• 제어로봇시스템학회논문지
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• 제20권12호
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• pp.1272-1277
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• 2014

This article describes a path planning algorithm for fixed-wing UAVs when a real terrain should be considered. Nowadays, many UAVs are required to perform mission flights near given terrain for surveillance, reconnaissance, and infiltration, as well as flight altitude of many UAVs are relatively lower than typical manned aerial vehicles. Therefore, real terrain should be considered in path planning algorithms of fixed-wing UAVs. In this research, we have extended a spline-$RRT^*$ algorithm to three-dimensional planner. The spline-$RRT^*$ algorithm is a $RRT^*$ based algorithm, and it takes spline method to extend the tree structure over the workspace to generate smooth paths without any post-processing. Direction continuity of the resulting path is guaranteed via this spline technique, and it is essential factor for the paths of fixed-wing UAVs. The proposed algorithm confirm collision check during the tree structure extension, so that generated path is both geometrically and dynamically feasible in addition to direction continuity. To decrease degrees of freedom of a random configuration, we designed a function assigning directions to nodes of the graph. As a result, it increases the execution speed of the algorithm efficiently. In order to investigate the performance of the proposed planning algorithm, several simulations are performed under real terrain environment. Simulation results show that this proposed algorithm can be utilized effectively to path planning applications considering real terrain.

• 한국도로학회논문집
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• 제8권4호
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• pp.49-62
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• 2006

우리나라는 그동안 사회기반시설로서 도로역할을 중시하여 도로부문에 매년 대규모 예산을 투입했다. 그 결과 개발이 용이한 평탄지를 중심으로 한 국가 기간 도로망 체계 확보에 결실이 있었다. 그러나 앞으로 지속적인 도로망 체계를 건설하기 위해서는 산악지형과 같은 고비용이 들어가는 지형에 대해서 효율적으로 개발해야 하는 과제를 안고 있다. 이러한 지형은 도로 설계속도 결정단계에서 고려되어야 할 중요한 입력변수이다. 그럼에도 불구하고 현재 도로설계기준상에는 지형구분을 위한 명확하고 객관적인 판단기준이 제시되어 있지 않기 때문에 설계속도가 부정확하게 결정될 수도 있다. 본 연구는 지형구분의 필요성에 대해 인지하고 고도 및 경사 그리고 주행속도 자료를 바탕으로 합리적으로 지형구분을 하였으며, 연구결과는 다음과 같다. 첫째, 본 연구에서는 GIS data를 이용하여 고도와 경사도에 따라 지형을 9가지 AREA로 분류하였으며, 지형분류 data(AREA)와 주행속도 자료를 matching하여 분석한 결과, AREA의 분류에 따른 특성이 주행속도에 영향을 미치는 것으로 나타났다. 둘째, 본 연구에서는 고도와 경사도에 따른 지형분류와 지형분류에 따른 그룹 간 주행속도의 유의성 분석 결과를 근거로 해서 평지, 구릉지, 산지로 우리나라 지형을 구분하였다. 본 연구는 일반국도를 대상으로 한 주행 속도자료를 이용하였기 때문에 지방도나 군도등 기능이 다른 도로에 대해서는 적용상의 한계가 있으나, 향후 도로건설시 도로가 통과하는 지역의 지형적 특성을 반영 할 수 있는 하나의 기준이 될 것으로 기대된다.트 탄성계수나 슬래브 두께가 증가하던지 또는 지반 탄성계수가 감소하면 최대 응력이 생기는 종방향 상 위치가 양쪽 바깥축에서 중간축의 위치로 바뀌게 된다. 문합군(52%)에 비해 통계적으로 유의한 차이를 보였다(p<0.01). 결론: 식도-위 문합 시 경부 문합은 흉부 문합에 비해 문합부 협착의 빈도는 차이가 없고, 역류성 식도염의 빈도는 현저히 적으며, 식도암의 경우 더 여유 있는 절제면을 제공할 수 있는 장점이 있으리라 판단된다. 따라서 식도절제술 및 위-식도 문합 시 특별한 금기증에 해당하지 않는다면 경부 문합을 선호할 수 있을 것으로 생각된다. 문합 방법에 따른 역류성 식도염과 협착의 빈도에서는 유의한 차이를 발견할 수 없었으나, 수술 시간의 단축 등의 몇몇 장점으로 인해 기계 문합을 선호할 수 있을 것으로 생각된다. 향후 식도암의 수술 기법과 술 후 관리의 향상으로 인하여 문합 부위의 역류로 인한 증상과 환자의 일상 생활의 질에 대한 중요성이 지속적으로 강조될 것으로 생각되며, 이에 따른 적극적인 anti-reflux 수술에 대한 고려도 필요할 것으로 생각된다.$14.7{\pm}2.7$ mL로 각 군 간에 통계적인 유의성이 있었다(p<0.05). 혈청내 칼륨 농도는 I군에서 II군에 비해 소생술 후 의의 있게 높았으며(p<0.05), 포도당 농도는 II단계의 I군에서 타군과 비교하여 현저히 낮았다(p<0.05). IL-8은 I 군 $1,834{\pm}437$ pg/mL, II 군 $1,006{\pm}532$ pg/mL,

• 대한전기학회논문지
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• 제38권12호
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• pp.995-1006
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• 1989

로보트 매니퓰레이터가 컨베이어 상의 파트를 추적 하면서 작업을 수행하는 것은 작업 효율의 증가에 크게 기여한다. 본 논문은 컨베이어 상의 파트를 추적하기 위한 로보트 매니퓰레이터의 동작계획 알고리즘을 제안한다. 로보트 매니퓰레이터의 추적 동작은 밸트의 속도, 추적 시작 시간에서의 파트와 로보트 핸드의 위체이 의하여 결정된다. 이때 토크 및 관절 속도, 관절 가속도, 관절 저크의 제한범위가 모두 고려되며, 최소의 정착시간을 갖는 추적 궤적이 생성된다. 추적 해는 linearr quadratic tracking문제로 접근하여 구한다. 로보트매니퓰레이터의 동적 방정식은 파라메터의 함수 성능 지수를 최소화 하는 동적 방정식의 해는 동적 계획법에 의하여 구한다. ${\mu}-VAX_@$에 의한 시뮬레이션 결과를 제시한다.

• 제어로봇시스템학회논문지
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• 제21권3호
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• pp.217-223
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• 2015

Autonomous driving is no longer atechnology of the future since the development of autonomous vehicles has now been realized, and many technologies have already been developed for the convenience of drivers. For example, autonomous vehicles are one of the most important drive assistant systems. Among these many drive assistant systems, Cruise Control Systems are now a typical technology. This system constantly maintains a vehicle's speed and distance from a vehicle in front by using Radar or LiDAR sensors in real time. Cruise Control Systems do not only serve their original role, but also fulfill another role as a 'Driving Safety' measure as they can detect a situation that a driver did not predict and can intervene by assuming a vehicle's longitude control. However, these systems have the limitation of only focusing on driver safety. Therefore, in this paper, an Intelligent Cruise Control System that utilizes the path planning method and GIS is proposed to overcome some existing limitations.

• 대한기계학회논문집A
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• 제24권9호
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• pp.2235-2245
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• 2000

The necessity of using rapid prototyping(RP) for short-run manufacturing is continuously driving a development of a cost-effective technique that will produce completely-finished quality parts in a very short time. To meet these demands, the improvements in production speed, accuracy, materials, aid cost are crucial. Thus, a new hybrid-RP system performing both deposition and machining in a station is proposed. For the new hybrid RP process to maintain the same degree of process automation as in currently available processes like SLA or FDNI, a sophisticated process planning system is developed. In the process planner, CAD models(STEP AP203) are partitioned into 3D manufacturable volumes called 'Ueposition feature segment"(DFS) after machining features called "machining feature segmenf'(MFS) are extracted from the initial CAD model. Once MFS and DFS are identified, the process planner arranges them into a chain of processes and automatically generates machining information for each DFS and MFS. The goal of this paper is to present a framework for a process planning system for hybrid RP processes and to outline the geometric algorithms involved in developing such an environment.

• 동력기계공학회지
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• 제16권4호
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• pp.17-23
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• 2012

In this study, the numerical simulation and basin model test have been performed to evaluate sea worthiness and resistance performance for a small pre-planning three type of leisure boats which are U, V, Y shapes of hull forms. As a well known commercial CFD code, Maxsurf, was applied for modeling hull forms used as the solver of motion analysis. Also the model resistance test was carried out to estimate the effective power of boat in the basin tank. Numerical simulation and model test results show that Y-shaped hull is better than the other types in terms of heave and pitch motion, having a key effect on a boat sea worthiness. But V-type hull is more efficiency than others cases in resistance performance.

• 한국정밀공학회지
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• 제24권4호
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• pp.84-92
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• 2007

Dynamic process planning requires not only more flexible capabilities of a CAPP system but also higher utility of the generated process plans. In order to meet the requirements, this paper develops an algorithm that can select machines for the machining operations by calculating the machine loads. The developed algorithm is based on the multi-objective genetic algorithm that gives rise to a set of optimal solutions (in general, known as the Pareto-optimal solutions). The objective is to satisfy both the minimization number of part movements and the maximization of machine utilization. The algorithm is characterized by a new and efficient method for nondominated sorting through K-means algorithm, which can speed up the running time, as well as a method of two stages for genetic operations, which can maintain a diverse set of solutions. The performance of the algorithm is evaluated by comparing with another multiple objective genetic algorithm, called NSGA-II and branch and bound algorithm.

• 로봇학회논문지
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• 제13권2호
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• pp.142-149
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• 2018

$RRT^*$ (Rapidly exploring Random $Tree^*$) based algorithms are widely used for path planning. Informed $RRT^*$ uses $RRT^*$ for generating an initial path and optimizes the path by limiting sampling regions to the area around the initial path. $RRT^*$ algorithms have several limitations such as slow convergence speed, large memory requirements, and difficulties in finding paths when narrow aisles or doors exist. In this paper, we propose an algorithm to deal with these problems. The proposed algorithm applies the image skeletonization to the gridmap image for generating an initial path. Because this initial path is close to the optimal cost path even in the complex environments, the cost can converge to the optimum more quickly in the proposed algorithm than in the conventional Informed $RRT^*$. Also, we can reduce the number of nodes and memory requirement. The performance of the proposed algorithm is verified by comparison with the conventional Informed $RRT^*$ and Informed $RRT^*$ using initial path generated by $A^*$.

• 산업경영시스템학회지
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• 제34권3호
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• pp.123-133
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• 2011

The advanced planning and scheduling(APS) is an well known enterprise information system that provides optimal production schedules and supports to complete production on time by solving the complex scheduling problems including capacity and due dates. In this paper, we focused on the improvement of the APS that is already established on a real company. The existing APS had several drawbacks, thus utilization and satisfaction were very low. We performed the focused group interviews and the process analysis and could find that the end users and developers have various objectives and the frequently used functions are different. We applied the analytical hierarchy process(AHP) to converge opinions of them on quantitative data. The results show that it is necessary to enhance visibility, to improve user interfaces and response speed, and to reconcile the real business process and the APS's process.

• KIEE International Transactions on Power Engineering
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• 제4A권4호
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• pp.214-220
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• 2004

Power quality monitoring is the cornerstone for power quality analysis, diagnosis and improvement. The measurement of power quality (PQ) evolves from instantaneous metering to continuous monitoring. Furthermore, recent technologies enable us to construct more flexible, reliable, rapid and economical power quality monitoring system (PQMS). Therefore, this paper presents an improved PQMS with a new distributed monitoring structure. The proposed PQMS consists of a PQ meter, PQ analyzer and GUI. The PQ meter only collects raw data and the PQ analyzer performs power quality analysis. It has several advantages compared to conventional structures in economic efficiency, modularity, speed, etc. PQ monitoring algorithms to catch steady-state trends and to detect PQ events are also adapted to the proposed structure. Using the proposed structure and monitoring algorithm, a prototype PQMS is constructed and real-time testing is performed.