• 건축역사연구
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• 제25권3호
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• pp.63-70
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• 2016

This paper aimed to identify a main-path remains in the Hwangnyongsa temple site based on studying published the excavation survey report and researching relics related to the path in the ancient temple site. Hwngnyongsa temple, there were three type's paved footway, straight path to the central axis line of the layout, outside path around the main buildings and the front square of the lecture hall. These remains were expected that installed for some purposes, such as marches, touring, sort of a Buddhist ceremony been performed at the time of Silla. Straight path shows there were two rows of the main access inside the roofed corridor. A row consisted of the 2~3 pieces processed stone(Jangdaeseok) altogether with 92cm width and combined with square stone and stepping stone on the end of the road. It is regarded as very characteristic form and one of the architectural elements of Hwangnyongsa temple in Unified Silla period.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1824-1827
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• 1997

Majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is influenced greatly by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and makes the high speed-high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2DOF planar robot, the conditions for the maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solutioin to the optimal path placement problem is proposed that minimizes the joint disturbance torque are examined. then, a solution to the optimal path placement problem is proposed that minimizes the joint disturbance torque during a straight line motion. the proposed method is illustrated using computer simulation. the proposed solution method cna be applied to the class of robots that are controlled by independent joint sevo control, which includes the vast majority of industrial robots. By minimizing the joint disturbacne torque during the motion, the simple joint servo controlled robot can move with improved path tracking accuracy at high speed.

• Journal of Electrical Engineering and Technology
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• 제7권6호
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• pp.1023-1033
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• 2012

An underwater planar covering problem is studied where the coverage region consists of polygonal cells, and line sweep motion is used for coverage. In many subsea applications, sidescan sonar has become a common tool, and the sidescan sonar data is meaningful only when the sonar is moving in a straight line. This work studies the optimal line sweep coverage where the sweep paths of the cells consist of straight lines and no turn is allowed inside the cell. An optimal line sweep coverage solution is presented when the line sweep path is parallel to an edge of the cell boundary. The total time to complete the coverage task is minimized. A unique contribution of this work is that the optimal sequence of cell visits is computed in addition to the optimal line sweep paths and the optimal cell decomposition.

• International Journal of Computer Science & Network Security
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• 제22권10호
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• pp.67-72
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• 2022

A wireless sensor network (WSN), with its constrained sensor node energy supply, needs an energy-efficient routing technique that maximises overall system performance. When rumours are routed using a random-walk routing algorithm, which is not highly scalable, spiral pathways may appear. Because humans think a straight line is the quickest route between two sites and two straight lines in a plane are likely to intersect, straight-line routing (SLR) constructs a straight path without the aid of geographic information. This protocol was developed for WSNs. As a result, sensor nodes in WSNs use less energy when using SLR. Using comprehensive simulation data, we show that our upgraded SLR systems outperform rumour routing in terms of performance and energy conservation.

• Journal of Biosystems Engineering
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• 제26권5호
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• pp.415-422
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• 2001

A seedling pick-up device for vegetable transplanters was developed and its work performance was evaluated at the laboratory. The pick-up device extracts seedlings from a 200-cell tray of seedlings and transfers them to the place where they are to be transplanted into the soil. The device consists of a path generator, pick-up pins and a pin driver. The path generator is a five-bar mechanism comprised of a fixed link, a driving link, a driven link, a connecting link and a slider. The slider is constrained to move along the driven link and a fixed slot of combined straight-line and circular paths. The connecting link joins the driving link and the slider. When the slider moves along the straight-line path of the slot it takes seedlings out from the cell and transfers them to the transplanting hopper when moving along the circular path. A proto-type of the pick-up device was built and tested under the various operational conditions such as age of seedling, approach direction and penetration depth of pins to the cell, holding method of seedling and extracting velocity. The device extracted 30 seedlings per minute with the maximum success ratio of 97% using the seedlings of 23 days old. Some design details were also discussed and suggested to enhance the performance of the device.

• 대한전자공학회논문지
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• 제25권2호
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• pp.152-161
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• 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.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2014년도 춘계학술대회 논문집
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• pp.500-501
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• 2014

• 조명전기설비학회논문지
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• 제29권9호
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• pp.65-70
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• 2015

Minimal line length enables low-cost construction of the transmission lines and low-loss transportation of electric power. This paper presents a derivation to determine the coordinate and length of the straight line that minimally connects two perpendicular lines x-axis and y-axis via a specific point, using the optimization technique. The author shows a formula to obtain the minimal length, which is represented by the cube root of the coordinate given by the specific point. Case studies have been also discussed to prove the optimal solutions derived by the proposed formula.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 추계학술대회 논문집
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• pp.301-305
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• 2001

Conventionally, robot control algorithms are divided into two stages, namely, path or trajectory planning and path tracking(or path control). This division has been adopted mainly as a means of alleviating difficulties in dealing with complex, complex, coupled manipulator dynamics. The minimum-time manipulator control problem is solved for the case when the path is specified and the actuator torque limitations are known. In path planning, DP is applied to applied to find the shortest path form initial position to final position with the assumptions that there is no obstacle and that each path is straight line. In path control, the phase plane technique is applied to the minimum-time control with the assumptions that the bound on each actuator torque is a function of joint position and velocity or constant. This algorithm can be used for any manipulator that has rigid link, known dynamics equations of motion, and joint angles that can be determined at a given position on the path.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.58-62
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• 1987

In this paper, path planning, modelling, and control of manipulators are described. The path planning deals with specifying how to define the motion of hand along straight line paths in the minimum amount of time. A new model was developed for the manipulator, which is based on the classical equations of motion of a rigid body. A new control algorithm was developed which controls the manipulator in terms of the position and orientation of the hand.