• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.1029-1036
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• 2011

An energy-efficient reference walking trajectory generation algorithm is suggested utilizing allowable ZMP (Zero-Moment-Point) region, which maxmizes the energy efficiency for cyclic gaits, based on three-dimensional LIPM (Linear Inverted Pendulum Model) for biped robots. As observed in natural human walking, variable ZMP manipulation is suggested, in which ZMP moves within the allowable region to reduce the joint stress (i.e., rapid acceleration and deceleration of body), and hence to reduce the consumed energy. In addition, opimization of footstep planning is conducted to decide the optimal step-length and body height for a given forward mean velocity to minimize a suitable energy performance - amount of energy required to carry a unit weight a unit distance. In this planning, in order to ensure physically realizable walking trajectory, we also considered geometrical constraints, ZMP stability condition, friction constraint, and yawing moment constraint. Simulations are performed with a 12-DOF 3D biped robot model to verify the effectiveness of the proposed method.

• Journal of Ocean Engineering and Technology
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• v.18 no.4 s.59
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• pp.15-22
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• 2004

Static and dynamic analyses of a very flexible and light riser, for upwelling the deep ocean water, is performed. In this numerical study, an implicit finite difference algorithm is employed for three-dimensional riser equations. Fluid non-linearity and bending stiffness are considered and solved, using the Newton-Raphson iteration. Maintaining the depth of end point of a flexible and light riser is very important for upwelling deep ocean water in a floating type development system. Weight is attached at the end point of the riser in order to maintain its intake depth. It is designed under the strong surface current and the configuration of the rise is predicted. In the dynamic analysis, the tension variation at the top point of the riser is presented. T e results of this study can contribute to the design of the development system in floating type for upwelling deep ocean water.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.2
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• pp.432-438
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• 2011

This paper describes an analysis of optimal design conditions of multi-mode LDPC(low density parity check) decoder which supports three block lengths (648, 1296, 1944) and four code rates (1/2, 2/3, 3/4, 5/6) for IEEE 802.11n WLAN system. A fixed-point model of LDPC decoder, which adopts min-sum algorithm and layered decoding scheme, is implemented using Matlab. From fixed-point simulation results for various bit-width parameters such as internal bit-width, integer/fractional part bit-widths, optimal design conditions and decoding performance of LDPC decoder are analyzed.

• Journal of Information Processing Systems
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• v.16 no.4
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• pp.750-759
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• 2020

The wide application of various integrated location-based services (LBS social) and tourism application (app) has generated a large amount of trajectory space data. The trajectory data are used to identify popular tourist attractions with high density of tourists, and they are of great significance to smart service and emergency management of scenic spots. A hot spot analysis method is proposed, based on spatial clustering of trajectory stop points. The DBSCAN algorithm is studied with fast clustering speed, noise processing and clustering of arbitrary shapes in space. The shortage of parameters is manually selected, and an improved method is proposed to adaptively determine parameters based on statistical distribution characteristics of data. DBSCAN clustering analysis and contrast experiments are carried out for three different datasets of artificial synthetic two-dimensional dataset, four-dimensional Iris real dataset and scenic track retention point. The experiment results show that the method can automatically generate reasonable clustering division, and it is superior to traditional algorithms such as DBSCAN and k-means. Finally, based on the spatial clustering results of the trajectory stay points, the Getis-Ord Gi* hotspot analysis and mapping are conducted in ArcGIS software. The hot spots of different tourist attractions are classified according to the analysis results, and the distribution of popular scenic spots is determined with the actual heat of the scenic spots.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.12
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• pp.24-29
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• 1997

Recently, Genetic Algorithm(GA), which is a stochastic direct search strategy that mimics the process of genetic evolution, is widely adapted into a search procedure for structural optimization. Contrast to traditional optimal design techniques which use design sensitivity analysis results, GA is very simple in their algorithms and there is no need of continuity of functions(or functionals) any more in GA. So, they can be easily applicable to wide area of design optimization problems. Also, owing to multi-point search procedure, they have higher porbability of convergence to global optimum compared to traditional techniques which take one-point search method. The methods consist of three genetics opera- tions named selection, crossover and mutation. In this study, a method of finding the omtimum size and topology of drilling machine is proposed by using the GA, For rapid converge to optimum, elitist survival model,roulette wheel selection with limited candidates, and multi-point shuffle cross-over method are adapted. And pseudo object function, which is the combined form of object function and penalty function, is used to include constraints into fitness function. GA shows good results of weight reducing effect and convergency in optimal design of drilling machine.

• ETRI Journal
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• v.45 no.5
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• pp.836-846
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• 2023

Mobile robots are used in modern life; however, object recognition is still insufficient to realize robot navigation in crowded environments. Mobile robots must rapidly and accurately recognize the movements and shapes of pedestrians to navigate safely in pedestrian-rich spaces. This study proposes real-time, accurate, three-dimensional (3D) multi-pedestrian detection and tracking using a 3D light detection and ranging (LiDAR) point cloud in crowded environments. The pedestrian detection quickly segments a sparse 3D point cloud into individual pedestrians using a lightweight convolutional autoencoder and connected-component algorithm. The multi-pedestrian tracking identifies the same pedestrians considering motion and appearance cues in continuing frames. In addition, it estimates pedestrians' dynamic movements with various patterns by adaptively mixing heterogeneous motion models. We evaluate the computational speed and accuracy of each module using the KITTI dataset. We demonstrate that our integrated system, which rapidly and accurately recognizes pedestrian movement and appearance using a sparse 3D LiDAR, is applicable for robot navigation in crowded spaces.

• Journal of computational fluids engineering
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• v.9 no.4
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• pp.7-12
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• 2004

In the present study a semi-automatic mesh generation program has been developed by using DXF file containing contour line data. The program consists of DXF file reader and mapping algorithm. Pre-generated 2-D planar mesh points are to be mapped one by one onto triangular surface whose three vertices are three nearest contour points surrounding the mapping point. The present program has been successfully tested for mesh generations for the road tunnel ventilation analysis and analysis of lava movement in mountain area.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.320-327
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• 2005

A new mechanism for hyper redundant manipulator (HRM) is presented, which comprises of serially assembled compound three-bar linkages (CTL). The CTL mechanism has some unique properties. This paper presents the forward and inverse kinematics of this mechanism and shows the simulation of the HRM havig 9 CTL units. The recursive algorithm of the inverse kinematics that the author originally developed is employed. It is fast and stable ; moreover, it enables us to obtain a solution in which the end-point of the HRM is controlled by a portion of joints. It also presents the method of the dynamical analysis. There exist kinematical constraints in the proposed closed linkage mechanism. In the dynamic analysis constraints are sufficiently sustained by the constraint stabilization method that the author developed. The mechanical structure of the HRM having some CTL units that is under construction is shown.

• Proceedings of the IEEK Conference
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• summer
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• pp.263-268
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• 2004

The inverse kinematics problem is to find a set of joint variable values that will place the end effector of a robot manipulator into a given pose. Pieper has shown that a sufficient condition for a manipulator to have a closed form solution is that three adjacent joint axes intersects, hence the six axes robot with spherical wrist allows closed form solution. But many industrial robots have a non-spherical wrist to provide a stronger wrist configuration so that they can handle heavy payloads. Also, the use of a non-spherical wrist can result in a cheap and simple wrist arrangement than when all three axes intersect at a common point. In these cases, closed form solutions cannot be found. Therefore numerical technique must be used to solve the inverse kinematics equations. This paper proposes a new algorithm that can be used for finding inverse kinematics solution of the six axes robot with non-spherical wrist. Computer simulations are provided to prove the usefulness of our method.

• International Journal of CAD/CAM
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• v.2 no.1
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• pp.45-54
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• 2002

Given a set of three generator circles in a plane, we want to find a circumcircle of these generators. This problem is a part of well-known Apollonius' $10^{th}$ Problem and is frequently encountered in various geometric computations such as the Voronoi diagram for circles. It turns out that this seemingly trivial problem is not at all easy to solve in a general setting. In addition, there can be several degenerate configurations of the generators. For example, there may not exist any circumcircle, or there could be one or two circumcircle(s) depending on the generator configuration. Sometimes, a circumcircle itself may degenerate to a line. We show that the problem can be reduced to a point location problem among the regions bounded by two lines and two transformed circles via $M{\ddot{o}}bius$ transformations in a complex space. The presented algorithm is simple and the required computation is negligible. In addition, several degenerate cases are all incorporated into a unified framework.