• Journal of the Korean Society for Precision Engineering
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• v.12 no.2
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• pp.135-144
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• 1995

조립작업에 있어서의 경로계획(path planning)에 대하여 지금까지 많은 연구가 진행되어 왔으며, 그것의 주종을 이루는 것들은 cell decomposition 방식과 potential field 방식이다. 이러한 방식들은 free space를 세분하거나 potential field를 계산하는데 많은 시간을 필요로 하며, 조립부품 이동영역이 configuration space로 먼저 치환이 되어야 하는 문제점들이 발생하게 된다. 그러므로, 만약에 조립부품에 대한 이동환경이 복잡하지 않고 알려져 있으면 위의 방식들은 비용적인 면에서 많은 낭비를 가져온다. 본 논문에서는 간단하면서도 알려진 작업환경에서 효과적인 조립부품의 경로계획 알고리즘을 개발하였다. 먼저, channel, junction 및 간격 유지계수(clearance gap)의 개념을 도입하고, 이 개념들을 이용하여 룰 방식의 알고리즘을 개발하였다. 그리고, 이 알고리즘을 이동용 로봇의 경로계획에도 적용될 수 있음을 보였다.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.1
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• pp.187-194
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• 2012

This paper compares two collision avoidance algorithms using a simulator. The collision avoidance is vital for autonomous navigation of a mobile robot. Artificial potential field method and elastic force method are major approaches for the collision avoidance. The two algorithms are compared in the respect of the time for motion completion and the length of the motion path. The simulator is developed based on IPC(Inter Process Communication) and a differential drive mobile robot is used for the comparison.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.12
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• pp.981-988
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• 2021

This paper presents a decentralized guidance algorithm for swarm flight of fixed-wing UAVs (Unmanned Aerial Vehicles). Considering swarm flight missions, we assume four representative swarm tasks: gathering, loitering, waypoint/path following, and individual task. Those tasks require several distinct maneuvers such as path following, flocking, and collision avoidance. In order to deal with the required maneuvers, this paper proposes an integrated guidance algorithm based on vector field, augmented Cucker-Smale model, and potential field methods. Integrated guidance command is synthesized with heuristic weights designed for each guidance method. The proposed algorithm is verified through flight tests using up to 19 small fixed-wing UAVs.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.7
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• pp.1302-1308
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• 2007

In this paper, a real-time collision avoidance algorithm is proposed for experimental Autonomous Vehicle(XAV). To ensure real-time implementation, a virtual potential field is calculated in one dimensional space. The attractive force is generated by the steering command either transmitted in the remote control station or calculated in the Autonomous Navigation System(ANS) of the XAV. The repulsive force is generated by obstacle information obtained from Laser Range Finder(LRF) mounted on the XAV. Using these attractive and repulsive forces, modified steering, velocity and emergency stop commands are created to avoid obstacles and follow a planned path. The suggested algorithm is inserted as one component in the XAV system. Through various real experiments and technical demonstration using the XAV, the usefulness and practicality of the proposed algorithm are verified.

• Smart Structures and Systems
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• v.21 no.3
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• pp.373-387
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• 2018

Semi-active isolation systems based on leverage-type stiffness control strategies have been widely studied. The main concept behind this type of system is to adjust the stiffness in the isolator to match the fundamental period of the isolated system by using a simple leverage mechanism. Although this system achieves high performance under far-field earthquakes, it is unsuitable for near-fault strong ground motion. To overcome this problem, this study considers the potential energy effect in the control law of the semi-active isolation system. The minimal energy weighting (MEW) between the potential energy and kinetic energy was first optimized through a series of numerical simulations. Two MEW algorithms, namely generic and near-fault MEW control, were then developed to efficiently reduce the structural displacement responses. To demonstrate the performance of the proposed method, a two-degree-of-freedom structure was employed as a benchmark. Numerical results indicate that the dynamic response of the structure can be effectively dampened by the proposed MEW control under both far-field and near-fault earthquakes, whereas the structural responses resulting from conventional control methods may be greater than those for the purely passive control method. Moreover, according to experimental verifications, both the generic and near-fault MEW control modes yielded promising results under impulse-like earthquakes. The practicability of the proposed control algorithm was verified.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1657-1661
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• 2005

The velocity dipole field method is presented for real-time collision avoidance of mobile robots. The direction of motion of the obstacle is used as the axis of the dipole field, and the speed of the obstacle is used to proportionally strengthen the dipole field. The elliptical field lines of the dipole field are useful to skillfully guide the robot around obstacles, quite similar to the way humans avoid moving obstacles. Field modulation coefficient is also introduced to weaken the field effect as the obstacle recedes. The real-time algorithm of the velocity dipole field has been devised and experimentally tested on the robot soccer test-bed. The results show the capability of the new real-time collision avoidance strategy and how it can overcome the weaknesses in the conventional potential field method. The new method makes an explicit and proactive action of collision avoidance, unlike the conventional method, which forces the robot merely away from the obstacle aimlessly. The proposed method delivers greater capability with no considerable computational overhead

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.8
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• pp.726-732
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• 2005

This paper proposes an autolanding guidance and control algorithm with the lateral guidance law. This algorithm is basically formulated and designed in feedback linearization based on singular perturbation. Main features of this algorithm are two facts. One of those is that when a certain situation happens that airplane must realign to the runway suddenly assigned due to unexpected environment change around the landing site, the heading guidance in this algorithm is very valuable, and the other is the fact that the inner loop control of this algorithm is able to be designed directly based on the Handling Quality Requirements that most flight control systems must be satisfied with. To illustrate the potential of this algorithm, 6-DOF nonlinear simulation based on the nonlinear airplane model shown in Ref.[11] is carried out. The simulation results showed that the altitude response to the given landing trajectory is accurate, and the airplane heading alignment to the assigned runway from the lateral deviation is successful. It is noted that this algorithm is also applicable to unmanned aerial vehicle, which can be retrieved in autolanding technique, where the runway far retrieving the vehicle is in any direction for example at war field.

• Geophysics and Geophysical Exploration
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• v.6 no.2
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• pp.101-107
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• 2003

3D seismic travel-time tomography algorithm baled on Fresnel volume was developed and its feasibility was investigated by the numerical experiments. To testify the field applicability of the developed algorithm, frequency characteristics and way coverage of the crossholel seismic raw data were investigated and 3D velocity tomogram cube with about 8m spatial resolution was obtained. When compared this 3D velocity cube with the conventional 2D ray tomogram, two results were matched well. We concluded that 3D seismic tomography algorithm developed in this study has enough potential to the field application.

• Journal of information and communication convergence engineering
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• v.12 no.2
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• pp.104-108
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• 2014

The field of body sensor networks has attracted interest of many researchers due to its potential to revolutionize medicine. These sensors are usually implanted inside the human body and communicate among themselves. In the process of receiving, processing, or transmitting data, these devices produce heat. This heat damages the tissues surrounding the devices in the case of prolonged exposure. In this paper, to reduce this damages, we have improved and evaluated two protocols-the least temperature routing protocol and adaptive least temperature routing protocol-by implementing clustering as well as a leadership rotation algorithm. We used Castalia to simulate a basic body area network cluster composed of 6 nodes. A throughput application was used to simulate all the nodes sending data to one sink node. Simulations results shows that improved communication protocol with leadership rotation algorithm significantly reduce the energy consumption as compared to a scheme without leadership rotation algorithm.

• 한국전산유체공학회:학술대회논문집
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• 2000.10a
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• pp.72-77
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• 2000

This paper presents the results of the application of a computational fluid dynamics algorithm for the simulation of plasma flows of arc-heated jet. The underlying physical model is based on the axisymmetric form of the conservation equations that are coupled with an arc model including Ohm heating, electromagnetic forces. The arc model given as a source term in fluid dynamic equations is determined by a solution of electric potential field governed by an elliptic partial differential equation. The governing equation of electric field is loosely coupled with fluid dynamic equations by an electric conductivity that is a function of state variables. However, the electric fields and flow fields cannot be solved In fully coupled manner, but should be solved iteratively due to the different characteristics of governing equations. With this solution approach, several applications of arc flow analysis will be presented including Arc Thruster and Circuit Breaker.