• The Journal of Korea Robotics Society
• /
• v.19 no.2
• /
• pp.149-158
• /
• 2024

This paper presents a robust autonomous navigation and reconnaissance system for tracked robots, designed to handle complex multi-floor indoor environments with stairs. We introduce a localization algorithm that adjusts scan matching parameters to robustly estimate positions and create maps in environments with scarce features, such as narrow rooms and staircases. Our system also features a path planning algorithm that calculates distance costs from surrounding obstacles, integrated with a specialized PID controller tuned to the robot's differential kinematics for collision-free navigation in confined spaces. The perception module leverages multi-image fusion and camera-LiDAR fusion to accurately detect and map the 3D positions of objects around the robot in real time. Through practical tests in real settings, we have verified that our system performs reliably. Based on this reliability, we expect that our research team's autonomous reconnaissance system will be practically utilized in actual disaster situations and environments that are difficult for humans to access, thereby making a significant contribution.

• Structural Engineering and Mechanics
• /
• v.7 no.4
• /
• pp.345-360
• /
• 1999

A general framework for the nonlinear geometric analysis of elastic space trusses is presented. Both total Lagrangian and finite incremental formulations are derived from the three key ingredients of statics, kinematics and constitutive law. Particular features of the general methodology include the preservation of static-kinematic duality through the concept of fictitious forces and deformations, and an exact description for arbitrarily large displacements, albeit small strain, that can be specialized to any order of geometrical nonlinearity. As for the numerical algorithm, we consider specifically the finite incremental case and suggest the use of a conventional, simple and flexible arc-length based method. Numerical examples are presented to illustrate and validate the accuracy of the approach.

• International Journal of Aeronautical and Space Sciences
• /
• v.11 no.2
• /
• pp.136-144
• /
• 2010

This paper presents an algorithm for planning waypoints for the operation of a surveillance mission using cooperative unmanned aerial vehicles (UAVs) in a given map. This algorithm is rather simple and intuitive; therefore, this algorithm is easily applied to actual scenarios as well as easily handled by operators. It is assumed that UAVs do not possess complete information about targets; therefore, kinematics, intelligence, and so forth of the targets are not considered when the algorithm is in operation. This assumption is reasonable since the algorithm is solely focused on a surveillance mission. Various parameters are introduced to make the algorithm flexible and adjustable. They are related to various cost functions, which is the main idea of this algorithm. These cost functions consist of certainty of map, waypoints of co-worker UAVs, their own current positions, and a level of interest. Each cost function is formed by simple and intuitive equations, and features are handled using the aforementioned parameters.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.7 no.5
• /
• pp.230-239
• /
• 1999

A virtual prototyping seeks to virtual environment where the development of vehicle models can be flecible as well as rapid and the experiments can be executed effectively concerning kinematics, controls, and behavior aspects of the models. This paper explains a virtual environment used for virtual prototyping of a vehicle. Ut has been developed using the dVISE environment thar provides actions, events, sounds, and light features. A vehicle model including detailed informations about a real-size vehicle. A human model is introduced for odjective visual evaluations of the developed, and then results are illustrated in order to demonstrate the applicability of developed models.

• International Journal of Control, Automation, and Systems
• /
• v.6 no.4
• /
• pp.607-612
• /
• 2008

This paper proposes a robot visual servo approach based on image appearance and a wavelet function neural network. The inputs of the wavelet neural network are changes of image features or the elements of image appearance vector, and the outputs are changes of robot joint angles. Image appearance vector is calculated by using eigen subspace transform algorithm. The proposed approach does not need a priori knowledge of the robot kinematics, hand-eye geometry and camera models. The experiment results on a real robot system show that the proposed method is practical and simple.

• The Bulletin of The Korean Astronomical Society
• /
• v.41 no.1
• /
• pp.72.3-72.3
• /
• 2016

A massive envelope and a strong bipolar outflow are the two most distinct structures of youngest protostellar systems. We present observational results from the Combined Array for Research in Millimeter-wave Astronomy (CARMA) toward the youngest (Class 0) protostellar system L1157. At an angular resolution of 5 arcseconds, we mapped its well-developed outflow in CO 2-1 over a span of approximately 5 arcminutes. Additionally, we imaged the central envelope with CO isotopes, CS, CN, and N2H+ with an angular resolution of about 2 arcseconds. We show that the bipolar outflow may be represented with a two jet model and constrain its physical properties such as precession/rotation directions, velocities, inclinations, and position angles via cube data fitting. In addition, we discuss the kinematic features of the envelope detected in CO isotopes and N2H+ and present the radius-dependent dust opacity spectral index.

• The Bulletin of The Korean Astronomical Society
• /
• v.37 no.2
• /
• pp.88.2-88.2
• /
• 2012

We present kinematic properties of the narrow-line region in three type-2 QSOs at z~0.35, using 2-D spectra obtained with the VIMOS integral field unit spectrograph at the Very Large Telescope. One of the objects shows a line-of-sight velocity shift of the [OIII] and $H{\beta}$ lines up to 40km/s on a 15 kpc scale, which can be interpreted as either outflow or rotation. The outflow scenario is supported by the presence of blue wings and a radio structure showing lobes in the same direction. Another object features double-peaked emission lines which can be decomposed into two velocity components. Its Hubble Space Telescope image shows two nuclei separated by ~0.2"(~1kpc), implying this may be a binary AGN.

• Publications of The Korean Astronomical Society
• /
• v.39 no.2
• /
• pp.27-38
• /
• 2024

Line observations of young stellar objects (YSOs) at (sub)millimeter wavelengths provide essential information of gas kinematics in star and planet forming environments. For Class 0 and I YSOs, identification of Keplerian rotation is of particular interest, because it reveals presence of rotationally-supported disks that are still being embedded in infalling envelopes and enables us to dynamically measure the protostellar mass. We have developed a python library SLAM (Spectral Line Analysis/Modeling) with a primary focus on analyses of emission line data at (sub)millimeter wavelengths. Here, we present an overview of the pvanalysis tool from SLAM, which is designed to identify Keplerian rotation of a disk and measure the dynamical mass of a central object using a position-velocity (PV) diagram of emission line data. The advantage of this tool is that it analyzes observational features of given data and thus requires few computational time and parameter assumptions, in contrast to detailed radiative transfer modelings. In this article, we introduce the basic concept and usage of this tool, present an application to observational data, and discuss remaining caveats.

• Structural Engineering and Mechanics
• /
• v.49 no.5
• /
• pp.645-660
• /
• 2014

This paper presents the design and project of an innovative concept for a Single Point Incremental Forming (SPIF) Machine. Nowadays, equipment currently available for conducting SPIF result mostly from the adaptation of conventional CNC machine tools that results in a limited range of applications in terms of materials and geometries. There is also a limited market supply of equipment dedicated to Incremental Sheet Forming (ISF), that are costly considering low batches, making it unattractive for industry. Other factors impairing a quicker spread of SPIF are large forming times and poor geometrical accuracy of parts. The following sections will depict the development of a new equipment, designed to overcome some of the limitations of machines currently used, allowing the development of a sounding basis for further studies on the particular features of this process. The equipment here described possesses six-degrees-of freedom for the tool, for the sake of improved flexibility in terms of achievable tool-paths and an extra stiffness provided by a parallel kinematics scheme. A brief state of the art about the existing SPIF machines is provided to support the project's guidelines.

• Publications of The Korean Astronomical Society
• /
• v.30 no.2
• /
• pp.495-497
• /
• 2015

Galaxies can be "pre-processed" in the low-density outskirts by ambient medium in the filaments or tidal interactions with other galaxies while falling into the cluster. In order to probe how early on and by which mechanisms galaxies can be affected before they enter high-density cluster environments, we are carrying out an atomic hydrogen ($H\small{I}$) imaging study of a sample of galaxies selected from three filamentary structures around the Virgo cluster. Our sample consists of 14 late-type galaxies, which are potentially interacting with their surroundings. The $H\small{I}$ observations have been done using the Westerbork Synthesis Radio Telescope, the Giant Metrewave Radio Telescope, and the Jansky Very Large Array with column density sensitivity of ${\approx}3-5{\times}10^{19}cm^{-2}$ in $3{\sigma}$ per channel, which is low enough to detect faint $H\small{I}$ features in the outer disks of galaxies. In this work, we present the Hi data of two galaxies that were observed with GMRT. We examine the $H\small{I}$ morphology and kinematics to find the evidence for gas-gas and/or tidal interactions, and discuss which mechanism(s) could be responsible for pre-processing in these cases.