• 한국정밀공학회지
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• 제23권2호
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• pp.191-198
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• 2006

Dieless CNC forming is an innovative technology which can form various materials with complex shape by numerically controlled incremental forming process. In this paper, a method of NC tool path generation based on an STL file for dieless CNC forming is proposed. Tool trajectory adopts the principle of layered manufacturing in rapid prototyping technology, but it is necessary to consider STL offset because of the ball shaped tool with a radius. Vertex offset method which enables to compute offset STL directly is engaged for STL offset. The offseted STL is sliced by cutting planes to generate contouring tool path. Algorithm is implemented on a computer and experimented on a dieless CNC forming machine to show its validity.

• 한국정보처리학회논문지
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• 제2권3호
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• pp.343-353
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• 1995

자율 운송 장치나 이동 로보트에 대한 경로 이동 문제는 이동하고자 하는 환경을 완전히 알고 있거나, 장애물이 고정된것으로 가정해 왔다. 따라서, 임의의 환경에 대해 부분적으로 알고 있거나 미지의 환경에서의 자율 운송 장치의 운항을 위해서는 이들 경로 기법은 직접적인 적용이 불가능하고, 확장이 어렵다. 본 논문에서는 이들 문제점을 개선하기 위해서 쿼드트리 기법을 도입하였으며, 임의의 환경에서 자율적으 로 경로 계획을 할 수 있는 알고리즘을 제안하였고, 알고리즘의 타당성을 시뮬레이션 을 통해 증명하였다.

• 대한통합의학회지
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• 제9권4호
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• pp.291-298
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• 2021

Purpose: The Pedisole is a newly developed shoe-mounted wearable assessment system for analyzing balance and gait. This study aimed to determine the reliability and validity of the parameters provided by the system for static balance and gait analysis of healthy adults. Methods: This study included 38 healthy adults (22.4±1.9 years) with no history of injury in the lower limbs. All participants were asked to perform balance and gait tasks for undertaking measurements. For analysis of balance, both the smart Pedisole and Pedoscan systems were concurrently used to analyze the path length of the center of pressure (COP) and the weight ratio of the left and right for 10 s. Gait was measured using the smart Pedisole and GaitRite walkway systems simultaneously. The participants walked at a self-selected preferred gait speed. The cadence, stance time, swing time, and step time were used to analyze gait characteristics. Using the paired t-test, the intra-class coefficient correlation (ICC) was calculated for reliability. The Spearman correlation was used to assess the validity of the measurements. In total, data for balance from 36 participants and the gait profiles of 37 participants were evaluated. Results: There were significant differences between the COP path lengths (p<.050) derived from the two systems, and a significant correlation was found for COP path length (r=.382~.523) for static balance. The ICC for COP path length and weight ratio was found to be greater than .687, indicating moderate agreement in balance parameters. The ICC of gait parameters was found to be greater than .697 except for stance time, and there was significant correlation (r=.678~.922) with the GaitRite system. Conclusion: The newly developed smart insole-type Pedisole system and the related application are useful, reliable, and valid tools for balance and gait analysis compared to the gold standard Pedoscan and the GaitRite systems in healthy individuals.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제16권9호
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• pp.3194-3210
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• 2022

Wall obstruction is the main factor leading to the non-line of sight (NLoS) error of indoor localization based on received signal strength indicator (RSSI). Modeling and correcting the path loss of the signals through the wall will improve the accuracy of RSSI localization. Based on electromagnetic wave propagation theory, the reflection and transmission process of wireless signals propagation through the wall is analyzed. The path loss of signals through wall is deduced based on power loss and RSSI definition, and the theoretical model of path loss of signals through wall is proposed. In view of electromagnetic characteristic parameters of the theoretical model usually cannot be accurately obtained, the statistical model of NLoS error caused by the signals through the wall is presented based on the log-distance path loss model to solve the parameters. Combining the statistical model and theoretical model, a hybrid model of path loss of signals through wall is proposed. Based on the empirical values of electromagnetic characteristic parameters of the concrete wall, the effect of each electromagnetic characteristic parameters on path loss is analyzed, and the theoretical model of regional path loss of signals through the wall is established. The statistical model and hybrid model of regional path loss of signals through wall are established by RSSI observation experiments, respectively. The hybrid model can solve the problem of path loss when the material of wall is unknown. The results show that the hybrid model can better express the actual trend of the regional path loss and maintain the pass loss continuity of adjacent areas. The validity of the hybrid model is verified by inverse computation of the RSSI of the extended region, and the calculated RSSI is basically consistent with the measured RSSI. The hybrid model can be used to forecast regional path loss of signals through the wall.

• 로봇학회논문지
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• 제17권2호
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• pp.142-151
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• 2022

With the advent of the 4th industrial revolution, autonomous driving technology is being commercialized in various industries. However, research on autonomous driving so far has focused on platforms with wheel-type platform. Research on a tracked platform is at a relatively inadequate step. Since the tracked platform has a different driving and steering method from the wheel-type platform, the existing research cannot be applied as it is. Therefore, a path-tracking algorithm suitable for a tracked platform is required. In this paper, we studied a path-tracking algorithm for a tracked platform based on a GPS sensor. The existing Pure Pursuit algorithm was applied in consideration of the characteristics of the tracked platform. And to compensate for "Cutting Corner", which is a disadvantage of the existing Pure Pursuit algorithm, an algorithm that changes the LAD according to the curvature of the path was developed. In the existing pure pursuit algorithm that used a tracked platform to drive a path including a right-angle turn, the RMS path error in the straight section was 0.1034 m and the RMS error in the turning section was measured to be 0.2787 m. On the other hand, in the variable LAD algorithm, the RMS path error in the straight section was 0.0987 m, and the RMS path error in the turning section was measured to be 0.1396 m. In the turning section, the RMS path error was reduced by 48.8971%. The validity of the algorithm was verified by measuring the path error by tracking the path using a tracked robot platform.

• 전자공학회논문지A
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• 제33A권2호
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• pp.173-183
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• 1996

In this paper, a new structure that can do fault detection and location of digial logic circuits more efficiently using current testing techniques is proposed. In the conventional method, observation point for steady state power supply current was only one, but in the proposed method more fault classes are divided for fault detection and location through the ovservation of steady state power supply current at two points. Also, it is shown that this structure can be easily applied in detection of stuck-open fault which is not easy to do testing with conventional current testing techniques. In the presented mehtod, an extra trasnistor is used, and current path is made compulsorily in the CMOS circuits in which no current path can be established in steady state, then it can be known that stuck-open tault is in the MOS transistor on the considering current path, if this path disappears due to stuck-open fault. The validity and the effectiveness is shwon, thorugh the SPICE simulation of circuits with fault and the current path search experiment using current path search program based on transistor short model wirtten in C language on SUN sparc workstation.

• 유통과학연구
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• 제13권6호
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• pp.11-15
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• 2015

Purpose - Robot path planning, a constrained optimization problem, has been an active research area with many methods developed to tackle it. This study proposes the use of a Rapidly-exploring Random Tree and Particle Swarm Optimizer algorithm for path planning. Research design, data, and methodology - The grid method is built to describe the working space of the mobile robot, then the Rapidly-exploring Random Tree algorithm is applied to obtain the global navigation path and the Particle Swarm Optimizer algorithm is adopted to obtain the best path. Results - Computer experiment results demonstrate that this novel algorithm can rapidly plan an optimal path in a cluttered environment. Successful obstacle avoidance is achieved, the model is robust, and performs reliably. The effectiveness and efficiency of the proposed algorithm is demonstrated through simulation studies. Conclusions - The findings could provide insights to the validity and practicability of the method. This method makes it is easy to build a model and meet real-time demand for mobile robot navigation with a simple algorithm, which results in a certain practical value for distribution environments.

• 한국산학기술학회논문지
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• 제12권4호
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• pp.1796-1802
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• 2011

본 논문에서는 지하 터널환경에서 전파의 경로 손실 특성을 예측할 수 있는 시뮬레이터를 개발하였다. 전파의 경로를 정확히 분석하기 위하여 image theory 방법을 이용하였으며, 직선 터널 구간뿐만 아니라 곡선 터널 구간에서도 전파 손실을 예측할 수 있도록 구현하였다. 시뮬레이터는 다양한 변수들을 입력받아 실시간으로 전파 경로를 도식화하여 결과를 보여줄 수 있으며, 송신부와 수신부의 위치를 변경하며 결과를 예측할 수도 있다. 개발된 시뮬레이터의 결과는 충훈 터널에서 실측한 전파 경로 손실 데이터와 비교 분석하여 타당성을 확인하였다.

• Journal of Power Electronics
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• 제7권4호
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• pp.278-285
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• 2007

Recently, plasma display panels (PDP) have become the most promising candidate in the market for large screen size flat panel displays. PDPs have many merits such as a fast display response time and wide viewing angle. However, there are still concerns about high cost because they require complex driving circuits composed of high power switching devices to generate various voltage waveforms for three operational modes of reset, scan, and sustain. Conventional PDP driving circuits use path switches for voltage separation and a scan switch to offer a scan voltage for reset and scan operations, respectively. In addition, there exist reset switches to initialize PDPs by regulating the wall charge conditions with ramp shaped pulses, which means the necessity of specific power devices for the reset operation. Because power for the plasma discharge accompanied by a large current is transferred to a panel via path switches, high power rating switches are used for path switches. Therefore, this paper proposes a novel low-cost PDP driving scheme achieved by not only eliminating path switches but also merging the function of reset switches into other switches used for sustain or scan operations. The simulated voltage waveforms of the proposed topology and experimental results implemented in a 42-inch panel to demonstrate the validity of using a new gate driver that merges the functions of power switches are presented.

• 한국전자파학회논문지
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• 제16권4호
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• pp.418-426
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• 2005

본 논문에저는 MoM 행렬 요소의 해석적 계산이 가능한 새로운 형태의 closed-form 그린함수 유도를 위한 최적의 근사화 경로 선택을 3-단계 근사화 방법 및 SDP(Steepest Descent Path) 방법을 고려하여 제시하였다. 본 논문의 방법으로 유도된 새로운 형태의 closed-form그린함수 계산 결과가 기존의 방법과 달리 파수 영역 그린함수의 사전조사 없이도 넓은 주파수 범위에서 보다 정확한 결과를 주고 있음을 알 수 있었다. 본 논문이 제안하는 방법의 타당성을 확인하기 위하여 몇 가지 수치 결과들을 제시하였다.