• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.40 no.4
• /
• pp.354-363
• /
• 2012

Now there are a lot of expired satellites or space debris around the earth orbit and they threaten the operating satellites and manned space missions. KOMPSAT-2 that scheduled to operate the mission by July, 2013 also has to consider the space debris. This paper introduces the '25 years rules' that must be re-entered within 25 years after the space mission for LEO satellites and describes the removal trajectory design that satisfies the '25 years rules' and minimizes fuel consumption. And this paper suggests monte-carlo simulation for risk analysis that causes the approaching object to the removal trajectory. The result shows that the collision probability of worst case presents 6.0741E-07 and it need to more analysis about precise satellite safety during removal maneuver because there is no information about the object size that approaching to the satellites.

• KIISE Transactions on Computing Practices
• /
• v.22 no.4
• /
• pp.189-194
• /
• 2016

A trajectory is the motion path of a moving object. The advances in IT have made it possible to collect an immeasurable amount of various type of trajectory data from a moving object using location detection devices like GPS. The trajectories of moving objects are widely used in many different fields of research, including the geographic information system (GIS) field. In the GIS field, several attempts have been made to automatically generate digital maps of roads by using the vehicle trajectory data. To achieve this goal, the method to cluster the trajectories on the same road is needed. Usually, the $Fr{\acute{e}}chet$ distance measure is used to calculate the distance between a pair of trajectories. However, the $Fr{\acute{e}}chet$ distance measure requires prolonged calculation time for a large amount of trajectories. In this paper, we presented a fast heuristic algorithm to distinguish whether the trajectories are in close distance or not using the discrete $Fr{\acute{e}}chet$ distance measure. This algorithm trades the accuracy of the resulting distance with decreased calculation time. By experiments, we showed that the algorithm could distinguish between the trajectory within 10 meters and the distant trajectory with 95% accuracy and, at worst, 65% of calculation reduction, as compared with the discrete $Fr{\acute{e}}chet$ distance.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.22 no.7
• /
• pp.1-6
• /
• 2008

In industrial fields, human works are being replaced by robots. However, as the use of robots is limited in the process industry where they are operated fixedly, humanoid robots with wide applications need to be developed. Currently a great deal of research is being conducted on humanoid robots with the object of replacing humans in the workplace. However, because of the lack of relevant hardware and difficulty in mechanical parts, only very simple and limited progress is being made. In an effort to overcome these limitations, the purpose of the present study is to develop a kinematical mechanism and a controller. To this end, master arms with 3 degrees-of-freedom for the shoulders and the arms were composed which were able to reproduce human-like motions by simulating the characteristics of joint variables and the trajectory of the end-effector.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.15 no.1
• /
• pp.9-15
• /
• 2012

This paper shows an effective scanning trajectory for a mine detection device that is one of the mission equipments of unmanned ground vehicle. The mine detection device is composed of a mine-detection sensor, and a 4 DOF manipulator enabling sensor position control. There are three modes that manage the mine detection device: passive, semi-automatic, and automatic. The automatic mode is used the most. This paper suggests a scanning method that makes shape of 8. This method prevents missing target area and enhances scanning speed when the mine detection device scans the ground surface in automatic mode. The suggested method is verified by simulations and experiments.

• Proceedings of the KSRS Conference
• /
• 2004.10a
• /
• pp.287-290
• /
• 2004

In the moving object database system, spatiotemporal join is very import operation when we process join moving objects. Processing time of spatio-temporal join operation increases by geometric progression with numbers of moving objects. Therefore efficient methods of spatio-temporal join is essential to moving object database system. In this paper, we propose spatio-temporal join algorithm with TB-Tree that preserves trajectories of moving objects, and show result of test. We first present basic algorithm, and propose cpu-time tunning algorithm and IO-time tunning algorithm. We show result of test with data set created by moving object generator tool.

• IEIE Transactions on Smart Processing and Computing
• /
• v.5 no.6
• /
• pp.375-382
• /
• 2016

This paper realizes control of the motion of a swimming robot fish in order to implement an underwater robot fish aquarium. And it implements positional control of a two-axis trajectory path of the robot fish in the aquarium. The performance of the robot was verified though certified field tests. It provided excellent performance in driving force, durability, and water resistance in experimental results. It can control robot motion, that is, it recognizes an object by using an optical flow object-detecting algorithm, which uses a video camera rather than image-detecting sensors inside the robot fish. It is possible to find the robot's position and control the motion of the robot fish using a radio frequency (RF) modem controlled via personal computer. This paper proposes realization of robot fish motion-tracking control using the optical flow object-detecting algorithm. It was verified via performance tests of lead-lag action control of robot fish in the aquarium.

• Korean Journal of Optics and Photonics
• /
• v.6 no.4
• /
• pp.274-281
• /
• 1995

The new method of recording and reconstructing a synthetic object, which was called as scannedobject holography (SOH), was proposed and its feasibility was demonstrated theoretically and experimentally. The hologram was recorded by interfering the fixed reference beam with spherical waves emitting from a moving point source, whose trajectory determined the shape of the synthetic object to be recorded. The end face of an optical fiber and the output from a pulsed laser were utilized in order to implement a moving point source experimentally. tally.

• Journal of the Korean Society of Industry Convergence
• /
• v.22 no.4
• /
• pp.415-425
• /
• 2019

This study proposes a new approach to control Moving Stuff Action Through Iterative Learning robot with dual arm for smart factory. When robot moves object with dual arm, not only position of each hand but also contact force at surface of an object should be considered. However, it is not easy to determine every parameters for planning trajectory of the an object and grasping object concerning about variety compliant environment. On the other hand, human knows how to move an object gracefully by using eyes and feel of hands which means that robot could learn position and force from human demonstration so that robot can use learned task at variety case. This paper suggest a way how to learn dynamic equation which concern about both of position and path.

• Proceedings of the KIEE Conference
• /
• 2001.11c
• /
• pp.95-98
• /
• 2001

A hierarchical structure for the cooperative control of multiple mobile robots using coordinates of objects obtained from vision system is proposed. The order-level perceives environments represented by workspace sets. The algorithm selects an object to be moved using an object discrimination part and determines the robot actions. The action-level generates a trajectory of each wheel velocity of robot. The simulation results show the effectiveness of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.94.2-94
• /
• 2002

$\textbullet$ The method to have real-time response at the motion control. $\textbullet$ The trajectory generation method guarantees the continuous acceleration in changing the velocity during the actuator is moving. $\textbullet$ We propose the velocity profile generation algorithm in order to change object position or object velocity with continuous acceleration using blending method.