• Journal of Institute of Convergence Technology
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• v.6 no.2
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• pp.9-13
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• 2016

Robot usually requires spline motion to move through multiple knots. In this paper, catmull-rom spline method is applied to the trajectory planning of industrial robot in task space. Centripetal catmull-rom is selected to avoid self-intersection and slow motion which can be occurred in uniform and chordal spline. The method to set two control points are proposed to satisfy velocity conditions of initial and final knots. To optimize robot motion, time scaling method is presented to minimize margin between real robot value and maximum value in velocity and acceleration. The simulation results show that the proposed methods are applied to trajectory planning and robot can follow the planned trajectory while robot motion does not exceed maximum value of velocity and acceleration.

• Journal of electromagnetic engineering and science
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• v.13 no.3
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• pp.158-164
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• 2013

This paper expands a previously proposed optimized higher order (2, 4) finite-difference time-domain scheme (H(2, 4) scheme) for use with lossy material. A low dispersion error is obtained by introducing a weighting factor and two scaling factors. The weighting factor creates isotropic dispersion, and the two scaling factors dramatically reduce the numerical dispersion error at an operating frequency. In addition, the results confirm that the proposed scheme performs better than the H(2, 4) scheme for wideband analysis. Lastly, the validity of the proposed scheme is verified by calculating a scattering problem of a lossy circular dielectric cylinder.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.17 no.4
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• pp.279-294
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• 2013

We are interested in an adaptive grid method for hyperbolic equations. A multiresolution analysis, based on a biorthogonal family of interpolating scaling functions and lifted interpolating wavelets, is used to dynamically adapt grid points according to the physical field profile in each time step. Traditional finite-difference schemes with fixed stencils produce high oscillations around sharp discontinuities. In this paper, we hybridize high-resolution schemes, which are suitable for capturing singularities, and apply a finite-difference approach to the scaling functions at non-singular points. We use a total variation diminishing Runge-Kutta method for the time integration. The computational cost is proportional to the number of points present after compression. We provide several numerical examples to verify our approach.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.28B no.5
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• pp.327-334
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• 1991

This paper proposes an efficient method of implementing the generalized Hough transform (GHT), which has been hindered by an excessive computing load and a large memory requirement. The conventional algorithm requires a parameter space of 4 dimensions in detection a rotated, scaled, and translated object in an input image. Prior to the application of GHT to the input image, the proposed method determines the angle of rotation and the scaling factor of the test image using the proportion of the edge components between the reference image and test image. With the rotation angle and the scaling factor already determined, the parameter spaceis to be reduced to a simple array of 2 dimensions by applying the unit GHT only one time. The experiments with the image of airplanes reveal that both of the computing time and the requires memory size are reduced by 95 percent, without any degradatationof accuracy, compared with the conventional GHT algorithm.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2000.05a
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• pp.228-231
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• 2000

A hybrid fuzzy controller by means of the genetic algorithms is presented. The control input for the system in the HFC is a convex combination of the FLC's output in transient state and PlD's output in steady state by a fuzzy variable. The HFC combined a PID controller with a fuzzy controller concurrently produces the better output performance than any other controller. A auto-tuning algorithms is presented to automatically improve the performance of hybrid fuzzy controller using genetic algorithms. The algorithms estimates automatical Iy the optimal values of scaling factors, PID parameters and membership function parameters of fuzzy control rules. Especially, in order to auto-tune scaling factors and PID parameters of HFC using GA three kinds of estimation modes are effectively utilized. The HFCs are applied to the second process with time-delay. Computer simulations are conducted at step input and the performances of systems are evaluated and also discussed in ITAE(Integral of the Time multiplied by the Absolute value of Error ) and other ways.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.8
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• pp.482-491
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• 2003

In this paper are presented kinematic and dynamic modeling and path-tracking of four-wheeled mobile robots with 2 d.o.f haying the limited drive-torques. Controllability of wheeled-mobile robots is revealed by the kinematic model. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to drive the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.51 no.1
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• pp.45-51
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• 2002

In this paper are presented dynamic modeling and path-tracking of differential drive wheeled-mobile robots(WMRs) having the limited drive-torques. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to induce the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling method. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

• Journal of Integrative Natural Science
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• v.12 no.1
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• pp.20-23
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• 2019

Demand response is usually operated through using the power rates and incentives. Demand management based on power charges is the most rational and efficient demand management method, and such methods include rolling base charges with peak time, sliding scaling charges depending on time, sliding scaling charges depending on seasons, and nighttime power charges. Search for other methods to stimulate resources on demand by actively deriving the demand reaction of loads to increase the energy efficiency of loads. In this paper, ESS algorithm for saving energy based on predicting the amount of solar power generation that can be used for buildings with small loads not under electrical grid.

• Earthquakes and Structures
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• v.16 no.1
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• pp.29-39
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• 2019

A three-step screening process is presented in this article for selection of consistent earthquake records in which number of suitable ground motions is quickly screened and reduced to a handful number. Records that remain at the end of this screening process considerably reduce the dispersion of structural responses. Then, an effective method is presented for spectral matching and modification of the selected records. Dispersion of structural responses is explored using different statistical measures for each scaling procedure. It is shown that the Uniform Design Method, presented in this study for scaling of earthquake records, results in most cases in the least dispersion measure.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.6
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• pp.174-180
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• 2016

This paper study about an unscented Kalman filter with a variety type of unscented transformation to estimate state values for speed control without position sensor of a permanent-magnet synchronous motor. The principles of an unscented transformation and unscented Kalman filter are examined and their application is explained. Generally the mapping process can be divided into two type, such as a basic and a general form according to a scaling parameter. And computation time, the number of samples, and weights about samples are different from each other. But, there is no little information on the scaling parameter value how this value influences the system performance. Simulation and experimental results show the validity of the designed unscented transformation performance with the various scaling parameter values for sensorless motor drive.