• 정보과학회 컴퓨팅의 실제 논문지
• /
• 제22권4호
• /
• pp.189-194
• /
• 2016

궤적은 이동체가 움직인 경로이다. IT 기술의 성장은 GPS와 같은 위치 측정 장치를 통해 다양한 이동체의 궤적 데이터를 수집할 수 있게 하였다. 이동체의 궤적은 지리정보시스템(GIS)을 포함한 다양한 연구 분야에서 사용된다. 지리정보시스템 분야에서는 차량의 궤적 데이터를 이용한 전자 도로 지도생성 시도가 많이 이루어져왔다. 이 목표를 이루기 위해서는 같은 도로 상의 궤적들을 모으는 방법이 필요하다. 흔히 프레셰 거리($Fr{\acute{e}}chet$ distance)가 궤적 쌍의 거리를 측정하는데 사용된다. 하지만 프레셰 거리는 대량의 궤적들에 대해서는 계산 시간의 소모가 심하다. 본 논문에서는 궤적들의 인접성 여부를 이산프레셰 거리를 통해 빠르게 구분하는 휴리스틱 알고리즘을 제안한다. 이 알고리즘은 계산되는 거리의 정확도를 낮추는 대신 계산 속도를 높였다. 실험 결과, 제안 방법은 이산 프레셰 거리 대비 95%의 정확도와 최하 65%의 계산 감소율로 거리가 10m 이내인 궤적들을 구분할 수 있었다.

• 조명전기설비학회논문지
• /
• 제22권7호
• /
• 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.

• 한국군사과학기술학회지
• /
• 제15권1호
• /
• 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.

• 대한원격탐사학회:학술대회논문집
• /
• 대한원격탐사학회 2004년도 Proceedings of ISRS 2004
• /
• 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
• /
• 제5권6호
• /
• 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.

• 한국광학회지
• /
• 제6권4호
• /
• pp.274-281
• /
• 1995

본 논문에서는 가상적인 물체를 기록하고 재생하는 새로운 홀로그램 기록방법인 scanned-object holography를 제안하였으며 그 가능성을 이론과 실험을 통해 증명하였다. 이 방법에서는 점광원으로부터 방출되는 구면파의 이동결과와 정지된 기준파를 연속적으로 간섭시킴으로서 점광원의 이동 경로로 표현되는 가상적인 물체를 기록할 수 있었다. 이때 점광원을 실험적으로 구현하기 위해 광섬유 출력단과 펄스형 레이저를 사용하였다.

• 한국산업융합학회 논문집
• /
• 제22권4호
• /
• 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.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2001년도 합동 추계학술대회 논문집 정보 및 제어부문
• /
• 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
• /
• 제어로봇시스템학회 2002년도 ICCAS
• /
• 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.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
• /
• pp.518-521
• /
• 1995

In this paper, a learning control problem is formulated for cooperating multiple-robot manipulators with uncertain system parameters. The commonly held object is also assumed to be unknown and the multiple-robots themselfs experience uncertain operating conditions such as link parameters, viscous friction parameters, suctions, actuator bias, and etc. Under these conditions, the learning controllers designed for learning of uncertain parameters and robot control inputs for multiple-robot systems are shown to drive the multiple-robot manipulators to follow the desired Cartesian trajectory with the desired internal forces to the unknown object.