• Journal of Mechanical Science and Technology
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• 제17권11호
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• pp.1693-1703
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• 2003

This paper presents a new local obstacle avoidance method for indoor mobile robots. The method uses a new directional approach called the Lane Method. The Lane Method is combined with a velocity space method i.e., the Curvature-Velocity Method to form the Lane-Curvature Method (LCM). The Lane Method divides the work area into lanes, and then chooses the best lane to follow to optimize travel along a desired goal heading. A local heading is then calculated for entering and following the best lane, and CVM uses this local heading to determine the optimal translational and rotational velocities, considering some physical limitations and environmental constraint. By combining both the directional and velocity space methods, LCM yields safe collision-free motion as well as smooth motion taking the physical limitations of the robot motion into account.

• 대한기계학회논문집A
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• 제27권12호
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• pp.2011-2018
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• 2003

To analyze the bending collapse behavior of an aluminum square tube beam under a bending load, a finite element simulation for the four-point bending test has been performed. Using an aluminum tube beam specimen partly inserted with two steel bars, the local buckling deformation near the center of the tube beam was induced. The maximum bending load and the bending collapse behavior obtained from the numerical simulation were in good agreement with experimental results. Using a combination of the four-point bending test and its finite element simulation, analysis of the local buckling and the accompanied bending collapse behavior of aluminum tube beam could be quantitative accomplished.

• Journal of Magnetics
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• 제18권1호
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• pp.74-79
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• 2013

This paper proposes a sampling-based optimization method for electromagnetic design problems, where design sensitivities are obtained from the elaborate surrogate models based on the universal Kriging method and a local window concept. After inserting additional sequential samples to satisfy the certain convergence criterion, the elaborate surrogate model for each true performance function is generated within a relatively small area, called a hyper-cubic local window, with the center of a nominal design. From Jacobian matrices of the local models, the accurate design sensitivity values at the design point of interest are extracted, and so they make it possible to use deterministic search algorithms for fast search of an optimum in design space. The proposed method is applied to a mathematical problem and a loudspeaker design with constraint functions and is compared with the sensitivity-based optimization adopting the finite difference method.

• 감성과학
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• 제16권1호
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• pp.11-28
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• 2013

This article aims to explore the interactive roles of types of primed identity (local versus global identity) and types of ad framing on brand evaluations. The authors designed 2 experiments in which each experiment followed a $2{\times}2$ between-subject design. The empirical results showed that a gain-framed ad induced more positive emotional responses than a loss-framed ad, and the positive affective responses lead to more favorable brand evaluation. Furthermore, the results showed that there were interactive effects of primed identity and types of advertisement frame on brand evaluation. In the additional analysis, the results showed that when people with local identity were exposed to the gain-framed ad, they would engage in a higher level of integration processing than those in the control group, which in turn induced more favorable evaluation to the local brand. That is, the integration processing mode played a mediating role between the interaction (local id priming ${\times}$ ad frame) and the local brand evaluation. However, in the case of global brand evaluation, the integration processing mode did not play such a mediating role.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.99-104
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• 1999

This paper proposes an efficient method constructing a local map using the data of a scanning laser range finder. A laser range finder yields distance data of polar form, that is, distance data corresponding to every scanning directions. So, the data consists of directional angle and distance. We propose a new method to find a line fitting with a set of such data. The method uses Log-Hough Transformation. Usually, map building from these data requires some transformations between different coordinate systems. The new method alleviates such complication. Also, the method simplifies computation for line recognition and eliminates the slope quantization problems inherent in the classical Cartesian Hough transform method. To show the efficiency of the proposed method, it is applied to find a local map using the data from a laser range finder PLS(Proximity Laser Scanner, made by SICK).

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.60-65
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• 2007

Local buckling behaviors of aluminum square tube beams reinforced by aluminum plates under three point bending loads have been analyzed using experimental tests combined with theoretical and finite element analyses. For this analysis true stresses were determined from applied loads and cross-sectional area records of a tensile specimen with a rectangular cross-section by real-time photographing. True strains were also obtained from in-situ local elongation measurements of the specimen gage portion by the multi-point scanning laser extensometer. Six kinds of aluminum tube beam specimens reinforced by aluminum plates were employed for the bending test. The bending deformation behaviors up to the maximum load analyzed by the numerical simulation agreed well with experimental ones. After passing the maximum load, reinforcing plate hindering the local buckling of the tube beam was debonded from the aluminum tube beam. An aluminum tube beam strengthened by aluminum plate on the upper web showed the most excellent bending capacity, which could be explained on the basis of the neutral axis shift and the local buckling deformation range.

• 한국조경학회:학술대회논문집
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• 한국조경학회 2022년도 춘계학술대회 논문집
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• pp.61-63
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• 2022

• 전기학회논문지P
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• 제51권3호
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• pp.155-160
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• 2002

This paper focuses on the problem of local obstacle avoidance of mobile robots. To solve this problem, the safety direction section search algorithm is suggested. This concept is mainly composed with non-collision section and collision section from the detecting area of laser scanning sensor. Then, we will search for the most suitable direction in these sections. The proposed local motion planning method is simple and requires less computation than others. An environment model is developed using the vector space concept to determine robot motion direction taking the target direction, obstacle configuration, and robot trajectory into account. Since the motion command is obtained considering motion dynamics, it results in smooth and fast as well as safe movement. Using the mobile base, the proposed obstacle avoidance method is tested, especially in the environment with pillar, wall and some doors. Also, the proposed autonomous motion planning and control algorithm are tested extensively. The experimental results show the proposed method yields safe and stable robot motion through the motion speed is not so fast.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1609-1614
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• 2003

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. To implement the concept in collision avoidance of multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2003년도 하계학술대회 논문집 Vol.4 No.2
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• pp.1227-1230
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• 2003

In this paper, we propose a pose estimation method using local map acquired from 2d laser range finder information. The proposed method uses extended kalman filter. The state equation is a navigation system equation of Nomad Super Scout II. The measurement equation is a map-based measurement equation using a SICK PLS 101-112 sensor. We describe a map consisting of geometric features such as plane, edge and corner. For pose estimation we scan external environments by laser rage finer. And then these data are fed to kalman filter to estimate robot pose and position. The proposed method enables very fast simultaneous map building and pose estimation.