• 대한수학교육학회지:수학교육학연구
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• 제22권1호
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• pp.23-38
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• 2012

일반적으로 학생들은 종이에 곡선을 그려 뾰족한 점이 없어 눈에 보이는 모양이 부드러우면 매끄러운 곡선(smooth curve)으로 인식한다. 이것은 고등학교에서 매개변수 방정식이 움직이는 자연현상을 설명하기 위해 방향과 속도를 모델링하여 만들어진 본래의 의미에 대한 충분한 교수학습이 이루어지지 않아 매끄러운 곡선을 시각적으로 고정된 곡선으로만 이해하는 원인이 될 수 있다. 그리고 동일한 부드러운 곡선이라도 그 곡선을 표현하는 경로에 따라 속도가 불연속이 되거나 속도가 0이 되어 매끄러운 곡선이 아닌 경로가 존재한다는 것을 인식하기 어렵다. 그래서 동일한 곡선을 나타내는 다양한 속도의 경로를 제시하여 속도의 연속성을 구체화 하여 매끄러운 곡선의 의미를 분석한다. 아울러 매끄러운 곡선을 바라보는 관점을 정적인 시각에서 동적인 시각으로 패러다임을 바꾼다면 미적분학의 전반적인 분야가 석화 같은 수학에서 역동하는 수학으로 발전할 수 있다.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제54권8호
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• pp.351-357
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• 2005

This paper presents vibration minimization of a PMLSM driven feed-slide by using optimized smooth velocity curve with finite jerk. First of all, the PMLSM was designed and made to reduce detent force. Next, a PMLSM driven feed-slide system was mathematically modeled as a 4-degree-of-freedom lumped parameter model. The key idea of our vibration minimization method is to find out the most appropriate smooth velocity(feedrate) curve with finite jerk. The validity of our proposed method has been verified by comparing computer simulation results of the feed-slide model with experimental ones.

• 제어로봇시스템학회논문지
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• 제19권6호
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• pp.540-546
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• 2013

This paper presents a trajectory planning algorithm for TMR (Two-wheeled Mobile Robots). The trajectory is developed in joint space and considers the physical limits of a TMR. First, we present a process for generating a smooth curve through a Bezier curve. The trajectory for the center of the TMR following the Bezier curve is developed through a convolution operator taking into consideration its physical limits. The trajectory along the Bezier curve is regenerated using time-dependent parameters which correspond to the distance driven by the velocity of the center of the TMR in a sampling time. The velocity commands in the Cartesian space are converted to actuator commands for two wheels. In case that the actuator commands exceed the maximum velocity, the trajectory is redeveloped with compensated center velocity. We also suggest a smooth trajectory planning algorithm in joint space for the two segmented paths. Finally, the effectiveness of the algorithm is shown through numerical examples and application to a simulator.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제10권2호
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• pp.113-118
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• 2010

This paper proposed an ECAM (Electronic cam) control system which has simple and general structure. The proposed cam controller adopted the linear and polynomial curve-fitting method to generates a smooth cam profile curve function. Smooth motion trajectory of master actuator guarantees the good performance of slave motion and has an important effect on the interpolation quality of ECAM. The auto-tuning PID velocity controller was applied to overcome the uncertainties in ECAM, and the gains of the controller are updated continuously to ensure the consistency of system performance under varying working conditions. The robustness of system against the varying load torque disturbances and noises is guaranteed by using the load torque disturbance observer to suppress the disturbance on master actuator. The velocity compensator was applied to compensate the degradation of performance of slave motion caused from the varying driving speed of master motion. The stability and validity of the proposed ECAM control system was verified by simulation results.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2005년도 춘계학술대회 논문집
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• pp.97-102
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• 2005

This paper presents feed rate optimizaton of a PMLSM driven feed-slide for mininum vibrations by smoothing velocity curve with finite jerk. First of all, the PMLSM was designed and made to reduce detent force. Next, a PMLSM driven feed-slide system was mathematically modeled as a 4-degree-of-freedom lumped parameter model. The key idea of our vibration minimization method is to find out the most appropriate smooth velocity curve with finite jerk. The validity of our proposed method has been verified by comparing computer simulation results of the feed-slide model with experimental ones.

• 제어로봇시스템학회논문지
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• 제12권10호
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• pp.1012-1017
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• 2006

By breaking the symmetry of the velocity profile in the S-curve, we developed a fast starting and smooth ending motion profile, named asymmetric S-curve(AS-curve). The problem for generating motion profile is formulated, and the algorithm for the AS-curve is derived and the flow chart of the AS-curve is illustrated. By various simulations, the derived algorithm is tested and shows the validity. This AS-curve can be applied to the high precision machines where fast and vibrationless motion is required in the near future.

• 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.

• 천문학회지
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• 제37권1호
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• pp.15-39
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• 2004

We analyse the results of mass models derived from the HI rotation! curves of spiral galaxies and find that the slope of the luminous mass-circular velocity relation is close to 4. The luminous mass-circular velocity relation with a slope of about 4 can be explained by an anti-correlation between the mass surface density of luminous matter and the mass ratio of the dark and luminous components. We also argue that the conspiracy between luminous and dark matter exists in a local sense (producing a flat or smooth rotation curve) and in a global sense (affecting the mass ratio of the dark and luminous matter), maintaining the luminous mass-circular velocity relation with a slope of about 4. We therefore propose that the physical basis of the Tully-Fisher relation lies in the luminous mass-circular velocity relation. While the slope of the luminous mass-circular velocity relation is fairly well defined regardless of the dark matter contribution, the zero-point of the relation is still to be determined. The determination of the slope of the Tully-Fisher relation needs one more step: the mean trend of the luminosity-luminous mass relation determines the overall shape (slope) of the Tully-Fisher relation. The key parameter needed to determine the zero-point of the luminous mass-circular velocity relation and the slope of the Tully-Fisher relation obviously is the luminous mass-to-light ratio.

• 한국지능시스템학회논문지
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• 제24권1호
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• pp.52-57
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• 2014

본 논문은 두 바퀴 이동로봇의 주행에 있어서 주어진 경로를 물리적 제한을 만족하면서 주행하는 관절 공간 궤적 생성방법을 실시간 운영체제를 이용하여 구현함으로써 실시간 제어 방법에 대하여 연구하였다. 경로계획에서 이동로봇의 방향을 고려하기 위하여 베지어곡선을 이용하였으며, 컨볼루션 연산자를 이용하여 로봇의 두 바퀴의 속도의 제한을 만족시켰다. 관절 공간의 궤적 생성과 생성된 궤적에 대한 속도명령, 그리고 엔코더 값 감시 등 실시간 태스크를 주기적 태스크로 구현하였으며 동기화를 위하여 실시간 메커니즘인 이벤트 플래그를 이용하여 구현하였다. 실제 로봇에 실시간 태스크를 구현하여 속도명령의 실시간성과 이에 따른 이동로봇의 주행실험 결과를 이용하여 궤적 추종 성능을 비실시간 시스템과 분석하였다. 결과를 통하여 실시간 성을 요구하는 제어시스템에서 실시간 다중 태스크 시스템의 유용성을 검증하였다.

• 한국지구물리탐사학회:학술대회논문집
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• 한국지구물리탐사학회 2006년도 공동학술대회 논문집
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• pp.41-50
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• 2006

본 연구에서는 표면파의 군속도 분산 분석을 이용하여 한반도에 설치된 광대역 관측소 사이의 지각 및 상부맨틀의 지진파 속도 구조를 연구하였다. 지진파 잡음의 상호상관기법(Campillo and Paul, 2003; Shapiro et al., 2005)을 이용하여 단주기 표면파의 군속도 분산을 계산하였다. 기존의 잡음 상호상관 기법과는 다르게 지진파 신호를 화이트닝하여 분석에 사용하였다. 그린 함수에서 MFT(multiple filter technique) 방법을 이용하여 0.5 - 20 초 주기의 표면파의 군속도를 계산하였다. 두 관측소 경로에 대하여 얻어진 표면파 군속도 자료를 한반도에 대해 공간적으로 이메이징하기 위하여 표면파 토모그래피 역산을 하였다. 역산 결과 한반도의 남동부에 위치한 경상 분지의 낮은 군속도를 확인할 수 있었다.