• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1327-1332
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• 2003

In this paper, an ATC(Automated Transfer Crane) control system is required rapid transportation to get highest productivity with low cost. Therefore, the container paths should be built in terms of the least time and least sway when container is transferred from the initial coordinate to the finial coordinate. So we applied the best-first search method for forming the container path, and calculated the anti-collision path for avoiding collision in its movement to the finial coordinate. And we constructed the neural network two degree of freedom PID (TDOFPID) controller to control the precise navigation. For simulation, we constructed the container profiles so that we analyzed the state of formed path and the performance of TDOFPID controller to the formatted path. Then we compared the performance of ES-tuned PID controller with our proposed controller in terms of trolley position, anti-sway, path change, disturbance, and the load of containers. The computer simulation results show that the proposed controller has better the other on the various conditions.

• Journal of Construction Engineering and Project Management
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• v.6 no.2
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• pp.30-39
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• 2016

This research presents the development of a self-governing mobile robot navigation system for indoor construction applications. This self-governing robot navigation system integrated robot control units, various positioning techniques including a dead-reckoning system, a UWB platform and motion sensors, with a BIM path planner solution. Various algorithms and error correction methods have been tested for all the employed sensors and other components to improve the positioning and navigation capability of the system. The research demonstrated that the path planner utilizing a BIM model as a navigation site map could effectively extract an efficient path for the robot, and could be executed in a real-time application for construction environments. Several navigation strategies with a mobile robot were tested with various combinations of localization sensors including wheel encoders, sonar/infrared/thermal proximity sensors, motion sensors, a digital compass, and UWB. The system successfully demonstrated the ability to plan an efficient path for robot's movement and properly navigate through the planned path to reach the specified destination in a complex indoor construction site. The findings can be adopted to several potential construction or manufacturing applications such as robotic material delivery, inspection, and onsite security.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.8
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• pp.1418-1425
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• 2003

In CAD systems, a surface to be machined is expressed by a series of curves, such as B-spline, Bezier and NURBS curves, which compose the surface and then in CAM systems the curves are divided into a large number of line or arc segments. These divided movement commands, however, cause many problems including their excessive size of NC data that makes almost impossible local adjustment or modification of the surface. To cope with those problems, the necessity of real-time curve or surface interpolators was embossed. This paper presents an efficient real-time tool-path generation method fur interpolation of NURBS surfaces in CNC machining. The proposed tool-path generation method is based on an improved iso-scallop strategy and can provide better precision than the existing methods. The proposed method is designed such that tool-path planning is easily managed in real-time. It proposed a new algorithm for regulation of a scallop height, which can efficiently generate tool-paths and can save machining time compared with the existing method. Through computer simulations, the performance of the proposed method is analyzed and compared with the existing method in terms of federate, total machining time and a degree of constraint on the scallop height.

• Journal of the Regional Association of Architectural Institute of Korea
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• v.20 no.6
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• pp.71-80
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• 2018

The path and visibility of nurses in general hospital wards have been treated as architectural planning factors. However, the analysis approach of existing studies shows limitations that only fixed physical elements are considered without considering the behavior of users using space. Consider factors for analysis of ward and models based on this study model. Select a case hospital to apply the analysis technique and conduct the nurse questionnaire and route survey of the hospital. Establish a framework for analysis model applied with the path of nurse movements. The analysis model applies to the case hospital. The analysis results are aggregated to derive design suggestion for reference to the spatial improvement of the ward. Visible visibility to observe the bedside in the nursing station, visibility to observe the beds in the nurse's path, and visibility to observe patients moving in the nurse's path were derived from visual access frequency and exposure frequency. The survey of nurses' movements at the site allowed the nurses to calculate the distance required to move. Reflecting the path of nurse movement, a model was presented for a comprehensive analysis of nursing distance and nursing visibility, which could lead to improvement in the observation and visibility of nurses and the layout of patient rooms or day rooms.

• Journal of information and communication convergence engineering
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• v.5 no.2
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• pp.83-87
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• 2007

This research studies real time interaction and dynamic data shared through 3D scenes in virtual network environments. In a distributed virtual environment of client-server structure, consistency is maintained by the static information exchange; as jerks occur by packet delay when updating messages of dynamic data exchanges are broadcasted disorderly, the network bottleneck is reduced by predicting the movement path by using the Dead-reckoning algorithm. In Dead-reckoning path prediction, the error between the estimated and the actual static values which is over the threshold based on the shared object location requires interpolation and multicasting of the previous location by the ESPDU of DIS. The shared dynamic data of the 3D virtual environment is implementation using the VRML.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.1
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• pp.98-106
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• 1991

Future generation of robots will be considerably more autonomous than present robotic systems. The main objective of research on theoretical problems in robotics is to endow robotics system with basic capabilities they will need to operate in an intelligent and autonomous manner. This paper discusses the problem of collision free movement of robot manipulator. It is formulated in path planning with obstacle avoidance expressed in the term of the distance between convex shapes in the three dimensional space. The examples are given to illustrate the main feature of the method.

• Proceedings of the KIEE Conference
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• 2004.05a
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• pp.144-146
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• 2004

It is known that Global Positioning System(GPS) is the most efficient navigation system because it provides precise position information on the all areas of Earth regardless of metrology. Until now, the size of GPS receivers has become smaller and the performance of receivers has become higher. So receivers provide the position information of not only static system but also dynamic system. Usually, users make similar movement trajectory according to their life pattern and it is possible to build up efficient database by collecting only the repeated users' position. Because position information calculated by the receiver is erroneous about 10-30m within 5% error tolerance, the position information is oscillated even on the same area. In this paper, we propose the system that can estimate whether users are out of trajectory or in dangerous situation by soft-computing method.

• Journal of Integrative Natural Science
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• v.12 no.1
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• pp.14-19
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• 2019

In this paper, we propose a system for controlling the brightness of street lights by predicting pedestrian paths, identifying the position of pedestrians with motion sensing sensors and obtaining motion vectors based on past walking directions, then predicting pedestrian paths through the route prediction smart street lighting system. In addition, by using motion vector data, the pre-treatment process using linear interpolation method and the fuzzy system and neural network system were designed in parallel structure to increase efficiency and the rough set was used to correct errors. It is expected that the system proposed in this paper will be effective in securing the safety of pedestrians and reducing light pollution and energy by predicting the path of pedestrians in the detection of movement of pedestrians and in conjunction with smart street lightings.

• Journal of information and communication convergence engineering
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• v.10 no.2
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• pp.168-174
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• 2012

Flash is the most popular 2D animation and game development software, supporting vector and media technology at the core, which enables the development of small and pithy games. It is widely used in Web animation, courseware, TV commercials, game development, and other works of design. In this paper, we propose a control movement function and auxiliary functions for an alpine skiing game based on ActionScript 3.0. The control movement function is designed with moving phases (i.e., free fall, sliding, projectile, and landing). The auxiliary functions include drawing path, start/restart movement, and saving the highest score. In addition, for the visual design of our game, we designed animations in connection with a character and background. In order to facilitate testing the friction, users can input a chosen friction value. Without user input, the friction default is set at 0.97.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.2
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• pp.502-511
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• 1994

A video deck mechanism is composed of various cams, links, and gears, and it requires precise movement. So kinematic motion between parts should be considered to get desired movement depending on the timing chart which defines movement of each part to get desired mode. Also dynamic effects should be considered to get right tape tension and to estimate motor force required to obtain accurate motion. The design process of the deck mechanism of VCR is explained briefly. The loading block of the deck mechanism is divided into a tape translational group and a brake control group. Each group is modeled for kinematic and dynamic analysis. Finally, two groups are combined together to analyze the loading block of the deck mechanism. Results are used to understand and modify an existing design.