• Journal of Electrical Engineering and Technology
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• 제10권2호
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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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.

• 구강회복응용과학지
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• 제28권4호
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• pp.371-383
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• 2012

성공적인 근관치료를 위하여 원래 근관 형태를 따르는 근관 성형 과정이 중요하다. 그러나 대부분의 근관은 만곡되어 있고, 근관 성형 기구는 직선의 금속을 기본으로 만들어지기 때문에 근관 성형 후 만곡 근관이 원래 근관 형태를 벗어나는 오류가 나타날 수 있다. 이런 오류들로 인하여 근관 치료가 실패할 수 있으므로 근관 성형시 원래 만곡형태를 유지할 수 있는 다양한 기술과 방법들이 소개되고 있다. 본 연구의 목적은 만곡 근관 형태의 레진 모형을 이용하여 기구의 형태와 사용방법이 다른 세 가지 Ni-Ti 파일을 사용하여 Ni-Ti 파일 종류에 따른 만곡 근관에 대한 성형 후 형태 유지능을 비교하는 것이다. 직경과 경사도가 ISO 15, 0.02인 30개의 레진모형을 사용하였다. 그룹 1은 Profile을 이용하여 #20/.06까지 근관 성형하였고, 그룹 2는 Mtwo를 이용하여 #35/.04까지 근관 성형하였으며, 그룹 3은 PathFile을 이용하여 glide path를 만들어준 다음 WaveOne 파일 중 Primary을 사용하여 근관 성형하였다. 기구 사용 전과 후의 레진모형을 스캔하여 디지털 이미지로 만들었다. 각 이미지를 중첩시킨 다음 Matlab r2010b 소프트웨어를 이용하여 곡률반경의 비(CRr)를 계산하였다. 이를 바탕으로 Ni-Ti file 간 성형 후 형태 유지능을 비교하기 위하여 1-way ANOVA를 이용하여 세 그룹의 CRr의 차이에 대한 유의성 검정을 시행하였다.(P<.05) 또한 continuous rotary system과 single file system간의 형태 유지능을 비교하기 위하여 independent t-test를 이용하였다.(P<.05) 곡률반경의 비(CRr)를 이용하여 Ni-Ti 파일 종류에 따른 만곡 근관의 형태 유지능을 비교한 결과 Ni-Ti file 간에는 통계적으로 유의한 차이가 있었다.(P<0.05) ProFile과 WaveOne은 Mtwo에 비해서 만곡 근관에서의 형태 유지능이 우수하게 나타났다.Ni-Ti 기구 사용 방법에 따른 만곡 근관 형태 유지능을 비교한 결과 continuous rotary system과 single file system 간에는 통계적으로 유의한 차이를 보이지 않았다.(P>0.05) 본 연구결과에 따르면, ProFile과 WaveOne은 Mtwo에 비하여 만곡 근관에서의 형태 유지능이 통계적으로 유의하게 높게 나타났으므로, ProFile과 WaveOne이 만곡근관에 대한 형태 유지능이 우수하다고 할 수 있다. 만곡근관에서의 형태 유지능에 있어서 continuous rotary system과 single file system은 만곡근관에서의 형태 유지능에 차이가 없다.

• 한국군사과학기술학회지
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• 제4권2호
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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.

• 한국군사과학기술학회지
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• 제15권4호
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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.

• 한국수학교육학회지시리즈B:순수및응용수학
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• 제20권4호
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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.

• 제어로봇시스템학회논문지
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• 제20권2호
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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.

• 대한수학회보
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• 제50권4호
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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.

• 동력기계공학회지
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• 제22권6호
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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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• 제2권4호
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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.