• 대한전기학회:학술대회논문집
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• 대한전기학회 2011년도 제42회 하계학술대회
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• pp.1770-1771
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• 2011

In mission planning of UAV applications, especially for the missions requiring height transitions, it is required to generate reference flight trajectories considering the performances of the engine installed in the UAV. Even though the vertical line following guidance based height transition trajectory generation method has been developed to build reference height transition trajectories easily, it is not adequate for considering engine performances effectively since many engine characteristics and performances have conventionally been described in the V-H(speed-height) plane which is not the very space where the UAVs are actually flying. In this paper, we derive the trajectories in V-H plane for the vertical line following flights. And based on the results, a new algorithm to design the reference height transition trajectories for UAV applicaions. Simulation results demonstrate that the proposed algorithm is very effective and easily applicable.

• 한국산업융합학회 논문집
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• 제18권2호
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• pp.90-98
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• 2015

This research propose with image-based visual a new approach to design a feedback control of mobile robot. because mobile robot must be recharged periodically, it is necessary to detect and move to docking station. Generally, laser scanner is used for detect of position of docking station. CCD Camera is also used for this purpose. In case of using camera, the position-based visual servoing method is widely used. But position-based visual servoing method requires the accurate calibration and it is hard and complex work. Another method using cameras is inmage-based visual feedback. Recently, image based visual feedback is widely used for robotic application. But it has a problem that cannot have linear trajectory in the 3-dimensional space. Because of this weak point, image-based visual servoing has a limit for real application. in case of 2-dimensional movement on the plane, it has also similar problem. In order to solve this problem, we point out the main reason of the problem of the resolved rate control method that has been generally used in the image-based visual servoing and we propose an image-based visual feedback method that can reduce the curved trajectory of mobile robot in th cartesian space.

• Journal of Electrical Engineering and information Science
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• 제2권3호
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• pp.51-60
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• 1997

A practically applicable collision free trajectory planning technique for tow robot systems is proposed. The robot trajectories considered in this work are composed of many segments, an at the intersection points between segments robots stop to assemble, weld, ordo other jobs by the attached a end-effectors. The proposed method is based on the Planning-Coordination Decomposition where planning is to find a trajectory of each robot independently according to their tasks and coordination is to find a velocity modification profile to avoid collision with each other. To fully utilize the independently planned trajectories and to ensure no geometrical path deviation after coordination, we develop a simple technique added the minimal delay time to avoid collision just before moving along path segments. We determine the least delay time by the graphical method in the Coordination space where collisions and coordinations are easily visualized. We classify all possible cases into 3 group and derive the optimal solution for each group.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.179-181
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• 2007

This paper presents the desired position control of the mobile inverted pendulum system(MIP). The MIP is required to track the circular trajectory in the xy plane through the kinematic Jacobian relationship between the xy plane and the joint space. The reference compensation technique of the radial basis function(RBF) network is used as a neural network control method. The back-propagation teaming algorithm of the RBF network is derived and embedded on a DSP board. Experimental studies of tracking the circular trajectory are conducted.

• Journal of Astronomy and Space Sciences
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• 제23권4호
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• pp.355-372
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• 2006

이 논문에서는 KSLV-III(Korea Space Launch Vehicle-III)를 이용한 향후 우리나라의 화성 탐사 임무 설계를 제시한다. 우리나라 최초의 발사장인 '나로 우주센터(NARO Space Center)'를 발사장으로 가정하였으며, 현재 개발중인 KSLV 시리즈와 건설중인 우주센터의 완공기간 그리고 안정성 수립 기간을 고려하여 임무 수행 가능 기간을 약 2033년경으로 선정하였다. 화성 탐사 임무 수행시 각 단계에 따라 차별화 되어 요구되는 각종 기동(maneuver)의양 즉, 화성 천이(Trans Mars Injection, TMI)기동, 궤적 보정 기동(Trajectory Correction Maneuver, TCM), 화성 궤도 진입(Mars Orbit Insertion, MOI)기동 및 임무 수행 궤도를 이룩하기 위한 기동(Orbit Trim Maneuver, OTM)은 NPSOL 소프트웨어 이용하여 비선형 최적화 문제를 풀어 직접 산출하였다. 이렇게 산출된 최적 기동의 양을 바탕으로 KSLV-III를 이용하여 화성 탐사 임무를 수행할 경우에 대비, 구체적인 발사체 상단부(Upper stage)와 최대 탑재 가능한 탐사선의 질량에 대한 설계가 이루어졌다. 임무 설계 결과 향후 우리나라는 2033년 4월 16일 12시 17분 26초(UTC)부터 약 27분간 나로 우주센터에서 화성 탐사선을 발사 할 수 있다. 이때 최적의 기동량을 바탕으로 계산된 최대 가능 탐사선의 총 질량은 탑재되는 추력기의 비추력을 290초로 가정하였을 때 약 206kg(추진제: 109kg + 구조체: 97kg)이며, 발사체 상단부는 비추력 및 구조비를 290초와 0.15로 가정하였을 때 약 1293kg(추진제: 1099kg +구조체: 194kg)으로 나타났다. 하지만 최적의 기동량에 10%의 여유분을 고려한다면 탐사선은 약 148kg, 발사체 상단부는 약 1352kg의 질량을 갖는 것으로 나타났다. 이 연구를 통하여 제시된 각종 자료들은 향후 우리나라의 독자적인 화성 탐사선 개발을 위하여 많은 사전 정보를 제공해 줄 것이다.

• 한국멀티미디어학회논문지
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• 제13권12호
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• pp.1778-1785
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• 2010

This paper proposes a new video-based method of analyzing human gait which is a highly variable dynamic process. It captures a human gait of varying directions as a trajectory in the phase space. The proposed method includes two options of a stochastic process model and a self-organizing feature map as the tool of feature space representation and analysis. Test results show that the model is highly intuitive and we believe it can contribute to our understanding of human activity as well as gait behavior.

• Journal of Computing Science and Engineering
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• 제5권3호
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• pp.210-222
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• 2011

In this work, we study the problem of privacy-preservation data publishing in moving objects databases. In particular, the trajectory of a mobile user in a plane is no longer a polyline in a two-dimensional space, instead it is a two-dimensional surface of fixed width $2A_{min}$, where $A_{min}$ defines the semi-diameter of the minimum spatial circular extent that must replace the real location of the mobile user on the XY-plane, in the anonymized (kNN) request. The desired anonymity is not achieved and the entire system becomes vulnerable to attackers, since a malicious attacker can observe that during the time, many of the neighbors' ids change, except for a small number of users. Thus, we reinforce the privacy model by clustering the mobile users according to their motion patterns in (u, ${\theta}$) plane, where u and ${\theta}$ define the velocity measure and the motion direction (angle) respectively. In this case, the anonymized (kNN) request looks up neighbors, who belong to the same cluster with the mobile requester in (u, ${\theta}$) space: Thus, we know that the trajectory of the k-anonymous mobile user is within this surface, but we do not know exactly where. We transform the surface's boundary poly-lines to dual points and we focus on the information distortion introduced by this space translation. We develop a set of efficient spatiotemporal access methods and we experimentally measure the impact of information distortion by comparing the performance results of the same spatiotemporal range queries executed on the original database and on the anonymized one.

• 한국추진공학회지
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• 제22권4호
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• pp.1-11
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• 2018

본 논문에서는 시스템 엔지니어링을 기반으로 우주 발사체의 시스템 설계를 정립하여 통합 설계할 수 있는 프로세스를 정립하였다. 주어진 페이로드 중량과 궤적에 대한 임무 설계 결과를 바탕으로, 시스템 설계 단계에서는 추진, 무게 추정, 공력 등의 각 단위별 해석을 진행한 후 통합하여 최적 설계를 수행될 수 있도록 하였다. 최종 단계에서는 설계된 발사체를 3-자유도 궤적 최적화 시뮬레이션을 통해 임무를 수행할 수 있는지 확인하도록 프로그램을 구성하였다. 최적 설계 기법으로는 유전 알고리즘을 이용하였으며, 이를 이용하여 설계 시 고려해야 할 변수와 파라미터들의 최적 설계 결과를 제시하였다.

• 전기학회논문지
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• 제63권3호
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• pp.389-394
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• 2014

Two evolutionary gait generation methods for Cartesian and Joint coordinates space are compared to develop a fast locomotion for quadruped robots. GA(Genetic Algorithm) based approaches seek to optimize a pre-selected set of parameters for the locus of paw and initial position in cartesian coordinates space. GP(Genetic Programming) based technique generate few joint trajectories using symbolic regression in joint coordinates space as a form of polynomials. Optimization for two proposed methods are executed using Webots simulation for the quadruped robot which is built by Bioloid. Furthermore, simulation results for two proposed methods are analysed in terms of different coordinate spaces.

• 호남수학학술지
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• 제39권4호
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• pp.637-647
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• 2017

Elastica is known as classical curve that is a solution of variational problem, which minimize a thin inextensible wire's bending energy. Studies on elastica has been conducted in Euclidean space firstly, then it has been extended to Riemannian manifold by giving different characterizations. In this paper, we focus on energy of the elastic curve in a Lie group. We attepmt to compute its energy by using geometric description of the curvature and the torsion of the trajectory of the elastic curve of the trajectory of the moving particle in the Lie group. Finally, we also investigate the relation between energy of the elastic curve and energy of the same curve in Frenet vector fields in the Lie group.