• Journal of Advanced Marine Engineering and Technology
• /
• 제22권6호
• /
• pp.920-927
• /
• 1998

This paper presents a synthetic control algorithm that generates the rudder command angle to track the optimal route which is composed of straight-lines among way-points with keeping a required error limit. The control algorithm comprises three main lgorithms that is a course-keeping algorithm that eliminates the yaw angle difference between optimal route and current route a track-keeping algorithm that tracks the optimal route among way-points and a turning-control algorithm that includes the generation of optimal turning routes and control method. The effectiveness of the proposed control algorithm is assured through computer simulation.

• 방송공학회논문지
• /
• 제23권1호
• /
• pp.3-10
• /
• 2018

깊이맵은 현재 다양한 분야에서 활용되고 있다. 이러한 깊이맵을 인공 신경망으로 생성하는 연구가 최근 관심을 받고 있다. 본 논문에서는 기존의 기 제작된 깊이맵 생성 알고리즘을 합성곱 신경망으로 구현할 수 있는지에 대한 타당성을 검증한다. 먼저 깊이맵은 관심맵과 운동 히스토리 영상의 가중치 합으로 얻는다. 실험영상과 깊이맵을 합성곱 신경망의 입력과 출력으로 하여, 신경망을 학습시킨다. 정성적, 정량적 실험 결과는 제안한 합성곱 신경망이 깊이맵 생성 방법을 대체할 수 있다는 것을 보여준다.

• Journal of Advanced Marine Engineering and Technology
• /
• 제32권8호
• /
• pp.1285-1295
• /
• 2008

A research on a simulator for a side walking path of a 16 degree-of-freedom (d.o.f) biped walking robot(BWR) which is composed of 4 d.o.f upper-part body and 12 d.o.f lower-part of the body is presented. For generation of stable side walking motion, the kinematics, dynamics and the zero moment of point(ZMP) of the BWR were analyzed analytically and included in the simulator. To operate the motion simulator for stable side walking of the BWR, a graphic user interface program was developed which needs inputs for the side distance between legs, base joint angle, walking type, and walking velocity. The simulator was developed to generate joint angle data of legs for side walking, and the data are transmitted to the BWR for stable side walking. In the simulator, a new path function for smooth walking motion was proposed and applied to the simulator and actual motion of a BWR. Also for actual side walking, an algorithm for estimating backlashes of the actuating joint motors was proposed and included in the simulator. To validate the performance of the proposed motion simulator, the simulator was operated and its side walking data of the simulator were generated for a period of side walking.

• 한국정밀공학회지
• /
• 제22권7호
• /
• pp.112-121
• /
• 2005

This paper is concerned with smooth trajectory generation of biped robot which has inverted pendulum type balancing weight. Genetic algorithm is used to generate the trajectory of the leg and balancing weight. Balancing trajectory can be determined by solving the second order differential equation under the condition that the reference ZMP (Zero moment point) is settled. Reference ZMP effect on gait pattern absolutely but the problem is how to determine the reference ZMP. Genetic algorithm can find optimal solution under the high order nonlinear situation. Optimal trajectory is generated when use genetic algorithm which has some genes and a fitness function. In this paper, minimization of balancing joints motion is used for the fitness function and set the weight factor of the two balancing joints at the fitness function. Inverted pendulum type balancing weight is very similar with human and this model can be used fur humanoid robot. Simulation results show ZMP trajectory and the walking experiment made on the real biped robot IWR-IV.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2001년도 춘계학술대회논문집B
• /
• pp.488-494
• /
• 2001

Many literatures, so far, have concentrated on approaches employing dependent coordinates set resulting in computational burden of constraint forces, which is needless in many cases. Some researchers developed methods to remove or calculate it efficiently. But systematic generation of the motion equation using independent coordinates set by Kane's equation is possible for any closed loop system. Independent velocity transformation method builds the smallest size of motion equation, but needs practically more complicated code implementation. In this study, dependent velocity matrix is systematically transformed into independent one using dependent-independent transformation matrix of each body group, and then motion equation free of constraint force is constructed. This method is compared with the other approach by counting the number of multiplications for car model with 15 d.o.f..

• 한국CDE학회논문집
• /
• 제6권2호
• /
• pp.89-100
• /
• 2001

Swept volume is the sweeping region of moving objects. It is used in various applications such as interference detection in assembly design, visualization of manipulator motions in robotics, simulation of the volume removal by a cutter in NC machining. The shape of swept volume is defined by the envelope, which is determined by the boundary of moving objects and its direction of motion. In order to implement the generation of swept volume, researchers have taken much effort to develop the techniques how to generate the envelope. However, their results are confined to envelope generated only in simple shape objects, such as polyhedra or quadric surfaces. This study provided the envelope generation algorithm of NURBS objects. Characteristic points were obtained by applying the geometric conditions of envelope to NURBS equations, and then characteristic curves were created by means of interpolating those points. Silhouette edges were determined in the following procedures. First, two adjacent surfaces which have the same edge were found from B-Rep data. Then, by taking the scalar product of velocity vector of a point on that edge with each normal vector on two surfaces, silhouette edges were discriminated. Finally, envelope was generated along moving direction in the form of ruled surfaces by using both the partial information between initial and final position of objects affecting envelope along with characteristic curves and silhouette edge. Since this developed algorithm can be applied not only to NURBS objects but also to their Boolean objects, it can be used effectively in various applications.

• 한국통신학회논문지
• /
• 제34권10B호
• /
• pp.1093-1103
• /
• 2009

본 논문에서는 효율적인 보조 정보 생성을 통한 새로운 분산 다시점 비디오 코딩 기법을 제안한다. 분산 비디오 코딩은 원영상과 디코더에서 생성한 보조 정보 간의 오차를 채널 코딩 기법으로 정정한다. 따라서 보조 정보를 정확히 만들수록 분산 비디오 코딩의 성능은 좋아지게 된다. 제안한 기법에서는 깊이지도를 기반으로 하는 다시점 비디오 코딩에 분산 비디오 코딩 기법을 적용한다. 또한 깊이지도를 이용한 3차원 워핑을 통해 인접한 시점의 영상으로부터 보조 정보를 생성하고, 3차원 워핑과 시간 축 상의 인접한 영상을 이용하는 MCTI(motion compensated temporal interpolation)를 효율적으로 혼합하여 사용한다. 실험 결과 제안한 기법으로 생성한 보조 정보는 MCTI와 3차원 위핑을 따로 사용한 방법보다 평균 0.97dB의 PSNR이 향상되었음을 알 수 있었다. 또한 R-D 곡선 상에서 동일 PSNR 대비 평균 8.01%의 비트율이 감소되었다.

• International Journal of Control, Automation, and Systems
• /
• 제6권3호
• /
• pp.386-393
• /
• 2008

A position control method for interpolating aspherical grinding and polishing tool path was reviewed and experimented in a nano precision machine. The position-base algorithm was reformed from the time-base algorithm, proposed in the previous study. The characteristics of the algorithm were in the velocity control loop with position feedback. The aspherical surface was divided by an interval at which each velocity and acceleration were calculated. The theoretical velocity was corrected by position error during processing. In the experiment, a machine was constructed and nano-scale linear encoders were installed at each axis. Relation between process parameters and the variation of position error was monitored and discussed. The best result from optimized parameters showed that the accuracy was 150nm and improved from the previous report.

• 한국정밀공학회지
• /
• 제14권1호
• /
• pp.158-167
• /
• 1997

For the use of a mobile robot in dynamic environment, a collision-avoidance algorithm with moving obsta- cle is necessary. In this paper, a collsion-avoidance algorithm of a mobile robot is presented, when a mobile robot detects the collision with moving obstacle on the navigational path. Using reported positions of moving obstacle with sensors, the mobile robot predicts the next position of moving obstacle with possibility of collision. The velocity of moving obstacle is modeled as random walk process with Gaussian distribution. The optimal collision-avoidance path in which turning motion of the mobile robot is considered is generated with relative velocity between the mobile robot and moving obstacle. For the safety of collision-avoidance path, attractive potential with the safety factor is suggested. The simulation results using this algorithm show the mobile robot avoids collision with moving obstacle in many cases.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.203-208
• /
• 2003

In this paper, gait generation algorithm based on Linear Inverted Pendulum Mode is extended considering that the terrain is uncertain and flexible. Deformation of the soft terrain by the weight of the biped robot is taken into account to design the desired motion of the swing leg. Landing time disagreement caused by dynamics of the robot is also considered and a method to adjust gait is proposed. Results of numerical simulation show the effectiveness of the proposed method.