• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.123-126
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• 2003

This paper presents an speed reference trajectory planning methods for vibration suppression in a t-mass resonant system which has a flexible coupling between a load and a driving motor. Due to this flexibility, the system often suffers vibration especially when the motor is controlled for higher speed command. The steady state conditions are utilized to derive desired load speed trajectory which does not cause the torsional vibration. And the desired motor speed trajectory is synthesized base on the relation between load and motor speed. The simulation and experiment result suggest that the proposed method effectively suppress the vibration.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.251-259
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• 2023

In the path traveling of differential-drive robots, the steering controller plays an important role in determining the path-following performance. When a robot with a pure-pursuit algorithm is used to continuously drive a right-angled driving path in an unstructured environment without turning in place, the robot cannot accurately follow the right-angled path and stops driving due to the ground and motor load caused by turning. In the case of pure-pursuit, only the current robot position and the steering angle to the current target path point are generated, and the steering component does not reflect the speed plan, which requires improvement for precise path following. In this study, we propose a driving algorithm for differentially driven robots that enables precise path following by planning the driving speed using the radius of curvature and fusing the planned speed with the steering angle of the existing pure-pursuit controller, similar to the Model Predict Control control that reflects speed planning. When speed planning is applied, the robot slows down before entering a right-angle path and returns to the input speed when leaving the right-angle path. The pure-pursuit controller then fuses the steering angle calculated at each path point with the accelerated and decelerated velocity to achieve more precise following of the orthogonal path.

• Advances in aircraft and spacecraft science
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• v.7 no.1
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• pp.53-78
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• 2020

Automatic trajectory planning is an important task that will have to be performed by truly autonomous vehicles. The main method proposed, for unmanned airplanes to do this, consists in concatenating elementary segments of trajectories such as rectilinear, circular and helical segments. It is argued here that because these cannot be expected to all be flyable at a same constant speed, it is necessary to consider segments on which the airplane accelerates or decelerates. In order to preserve the planning advantages that result from having the speed constant, it is proposed to do all speed changes at maximum deceleration or acceleration, so that they are as brief as possible. The constraints on the load factor, the lift and the power required for the motion are derived. The equation of motion for such accelerated motions is solved numerically. New results are obtained concerning the value of the angle and the speed for which the longest distance and the longest duration glides happen, and then for which the steepest, the fastest and the most fuel economical climbs happen. The values obtained differ from those found in most airplane dynamics textbooks. Example of tables are produced that show how general speed changes can be effected efficiently; showing the time required for the changes, the horizontal distance traveled and the amount of fuel required. The results obtained apply to all internal combustion engine-propeller driven airplanes.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.22 no.6
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• pp.102-113
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• 2023

With the increasing use of E-scooters, there is an urgent need for research into their driving risks because of the rising number of related accidents. Existing theoretical analysis methods are primarily vehicle-centered and do not adequately reflect the lightweight and compact characteristics of E-scooters. This study was conducted on real roads to analyze the risk and stable speeds of drivers on longitudinal slopes, considering the unique attributes of E-scooters. The risk speed on slopes was, on average, 21 km/h, with the initial risk speed decreasing as the slope became steeper. The stable speed was determined to be an average of 17 km/h, except on slopes of 1-2%, which presented a relatively low risk. These results are expected to contribute to the academic foundation for policies aimed at reducing the top speed of personal mobility, as is currently being promoted in Korea.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.176-181
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• 2000

Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

• Journal of KIBIM
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• v.5 no.4
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• pp.11-22
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• 2015

Government efforts for green growth policy initiatives demand low-carbon technologies in the road construction industry. The purpose of this paper is to develop an algorithm of a road alignment design solution for establishing the multi-dimensional information, and to calculate carbon emission quantity due to the geometric design elements in the planning phase of road alignment. The paper developed a calculation method for carbon emission quantity by drawing a speed profile reflected in the operating speed, acceleration and deceleration, which are majors factor of carbon emissions while driving and by applying a carbon emission factor. From this effort, it enabled alignment planning to reduce carbon emission. Object-based parametric design methods of the cross-sections were proposed for alignment planning, and the paper demonstrated a BIM-based road alignment planning solution. The proposed solutions can provide multi-dimensional information on carbon emission quantity and cross section elements through driving simulation. It is expected to allow construction of eco-friendly roads by deriving optimal road alignment to minimize environmental costs.

• Journal of Navigation and Port Research
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• v.40 no.5
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• pp.231-239
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• 2016

In general, the attitude of a high-speed planning boat changes following a speed change. Since the hydrodynamic forces acting on a ship differ according to the change of its underwater shape, it is difficult to estimate its hydrodynamic force compared to that of a large commercial ship. In this paper, 6 Degrees Of Freedom (DOF) equations of motion that express the maneuvering motion of a planning boat are modeled by analyzing its motion characteristics based on various sea trial tests. Finally, a maneuvering simulation is carried out and a validation of the equations of motion is confirmed with the results of sea trial tests.

• Journal of Navigation and Port Research
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• v.40 no.2
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• pp.51-56
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• 2016

Expressways mean the primary arterial highways with a high level of efficiency and safety. However, Gyeongbu and Namhae expressways connected with Busan ports are showing travel time delay by increased traffic including the medium/large-sized vehicles of about 20% compared to those of about 13% regardless of the peak periods. This study, thus, intends to analyze lane traffic characteristics in the basic 8-lane segments of the above-mentioned expressways, compute the planning and buffer times based on travel time reliability, find the lane speed showing a higher correlation with planning time between the lane speeds in the basic 8-lane segments, and finally suggest a correlation model for predicting the planning time in expressways.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.444-449
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• 2006

Path planning is a key element in navigation of a mobile robot. Several algorithms such as a gradient method have been successfully implemented so for. Although the gradient method can provide the global optimal path, it computes the navigation function over the whole environment at all times, which result in high computational cost. This paper proposes a high-speed path planning scheme, called a gradient method with topological information, in which the search space for computation of a navigation function can be remarkably reduced by exploiting the characteristics of the topological information reflecting the topology of the navigation path. The computing time of the gradient method with topological information can therefore be significantly decreased without losing the global optimality. This reduced path update period allows the mobile robot to find a collision-free path even in the dynamic environment.

• Journal of Ocean Engineering and Technology
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• v.22 no.4
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• pp.84-89
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• 2008

It is hard to find experimental data for a model test of small high-speed planning boats. It is difficult to verify the performance seen in a model test for a high-speed boat because the ship-model scale-ratio is very small and the flow velocity of the circulating water channel and the X-carriage speed of the towing tank are restricted. Therefore most hull-form designs for high-speed small boats depend on the sea-trial test result for similar boats or evaluation through numerical calculations. This study investigated the anti-rolling effect of the stern sub-body in a 50-knot doss planning boat. To carry out this work, new model test procedures were set up in the actual sea. Using this method, the anti-rolling effect of the stern sub-body was investigated. A stern sub-body attached to a planning boat was proved to be effective in reducing the roll and pitch angle.