• Journal of KIISE:Databases
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• v.35 no.2
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• pp.169-181
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• 2008

Because moving objects usually move on spatial networks, efficient trajectory index structures are required to achieve good retrieval performance on their trajectories. However, there has been little research on trajectory index structures for spatial networks such as FNR-tree and MON-tree. But, because FNR-tree and MON-tree are stored by the unit of the moving object's segment, they can't support the whole moving objects' trajectory. In this paper, we propose an efficient trajectory index structure, named Trajectory of Moving objects on Network Tree(TMN Tree), for moving objects. For this, we divide moving object data into spatial and temporal attribute, and preserve moving objects' trajectory. Then, we design index structure which supports not only range query but trajectory query. In addition, we divide user queries into spatio-temporal area based trajectory query, similar-trajectory query, and k-nearest neighbor query. We propose query processing algorithms to support them. Finally, we show that our trajectory index structure outperforms existing tree structures like FNR-Tree and MON-Tree.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1402-1407
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• 2004

Moving a fragile object from an initial point to a goal location in minimum time without damage is pursued in this paper. In order to achieve the goal, first of all, the range of maximum acceleration and velocity are specified, which the manipulator can generate dynamically on the path that is planned a priori considering the geometrical constraints. Later, considering the impulsive force constraint of the object, the range of maximum acceleration and velocity are going to be obtained to keep the object safe while the manipulator is carrying it along the curved path. Finally, a time-optimal trajectory is planned within the maximum allowable range of the acceleration and velocity. This time optimal trajectory planning can be applied for real applications and is suitable for not only a continuous path but also a discrete path.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.3
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• pp.427-432
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• 2018

This paper uses a recursive least squares method to estimate the projectile motion trajectory of an object in real time. The equations of motion of the object are obtained considering the air resistance which occurs in the actual experiment environment. Because these equations consider air resistance, parameter estimation of nonlinear terms is required. However, nonlinear recursive least squares estimation is not suitable for estimating trajectory of projectile in that it requires a lot of computation time. Therefore, parameter estimation for real-time trajectory prediction is performed by recursive least square estimation after using Taylor series expansion to approximate nonlinear terms to polynomials. The proposed method is verified through experiments by using VICON Bonita motion capture system which can get three dimensional coordinates of projectile. The results indicate that proposed method is more accurate than linear Kalman filter method based on the equations of motion of projectile that does not consider air resistance.

• KIPS Transactions on Software and Data Engineering
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• v.6 no.2
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• pp.85-90
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• 2017

Various mobile devices are spreading in recent developments in mobile computing environments. Especially the popularity of mobile devices equipped with GPS has become widespread, and various application services utilizing location information are born. In this paper, we propose a system model for storing and managing the trajectory of moving objects, which is the set of location information of moving objects acquired in continuous time, and the UDF (User-Defined Functions) based trajectory index method which can quickly query the large data set of moving object and the Pre-Materialized table method. Then we compare and evaluate the performance of each method through experiments. Experimental results show that the Pre-Materialized table method is about 1.2 times faster than the UDF based trajectory index method on execution time.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.9
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• pp.2057-2064
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• 2010

With the development of wireless network technology, the location information of a spatiotemporal object which changes their location is used in various application. Each spatiotemporal object has many location information, hence it is inefficient to search all trajectory information of spatiotemporal objects for a range query. In this paper, we propose an efficient method which divides a trajectory and stores its division data on restricted storage space. Using suboptimal split algorithm, an extended split algorithm that minimizes the volume of EMBRs(Extended Minimum Bounding Box) is designed and simulated. Our experimental evaluation confirms the effectiveness and efficiency of our proposed splitting policy

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.10
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• pp.2188-2194
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• 2011

With the development of wireless network technology, Storing the location information of a spatiotemporal object was very necessary. Each spatiotemporal object has many unnecessariness location information, hence it is inefficient to search all trajectory information of spatiotemporal objects. In this paper, we propose an efficient method which increase searching efficiency. Using EMBR(Extend Minimun Bounding Rectangle), an LinearMarge split algorithm that minimizes the volume of MBRs is designed and simulated. Our experimental evaluation confirms the effectiveness and efficiency of our proposed splitting policy.

• Transactions of the Korean Society of Automotive Engineers
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• v.10 no.3
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• pp.123-129
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• 2002

This paper proposes a vehicle trajectory prediction method far application to vehicle-to-vehicle distance control. This method is based on 2-dimensional kinematics and a Kalman filter has been used to estimate acceleration of the object vehicle. The simulation results using the proposed control method show that the relative distance characteristics can be improved via the trajectory prediction method compared to the customary intelligent cruise control algorithm.

• International Journal of Precision Engineering and Manufacturing
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• v.8 no.4
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• pp.16-21
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• 2007

Robotic applications, such as automatic fish cutting, require online trajectory planning because the material properties of the object, such as the bone or flesh conditions, are not known in advance. Different trajectories are required when the material properties vary. An effective online trajectory-planning algorithm is proposed using quaternions to determine the position and orientation of a robot manipulator with a spherical wrist. Quaternions are free of representation singularities and permit computationally efficient orientation interpolations. To prevent singular configurations, the exact locations of the kinematic singularities of the PUMA 560 manipulator are derived and geometrically illustrated when a forearm offset exists and the third link length is not zero.

• Proceedings of the KSME Conference
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• 2000.11a
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• pp.647-652
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• 2000

This paper proposes a collision warning/avoidance algorithm using a trajectory prediction method. This algorithm is based on 2-dimensional kinematics and the Kalman filter has been used to obtain the information of the object vehicle. This algorithm has been investigated via computer simulation and showed a good trajectory prediction performance. The proposed collision warning/avoidance algorithm would enhanced driver acceptance for a collision warning/avoidance system.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.168-171
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• 1993

In this paper, we design a time optimal controller of a dual arm robot to handle the object. Differently from the master-slave type robot, same priority is imposed on the both of the arms for effective handling the specifed object. For finding a time optimal collision-free trajectory, a graphical method is applied for the robot with two degree of freedom. Some simulation results show the effectiveness of the proposed method.