• 제어로봇시스템학회논문지
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• 제21권5호
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• pp.471-476
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• 2015

This paper presents a maximum velocity trajectory planning algorithm for differential mobile robots with wheel velocity constraint to cope with physical limits in the joint space for two-wheeled mobile robots (TMR). In previous research, the convolution operator was able to generate a central velocity that deals with the physical constraints of a mobile robot while considering the heading angles along a smooth curve in terms of time-dependent parameter. However, the velocity could not track the predefined path. An algorithm is proposed to compensate an error that occurs between the actual and driven distance by the velocity of the center of a TMR within a sampling time. The velocity commands in Cartesian space are also converted to actuator commands to drive two wheels. In the case that the actuator commands exceed the maximum velocity the trajectory is redeveloped with the compensated center velocity. The new center velocity is obtained according to the curvature of the path to provide a maximum allowable velocity meaning a time-optimal trajectory. The effectiveness of the algorithm is shown through numerical examples.

• 전자공학회논문지B
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• 제29B권10호
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• pp.27-36
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• 1992

This paper proposes a numerical method of motion planning for manipulators using Foruier series. For a redundant manipulator, we predetermine the trajectories of redundant joints in terms of the Nth partial sum of the fourier series. then the optimal coefficients of the fourier series are searched by the Powell's method. For a nonredundant or redundant manipulator, CS02T-continuous smooth joint trajectory for a point-to-point task can be obtained while considering the frequency response. We apply the proposed method to the 3-link planar manipulator and the PUMA 560 manipulator. To show the validity of the proposed method, we analyze solutions by the Fast Fourier Transform (FFT). Also, several features are discussed to obtain an optimal solution.

• 대한조선학회논문집
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• 제53권2호
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• pp.115-126
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• 2016

In the process of ship building, it is known that the maintenance of working period and saving cost are one of the important part during the logistics of blocks transportation. Precise operational planning inside the shipyard plays a big role for a smooth transportation of blocks. But many problems arise in the process of block transportation such as the inevitable road damage during the transportation of the blocks, unpredictable stockyard utilization of the road associated with a particular lot number, addition of unplanned blocks. Therefore, operational plan needs to be re-established frequently in real time for an efficient block management. In order to find the shortest path between lot numbers, there are several representative methods such as Floyd algorithm that has the characteristics of many-to-many mapping, Dijkstra algorithm that has the characteristic of one-to-many mapping, and the A* algorithm which has the one-to-one mapping, but many authors have published without the mutual comparisons of these algorithms. In this study, some appropriate comparison have been reviewed about the advantages and disadvantages of these algorithms in terms of precision and cost analysis of calculating the paths and planning system to operate the transporters. The flexible operating plan is proposed to handle a situation such as damaged path, changing process during block transportation. In addition, an operational algorithm of a vacant transporter is proposed to cover the shortest path in a minimum time considering the situation of transporter rotation for practical use.

• 전자공학회논문지
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• 제53권6호
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• pp.137-145
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• 2016

본 논문에서는 새로운 방법의 3차원 컴퓨터단층영상에서 혈관을 추적하는 알고리즘을 소개하고자 한다. 해당 방법은 먼저 빠르게 다수의 2차 혹은 3차의 정칙곡선들로 대표되는 혈관의 지역적 모델들을 생성한다. 혈관의 특징을 고려한 비용함수로부터 각 곡선들은 영상데이터를 기반으로 생성된 비용을 부여 받는다. 추적 과정에서 매 단계 다음 혈관을 추정하기 위한 곡선들은 특정 기준에 의하여 여과되어 결국 혈관의 내부에 위치한 곡선들만 걸러낸다. 그 후 이들을 기반으로 혈관의 중심 선에 해당하는 최적의 정칙곡선 하나를 선정하게 된다. 지역적으로 최적인 정칙곡선이 순차적으로 검출되며 이들을 연결하여 하나의 혈관을 대표하는 구분적으로 부드러운 곡선을 만들어낸다. 짧은 정칙곡선은 제어 점들만으로 빠르게 기하학적 변환이 가능하며, 정의역 모든 구간에 대하여 미분이 가능하므로 곡률과 비틀림과 같은 기하학적 정보를 얻기 용이한 장점이 있다. 해당 방법에서 사용되는 정칙곡선모델이 혈관을 분류하고 추적함에 있어서 그 적합성을 증명하였고, 공공 데이터를 이용한 실험을 통하여 정확성과 수행 시간에 대해 최신기법들과 비교할만한 결과를 얻었다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.993-996
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• 2005

High speed machining(HSM) technique is widely used in the appliance, automobile part and mold industries, which has many advantages such as good quality, low cost and rapid machining time. but it also has problems like tool break, smooth tool path, and so on. In particular, small size end mill is easy to break, so it must be changed before interrupting operation. Generally, the tool life of small size end mill is effected by the milling conditions whose evaluated parameters are spindle, feedrate, and width of cut. The experiments are carried out by full factorial design of experiments using and orthogonal array. This paper shows optimal combination and mathematical model for tool life, and the analysis of variance(ANOVA) is employed to analyze the main effects and the interactions of these milling parameters and the second-order polynomial regression model with three independent variables is estimated to predict tool life by multiple regression analysis.

• 한국정밀공학회지
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• 제23권2호
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• pp.73-80
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• 2006

High speed machining(HSM) technique is widely used in the appliance, automobile part and mold industries, because it has many advantages such as good quality, low cost and rapid machining time. But it also has problems such as tool breakage, smooth tool path, and so on. In particular, small size end mill is easy to break, so it must be changed before interrupting operation. Generally, the tool life of small size end mill is affected by the milling conditions whose selected parameters are spindle speed, feedrate, and width of cut. The experiments were carried out by full factorial design of experiments using an orthogonal array. This paper shows optimal combination and mathematical model for tool life, Therefore, the analysis of variance(ANOVA) is employed to analyze the main effects and the interactions of these milling parameters and the second-order polynomial regression model with three independent variables is estimated to predict tool life by multiple regression analysis.

• 한국산학기술학회논문지
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• 제18권2호
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• pp.743-750
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• 2017

온실에서 버섯을 재배할 때 균일한 온도 분포가 되도록 하는 것이 중요하다. 지하 공기를 이용하여 비닐 하우스, 버섯재배사에 일정 온도의 공기를 공급하며 균일하게 유지하게 한다. 버섯재배사 구조는 7단 4열의 다배열 균상들 사이의 공기 흐름을 원활히 하고 위, 아래 균상 간의 환경 차이를 방지한다. 0.5m/s의 속도로 유입되는 공기는 초기 내부온도 간의 차이에 따라 밀도 차에 따른 부력에 의한 효과 역시 무시할 수 없으며, 온실내의 유동 해석을 통해 적정 온도가 균등하게 분포하도록 FCU(Fan Coil Unit)와 Fan의 위치를 정해야 한다. 본 연구에서는 유동해석을 통해 FCU와 Fan으로 구성된 샌드위치 단열 패널형의 버섯재배사의 공조시스템을 설계할 수 있었다. 그리고 재배사 내부의 온도 및 유동 해석을 통해 FCU(유입구)와 Fan(출구)의 위치가 서로 다른 Case에서 유입되는 공기의 순환 경로가 길어지면서 비교적 균일한 온도분포를 갖는데 유리함을 알 수 있었다. 따라서 이러한 환경 개선을 통해 버섯의 생육 및 품질 균일성을 도모할 수 있었다.