• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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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.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.29B no.10
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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.

• Journal of the Society of Naval Architects of Korea
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• v.53 no.2
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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.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.6
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• pp.137-145
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• 2016

A novel tracking method is proposed to find coronary artery using high-order curve model in coronary CTA(Computed Tomography Angiography). The proposed method quickly generates numerous artificial trajectories represented by high-order curves, and each trajectory has its own cost. The only high-ranked trajectories, located in the target structure, are selected depending on their costs, and then an optimal curve as the centerline will be found. After tracking, each optimal curve segment is connected, where optimal curve segments share the same point, to a single curve and it is a piecewise smooth curve. We demonstrated the high-order curve is a proper model for classification of coronary artery. The experimental results on public data set sho that the proposed method is comparable at both accuracy and running time to the state-of-the-art methods.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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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.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.2 s.179
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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.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.2
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• pp.743-750
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• 2017

It is important to ensure a uniform temperature distribution in greenhouses for the mushroom cultivation. The air temperature of the mushroom cultivation greenhouse is made uniform by supplying a constant air temperature with the underground air. The mushroom cultivation array in a greenhouse in seven columns and four rows can make smooth air flows between the rows and prevent air differences between the top and bottom. The buoyancy effect in the entering air of 0.5m/s based on following density difference depending on initial internal temperature needs to be considered. The locations of the Fan Coil Unit (FCU) and fan were defined through flow analysis in a greenhouse to distribute the optimal uniform temperature. In this study, the air conditioning system of a greenhouse with a sandwich heat insulting panel shape which is composed of a FCU and fan was designed by flow analysis. A relatively uniform temperature distribution can be formed because the circulation path of air becomes longer in the different locations of the FCU (inlet) and fan (outlet) through the internal temperature and flow analysis. The cultivation and quality uniformity of the mushrooms could be promoted through these environmental improvements.