• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.1133-1137
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• 1995

This paper presents a numerical method of the global search for an optimal geometric path for a manipulator arm amid obstacles. Finite term quintic B-splines are used to describe an arbitrary point-to-point manipulator motion with fixed moving time. The coefficients of the splines span a linear vector space, a point in which uniquely represents the manipulator motion. All feasible geometric paths are searched by adjusting the seed points of the obstacle models in the penetration growth distances. In the numerical implementation using nonlinear programming, the globally optimal geometric path is obtained for a spatial 3-link(3-revolute joints) manipulator amid several hexahedral obstacles without simplifying any dynamic or geometric models.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.12
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• pp.204-213
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• 1999

This paper suggests a numerical method of finding optimal geometric path and minimum-time motion for a manipulator arm. To find the minimum-time motion, the optimal geometric path is searched first, and the minimum-time motion is searched on this optimal path. In the algorithm finding optimal geometric path, the objective function is minimizing the combination of joint velocities, joint-jerks, and actuator forces as well as avoiding several static obstacles, where global search is performed by adjusting the seed points of the obstacle models. In the minimum-time algorithm, the traveling time is expressed by the linear combinations of finite-term quintic B-splines and the coefficients of the splines are obtained by nonlinear programming to minimize the total traveling time subject to the constraints of the velocity-dependent actuator forces. These two search algorithms are basically similar and their convergences are quite stable.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.10
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• pp.116-126
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• 2001

This paper suggests a numerical method to find optimal geometric path and minimum-time motion for a spatial 6-link manipulator arm (PUMA 560 type). To find a minimum-time motion, the optimal geometric paths minimizing 2 different dynamic performance indices are searched first, and the minimum-time motions are searched on these optimal paths. In the algorithm to find optimal geometric paths, the objective functions (performance indices) are selected to minimize joint velocities, actuator forces or the combinations of them as well as to avoid one static obstacle. In the minimum-time algorithm the traveling time is expressed by the power series including 21 terms. The coefficients of the series are obtained using nonlinear programming to minimize the total traveling time subject to the constraints of velocity-dependent actuator forces.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.1C
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• pp.1-7
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• 2011

Recently, multi-hop relay transmission has drawn much attention owing to its advantage of coverage extension at low power consumption. In this paper, we derive a performance bound of multi-hop communication systems with multiple amplify-and-forward relays when the optimal path is selected. The bound is derived in generalized Nakagami fading channels with different parameters for each hop by applying the geometric mean bound to the path signal-to-noise ratio (SNR) and obtaining the moment generation function of the bound. It is shown that the bound based on the geometric mean is closer to the actual performance of optimal path selection when the fading effect is small.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.406-412
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• 1996

Optimal trajectory for a robot manipulator minimizing actuator torques or energy consumption in a fixed traveling time is obtained in the presence of obstacles. All joint displacements are represented in finite terms of Fourier cosine series and the coefficients of the series are obtained optimally by nonlinear programming. Thus, the geometric path need not be prespecified and the full dynamic model is employed. To avoid the obstacles, the concept of penalty area is newly introduced and this penalty area is included in the performance index with an appropriate weighting coefficient. This optimal trajectory will be useful as a geometric path in the minimum-time trajectory planning problem.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.3
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• pp.147-155
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• 1997

Optimal trajectory for a robot manipulator minimizing actuator torques or energy consumptions ina fixed traveling time is obtained in the presence of obstacles. All joint displacements are represented in finite terms of Fourier cosine series and the coefficients of the series are obtained optimally by nonlinear programming. Thus, the geometric path need not be prespecified and the full dynamic model is employed. To avoid the obstacles, the concept of the penalty area is newly introduced and this penalty area is includ- ed in the performance index with an appropriate weighting coefficient. This optimal trajectory will be useful as a geometric path in the minimum-time trajectory planning problem.

• Advances in robotics research
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• v.1 no.1
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• pp.41-59
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• 2014

This paper deals with the problem of steering a group of mobile robots along a reference path while maintaining a desired geometric formation. To solve this problem, the overall formation is decomposed into numerous geometric patterns composed of pairs of robots, and the state of the geometric patterns is defined. A control algorithm for the problem is proposed based on the Nash equilibrium strategies incorporating receding horizon control (RHC), also known as model predictive control (MPC). Each robot calculates a control input over a finite prediction horizon and transmits this control input to its neighbor. Considering the motion of the other robots in the prediction horizon, each robot calculates the optimal control strategy to achieve its goals: tracking a reference path and maintaining a desired formation. The performance of the proposed algorithm is validated using numerical simulations.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.4
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• pp.493-498
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• 2004

A novel approach for path planning of a polygonal robot is presented. Traditional path planners perform extensive geometric searching to find the optimal path or to prove that there is no solution. The computation required to prove that there is no solution is equivalent to exhaustive search of the motion space, which is typically very expensive. Humans seems to use a set of several different path planning strategies to analyse the situation of the obstacles in the environment, and quickly recognize whether the path-planning problem is easy to solve, hard to solve or has no solution. This human path-planning strategies have motivated the development of the presented algorithm that combines qualitative shape reasoning and exhaustive geometric searching to speed up the path planning process. It has three planning stages consisting of identification of no-solution cases based on an enclosure test, a qualitative reasoning stage, and finally a complete search algorithm in case the previous two stages cannot determine of the existence of a solution path.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.1
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• pp.130-136
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• 1998

A procedure of stress and strength analysis has been proposed for the centrifuge rotor of composite materials of quasi-isotropic laminates. The goal in this study is to maximize the allowable rotating speed, that is, to minimize maximum strength ratio with the given path length by changing the geometric parameter-outer radius and ply angles in quasi-isotropic laminates. Optimum values of the geometric parameter-outer radius and ply angles are obtained by multilevel optimization. All the geometric dimensions and stresses are normalized such that the result can be extended to a general case. Two dimensional analysis at each cross section with an elliptic tube hole subjected to internal hydrostatic pressures by samples as well as the centrifugal body forces has been performed along the height to calculate the stress distribution with the plane stress assumption, and Tsai-Wu failure criterion is used to calculate the strength ratio. The maximum allowable rotating speed can be increased by changing the radii of the outer surface along the height with the maximum strength ratio under the unit value : The optimal number of ply angles maximizing the allowable rotating speed in quasi-isotropic laminates is found to be the half number of tube hole, and the optimal laminate rotation angle is the half of $[{\pi}/m]$. A $[{\pi}/3]$ laminate, for instance, is stronger than a $[{\pi}/4]$ laminate for the centrifuge rotor of 6 tube hole number even though they have the same stiffness.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.13 no.2
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• pp.221-230
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• 2000

Sweep geometric models are based on the notion of moving a curve, surface or solid along some path. Sweeping allows definition of prismatic shell surfaces in a simple way, This paper describes an application of sweep geometric models for the optimization of prismatic shells. This geometric model is integrated with finite element formulations. A nine-node degenerated shell element is adopted to calculate the response of prismatic shells. Several examples we presented to demonstrate the process of optimization. From numerical examples, it is observed that sweep geometric models provide an efficient and reliable way of obtaining optimal solutions for a large class of prismatic shell structures.