. The existing polynomial interpolation methods connect two points. In this paper, point groups are created with three points. The point groups have each polynomial. Polynomials are made by matching the differential values and simple matrix calculation. Membership functions are used to distribute the weight of each polynomial at overlapped sections. As a result, the path has $G^2$ continuity. In addition, the proposed method can analyze path numerically to obtain curvature and heading angle. Moreover, it does not require complex calculation and databases to save the created path.

• 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 Dental Rehabilitation and Applied Science
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• v.28 no.4
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• pp.371-383
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• 2012

Shaping the root canal system to maintain original canal curvature is essential to clinical success in endodontic treatment. Opposed to most root canals that are curved, endodontic instruments are made from straight metal blanks. They have a tendency of straightening the root canal during preparation and frequently result in procedural errors. A new treatment method to maintain original canal curvature during shaping has been introduced for preventing procedural errors. The aim of this study was to compare the ability of instruments to maintain original canal curvature of continuous rotary system and single file system. Thirty ISO 15, 0.02 taper, Endo Training Blocks(Dentsplay Maillefer) were used. Specimens were assigned to 1 of 3 groups for shaping: specimens in group 1 were shaped with ProFile #20/.06 at the WL. Specimens in group 2 were shaped with Mtwo #35/.04 at the WL. Specimens in group 3 were shaped with WaveOne Primary reciprocating files at the WL after the glide path was achieved with PathFile. Pre- and postinstrumentation digital images were superimposed and processed with Matlab r2010b(The MathWorks Inc, Natick, MA) software to analyze the curvature-radius ratio(CRr), representing canal curvature modification. Data for comparison on the ability of instruments to maintain original canal curvature depending on each Ni-Ti file were analyzed with 1-way ANOVA(P<.05). Data for comparison on the ability of instruments to maintain original canal curvature depending on each Ni-Ti file system were analyzed with independent t-test(P<.05). A statistically significant difference(P<0.05) was noted on each Ni-Ti file. ProFile and WaveOne instrumentations maintained the original canal curvature significantly better(P<0.05) than Mtwo file. There were no significant difference(P>0.05) between continuous rotary system and single file system. Under the conditions of this study, ProFile and WaveOne instruments maintained the original curvature significantly better than Mtwo file and were less modification of the canal curvature compared. There was no significant difference between continuous rotary system and single file system in shaping of simulated canals. As clinical practitioners, it may be advantages to use hybrid approach when root canal shapes depending on the design and usage of Ni-Ti files.

• 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.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.4
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• pp.424-434
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• 2012

This paper presents a path planning algorithm of the unmanned aerial vehicle for the neutralization of the enemy firepower. The long range firepower of the ememy is usually located at the rear side of the mountain which is difficult to bomb. The path planner not only consider the differential constraints of the Unmanned Aerial Vehicle (UAV) but also consider the final approaching angle constraint. This problem is easily solved by incorporating the analytical upper bounded continuous curvature path smoothing algorithm into the Rapidly Exploring Random Tree (RRT) planner. The proposed algorithm can build a feasible path satisfying the kinematic constraints of the UAV on the fly. In addition, the curvatures of the path are continuous over the whole path. Simulation results show that the proposed algorithm can generate a feasible path of the UAV for the bombing mission regardless of the posture of the tunnel.

• The Pure and Applied Mathematics
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• v.20 no.4
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• pp.269-276
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• 2013

We find an explicit $C^{\infty}$-continuous path of Riemannian metrics $g_t$ on the 4-d hyperbolic space $\mathbb{H}^4$, for $0{\leq}t{\leq}{\varepsilon}$ for some number ${\varepsilon}$ > 0 with the following property: $g_0$ is the hyperbolic metric on $\mathbb{H}^4$, the scalar curvatures of $g_t$ are strictly decreasing in t in an open ball and $g_t$ is isometric to the hyperbolic metric in the complement of the ball.

• 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.

• Bulletin of the Korean Mathematical Society
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• v.50 no.4
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• pp.1087-1098
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• 2013

We find a $C^{\infty}$-continuous path of Riemannian metrics $g_t$ on $\mathbb{R}^k$, $k{\geq}3$, for $0{\leq}t{\leq}{\varepsilon}$ for some number ${\varepsilon}$ > 0 with the following property: $g_0$ is the Euclidean metric on $\mathbb{R}^k$, the scalar curvatures of $g_t$ are strictly decreasing in $t$ in the open unit ball and $g_t$ is isometric to the Euclidean metric in the complement of the ball. Furthermore we extend the discussion to the Fubini-Study metric in a similar way.

• Journal of Power System Engineering
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• v.22 no.6
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• pp.58-66
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• 2018

The use of external gear pumps is an effective way to achieve adequate performance at low cost when composing hydraulic systems. The biggest drawback, on the other hand, is the accompanying noise. Gears of continuous contact shape are actively used for the pump recently. The continuous contact shape must be the helical type due to the nature of the gear pump that is driven only by the drive gear. In this paper the theoretical shape of continuous contact gear is analyzed using simple rack shape of straight lines and two circular arcs. Using such geometry, the theoretical equation will be developed by envelope curves according to the conjugate gear shape rules. After checking the validity of the theory by the shape of gear rules, the grinding shape was also developed. The 3D shapes using equation can be also drawn. It was also shown that contact ratio and radius of curvature are easily developed by the theoretical equations.

• 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.