• The Journal of Korea Robotics Society
• /
• v.4 no.3
• /
• pp.233-242
• /
• 2009

This paper briefly reviews the path planning methods that are applicable to the autonomous mobile robots for the military. Two distinct path search algorithms, $A^*$ and $D^*$ that are most popular and flexible in public applications, among those reviewed are coded and analyzed in terms of combat environment assessment factors called METT+TC for the area of operations. The results imply that it is important to consider the characteristics of defense acquisition process and the specific requirements of defense operation so that the successful technology development of the Robot products is directly linked to the defense procurement of Robot products.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.27 no.7
• /
• pp.1005-1014
• /
• 1990

This paper proposes the control unit of a 32-bit high-performance RISC type microprocessor. This control unit controls the whole data path of target processor and on chip instruction/data caches in 4-stage pipelined scheme. For the improvement of speed, large parts of data path and control unit are designed by domino-CMOS and hard-wired circuit technology. First, in this paper, target processor's instruction set and data path are defined, and next, all signals needed to control the data path are analyzed. The decoder of control unit and clock generated logic block are implemented in DCAL(Dynamic CMOS Array Logic) with modified clock scheme for the purpose of speed up and supporting RISC processor's pipelined architecture efficiently.

• Korean Journal of Computational Design and Engineering
• /
• v.6 no.4
• /
• pp.263-270
• /
• 2001

In stamping-die manufacturing, the first step is to build die patterns for lost wax casting process. A recent industry trend is to manufacture the die pattern using 3-axis NC machining. This study identifies technical considerations of the pattern machining caused by the characteristics of Styrofoam material, and proposes technical methods related to establishing a process plan and generating tool paths for optimizing the pattern machining. In this paper, the process plan includes the fellowing three items: 1) deter-mining a global machining sequence-a sequence of profile, top, bottom machining and two set-ups, 2) extracting machining features from a pattern model and merging them, and 3) determining a machining sequence of machining features. To each machining feature, this study determines the machining start point, generates the approach tool path, and proposes a tool path linking method fur reducing the distance of the cutter rapid motion. Finally, a smooth tool path generation and an automatic feedrate adjustment (AFA) method are introduced far raising the machining efficiency.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.18 no.1
• /
• pp.53-64
• /
• 1994

Rouge cutting process takes the major portion of machining operation using NC milling machine. Especially, most of the machining time is spent in this process when molds are machined. Therefore, an efficient algorithm for generating the tool path for rough cutting is suggested in this paper. The first step of the procedure is getting the volume to be machined by applying the Boolean operation on the finished model and the workpiece which have been modeling system. Basic principle of determining machining procedure is that a large tool should be used at the portion of the simple shape while a small tool should be used at the complex portion. This principle is realized by representing the volume to be machined by an octree, which is basically a set of hexahedrons, and matching the proper tools with the given octants. When the tools are matched with the octants, the tool path can be derived at the same time.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.25 no.12
• /
• pp.1601-1609
• /
• 1988

In the control of the robotic manipulators, the variable structure control method for the set point Regualation has an advantage of the insensitivity about parameter variations and disturbances. When the robotic manipulatores are controlled by a point-to-point scheme, no path constraint is considered. Thus, the variable structure control method will be effectively applied only if the trajectory of the robot hand is estimated precisely. In this paper, the joint trajectories in the joint space and the hand trajectory in the cartesian space are calculated by the variable structure control method, and an algorithm is suggested to elaborate the deviation error of the robot hand from a straight line path. The result of this study will become a base of the effective path planning about robotic manipulators with the variable structure control concept.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.21 no.4
• /
• pp.939-951
• /
• 1996

The previous study of virtual path design for one traffic class with ATM DCS only should be generalized to that for the multiple traffic class cases of being given neither virtual path candidate set nor end nodes o each virtual path. In this paper, a design model of virtual paths for the general case with multiple traffic classes is suggested. The model is represented as an optimization rpoblem with a special structure. It is solved by SQA algorithm, which is developed by authors in [3, 4]. The model and the algorithm are applied to a numerical example, and results are shown.

• Journal of Integrative Natural Science
• /
• v.12 no.4
• /
• pp.105-115
• /
• 2019

In this paper, a prediction system is proposed to control the brightness of smart street lamps by predicting the moving path through the reduction of consumption power and information of pedestrian's past moving direction while meeting the function of existing smart street lamps. The brightness of smart street lamps is adjusted by utilizing the walk tracking vector and soft hand-off characteristics obtained through the motion sensing sensor of smart street lamps. In addition, the motion vector is used to analyze and predict the pedestrian path, and the GPU is used for high-speed computation. Pedestrians were detected using adaptive Gaussian mixing, weighted difference imaging, and motion vectors, and motions of pedestrians were analyzed using the extracted motion vectors. The preprocessing process using linear interpolation is performed to improve the performance of the proposed prediction system. Fuzzy prediction system and neural network prediction system are designed in parallel to improve efficiency and rough set is used for error correction.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.25 no.2
• /
• pp.152-161
• /
• 1988

In this paper, a direct method for obtaining the trajectory set points is investigated in discrete-time, which is different from the other conventional schemes. We consider the tracking of a straight line path, where the trajectory set points for manipulator control are determined exactly on the straight line path. For the purpose of the munimum-time operation of manipulators, the problem is formulated as a maximization of the Cartesian distance between two consecutive servo time instants. The maximization is subject to the smoothness and torque constraints. Several algorithms are developed and utilized to maximize the Cartesian distance. The proposed approach has been simulated on a VAX-11/780 computer to verify its performance.

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.24 no.63
• /
• pp.33-43
• /
• 2001

To estimate the reliability of a large and complex network with a small variance, we propose two dynamic Monte Carlo sampling methods: the sequential minimal cut set (SMCS) and the sequential minimal path set (SMPS) methods. These methods do not require all minimal cut sets or path sets to be given in advance and do not simulate all arcs at each trial, which can decrease the valiance of network reliability. Based on the proposed methods, we develop the importance sampling estimators, the total hazard (or safety) estimator and the hazard (or safety) importance sampling estimator, and compare the performance of these simulation estimators. It is found that these estimators can significantly reduce the variance of the raw simulation estimator and the usual importance sampling estimator. Especially, the SMCS algorithm is very effective in case that the failure probabilities of arcs are low. On the contrary, the SMPS algorithm is effective in case that the success Probabilities of arcs are low.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.16 no.12
• /
• pp.4099-4113
• /
• 2022

In this paper, we propose improved maximum access delay time, noise variance, and power delay profile (PDP) estimation schemes for orthogonal frequency division multiplexing (OFDM) system in multipath fading channels. To this end, we adopt the approximate maximum likelihood (ML) estimation strategy. For the first step, the log-likelihood function (LLF) of the received OFDM symbols is derived by utilizing only the cyclic redundancy induced by cyclic prefix (CP) without additional information. Then, the set of the initial path powers is sub-optimally obtained to maximize the derived LLF. In the second step, we can select a subset of the initial path power set, i.e. the maximum access delay time, so as to maximize the modified LLF. Through numerical simulations, the benefit of the proposed method is verified by comparison with the existing methods in terms of normalized mean square error, erroneous detection, and good detection probabilities.