• Journal of Institute of Control, Robotics and Systems
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• v.8 no.11
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• pp.970-975
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• 2002

We suggests an effective method to construct time-varying C-obstacles in the 3-dimensional configuration space (C-space) using free arc. The concept of free arc was defined mathematically and the procedure to find free arc in the case off-dimensional C-space was derived in [1]. We showed that time-varying C-obstacles can be constructed efficiently using this concept, and presented simulation results for two SCARA robot manipulators to verify the efficacy of the proposed approach. In this paper, extensions of this approach to the 3-dimensional C-space is introduced since nearly all industrial manipulators are reasonably treated ill the too or three dimensional C-space f3r collision avoidance problem The free arc concept is summarized briefly and the method to find lice arc in the 3-dimensional f-space is explained. To show that this approach enables us to solve a practical collision avoidance problem simulation results f3r two PUMA robot manipulators are presented.

• Journal of the Korea Institute of Military Science and Technology
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• v.6 no.2
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• pp.73-82
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• 2003

For measurements and analysis of dielectric characteristics of planar slabs of microwave absorbing materials, I have applied a free-space method in the frequency range of 8~14 GHz. The measurement system for free-space method consists of transmit and receive antennas, mode transitions, precision coaxal cables, the network analyzer, and a computer Special Spot-focused horn lens antenna was used to eliminate diffraction effects. Diffraction effects at the edges of the sample are minimized by satisfying the condition for minimum transverse dimension of the plate and the beamwidth of the antennas at the focus. The time-domain gating feature of the network analyzer and the thru, reflect, and line(TRL) calibration technique were used to eliminate the effects of undesirable multiple reflections. The complex coefficients of reflection and transmission, $S_{11}$ and $S_{21}$, of planar samples were measured for standard materials such as Teflon, Rexolite$\textregistered$ 2200. The results were compared with existing measurement method. And I applied a free-space method for measurement to measure dielectric constants of some electromagnetic absorbing materials. Dielectric properties for the same samples were also measured with a 7mm coxial transmission line method for purposes of comparison with the free-space method.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.4
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• pp.362-367
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• 2011

The collision-free path of a manipulator should be regenerated in the real time to achieve collision safety when obstacles or humans come into the workspace of the manipulator. A probabilistic roadmap (PRM) method, one of the popular path planning schemes for a manipulator, can find a collision-free path by connecting the start and goal poses through the roadmap constructed by drawing random nodes in the free configuration space. The path planning method based on the configuration space shows robust performance for static environments which can be converted into the off-line processing. However, since this method spends considerable time on converting dynamic obstacles into the configuration space, it is not appropriate for real-time generation of a collision-free path. On the other hand, the method based on the workspace can provide fast response even for dynamic environments because it does not need the conversion into the configuration space. In this paper, we propose an efficient real-time path planning by combining the PRM and the potential field methods to cope with static and dynamic environments. The PRM can generate a collision-free path and the potential field method can determine the configuration of the manipulator. A series of experiments show that the proposed path planning method can provide robust performance for various obstacles.

• The Bulletin of The Korean Astronomical Society
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• v.44 no.2
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• pp.71.3-71.3
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• 2019

Previously we developed a method of coronal force-free field construction using vector potentials. In this method, the boundary normal component of the vector potential should be adjusted at every iteration step to implement the boundary normal current density, which is provided by observations. The method was a variational method in the sense that the excessive kinetic energy is removed from the system at every iteration step. The boundary condition imposing the normal current density, however, is not compatible with the variational procedure seeking for the minimum energy state, which is employed by most force-free field solvers currently being used. To resolve this problem, we have developed a totally new method of force-free field construction. Our new method uses a unique magnetic field description using two scalar functions. Our procedure is non-variational and can impose the boundary normal current density exactly. We have tested the new force-free solver for standard Low & Lou fields and Titov-Demoulin flux ropes. Our code excels others in both examples, especially in Titov-Demoulin flux ropes, for which most codes available now yield poor results. Application to a real active region will also be presented.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.11
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• pp.957-963
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• 2007

this study, helicopter rotor flow is simulated by using a tightly coupled CFD/FreeWake method to describe wake characteristics and to calculate the flow field and rotor aerodynamics. In this tightly coupled CFD/FreeWake method, freewake model provides the boundary condition required in the CFD calculation and CFD provides the pressure distribution on blade surface used in feewake generation. To show the advantage of this method, the pressure distributions on blade surface of a hovering 2-bladed rotor are compared with other numerical methods. This tightly coupled CFD/FreeWake method shows good accuracy in the predicted results and efficient computation time.

• Structural Engineering and Mechanics
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• v.23 no.2
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• pp.115-127
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• 2006

The axisymmetric free vibrations of transversely isotropic magnetoelectroelastic laminated circular plates are studied. Based on the three-dimensional governing equations of magnetoelectroelastic medium, the state space equations of laminated circular plates are obtained. By using the finite Hankel transform and rendering the free terms left by the transform in terms of the boundary quantities, the solutions of the state space equations are given for two kinds of boundary conditions. The frequency equations of the free vibration are derived using the propagator matrix method and the boundary conditions at top and bottom surfaces. By virtue of the inverse Hankel transform, the mode shapes are also determined. Since the solutions strictly satisfy the governing equations in the region and the boundary conditions at the edges, they are the three-dimensionally exact. Finally, the natural frequencies of such plates are tabulated and compared with those of the piezoelectric and elastic plates in the numerical example.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.3
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• pp.317-328
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• 2000

This paper presents an effective approach to collision-free motion planning of a robot in the work-space including time-varying obstacles. The free arc is defined as a set composed of the configuration points of the robot satisfying collision-free motion constraint at each sampling time. We represent this free arc with respect to the new coordinate frame centered at the goal configuration and there for the collision-free path satisfying motion constraint is obtained by connecting the configuration points of the free arc at each sampling mined from the sequence of free arcs the optimality is determined by the performance index. Therefore the complicated collision-free motion planning problem of a robot is transformed to a simplified SUB_Optimal Collision Avoidance Problem(SOCAP). We analyze the completeness of the proposed approach and show that it is partly guaranteed using the backward motion. Computational complexity of our approach is analyzed theoretically and practical computation time is compared with that of the other method. Simulation results for two cally and practical computation time is compared with that of the other method. Simulation results for two SCARA robot manipulators are presented to verify the efficacy of the proposed method.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.36 no.2
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• pp.70-79
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• 2024

In this study, we introduce a linear spectral method capable of simulating wave generation and transformation caused by a moving bottom in a 3-dimensional space. The governing equations are linear dynamic free-surface boundary conditions and linear kinematic free-surface boundary conditions, which are solved in Fourier space. Solved velocity potential and free-surface displacement should satisfy continuity equation and kinematic bottom boundary condition. For numerical analysis, a 4th order Runge-Kutta method was utilized to analyze the time integral. The results obtained in Fourier space can be converted into velocity potential and free-surface displacement in a real space using inverse Fourier transform. Regular waves generated by various types of moving bottoms were simulated with the linear spectral method. Additionally, obliquely generated regular waves using specified bottom movements were simulated. The results obtained from the spectral method were compared to analytical solutions, showing good agreement between the two.

• Journal of the Optical Society of Korea
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• v.20 no.1
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• pp.13-21
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• 2016

Since the direct-gradient (DG) method uses the Shack-Hartmann wave front sensor (SH-WFS), based on the phase-conjugation principle, for atmospheric compensation in free-space optical (FSO) communication, it cannot effectively correct high-order aberrations. While the stochastic parallel gradient descent (SPGD) can compensate the distorted wave front, it requires more calculations, which is sometimes undesirable for an FSO system. A hybrid compensation (HC) method is proposed by properly using the DG method and SPGD algorithm to improve the performance of FSO communication. Simulations show that this method can well compensate wave-front aberrations and upgrade the coupling efficiency with few computations, preferable correction results, and rapid convergence rate.

• Journal of Korean Institute of Industrial Engineers
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• v.22 no.4
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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.