• Aerospace Engineering and Technology
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• v.8 no.1
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• pp.108-116
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• 2009

This paper considers the trajectory design problem for a lunar orbiter when launched by KSLV-II. KSLV-II puts its kick motor stage and lunar orbiter into a low earth orbit, and then the kick motor stage performed the translunar injection. To simulate more realistic situations, TLI (Trans-Lunar Injection) and LOI (Lunar Orbit Injection) maneuvers are modeled as finite burns. The feasibility of the lunar mission by KSLV-II are confirmed by the numerical results that show the reasonable required-velocity and propellant usage.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.10
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• pp.170-179
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• 2004

A vibration model of powder transfer equipment is developed by the lumped parameter method. A Powder transfer equipment does surging motion, bouncing motion and pitching motion. Motion equation becomes decoupling and removed vibration exciting source about pitching motion, and therefore designers presented the optimum design plan to be able to do adjustment with motion trajectory of powder transfer equipment. That is, way for design to be able to do motion trajectory of powder transfer equipment through change of design element as installation position and direction of motor, driving speed, mass unbalance, stiffness coefficient and installation position of support coil spring is presented. The design results, powder transfer equipment were able to know that fatigue destruction does not occur, and the reason is because maximum stress working on a basket structure is more very than fatigue strength small.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.11
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• pp.1021-1032
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• 2011

This paper presents the results of a parametric study for the design of optimal Earth-Moon transfer trajectory using mixed impulsive and continuous thrust. Various types of the optimal Earth-Moon transfer trajectories were designed by adjusting the relative weight between the impulsive and the continuous thrust, and flight time. Two very different transfer trajectories can be obtained by different combination of design parameters. Furthermore, it was found that all thus designed trajectories permit the ballistic capture by the Moon gravity. Finally, the required thrust profiles are presented and analyzed in detail.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.8
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• pp.692-698
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• 2015

This paper represents a trajectory design and analysis technique which uses invariant manifolds of the circular restricted three body problem. Instead of the classical patched conic method based on 2-body problem, the equation of motion and dynamical behavior of spacecraft in the circular restricted 3-body problem are introduced, and the characteristics of Lyapunov orbits near libration points and their invariant manifolds are covered in this paper. The trajectories from/to Lyapunov orbits are numerically generated with invariant manifolds in the Earth-moon system. The trajectories in the Sun-Jupiter system are also analyzed with various initial conditions in the boundary surface. These methods can be effectively applied to interplanetary trajectory designs.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.455-462
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• 2016

Recently, followed by rapid growth of robotics field, multi-linkage mechanism which can even pass by rough road is getting lots of attention. In this paper, I focused on Jansen mechanism. It's a kinematics object which is named after Dutch artist Theo jansen. Jansen mechanism embraces structure and mechanism which creates locomotion with the combination of the power and simple structure. Theo jansen suggests a 'Holy number'. It's an ideal ratio of leg components length. However, if there's desired gait locomotion, you have to adjust the ratio and the length. But even slight change of the length could cause a big change at the end-point. To solve this problem, I suggest a reverse engineering method to get a ratio of each links by nonlinear optimization with pre-set desired trajectory. First, we converted a movement of the joint of Jansen mechanism to vectors by kinematics analysis of multi-linkage structure. And we showed the trajectory at the end-point. After that, we set desired trajectory which we found most ideal. Then we got the length of the leg components which draws a trajectory as same as trajectory we set, using Multi-objective genetic algorithm toolbox in MATLAB. Result is verified by Edison designer and mSketch. And we analyzed if it could pass through the obstruction which is set dynamically.

• Journal of Korea Spatial Information System Society
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• v.10 no.3
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• pp.67-78
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• 2008

With the rapid development of wireless communication and mobile equipment, many applications for location-based services have been emerging. Moving objects such as vehicles and ships change their positions over time. Moving objects have their moving path, called the trajectory, because they move continuously. To monitor the trajectory of moving objects in a large scale database system, an efficient Indexing scheme to processed queries related to trajectories is required. In this paper, we focus on the issues of minimizing the dead space of index structures. The Minimum Bounding Boxes (MBBs) of non-leaf nodes in trajectory-preserving indexing schemes have large amounts of dead space since trajectory preservation is achieved at the sacrifice of the spatial locality of trajectories. In this thesis, we propose entry relocating techniques to reduce dead space and overlaps in non-leaf nodes. we present performance studies that compare the proposed index schemes with the TB-tree and the R*-tree under a varying set of spatio-temporal queries.

• Journal of the Korean GEO-environmental Society
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• v.24 no.1
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• pp.51-60
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• 2023

Unlike the vertical drilling in the directional drilling should be minimized torque and drag in the well trajectory that avoided problems such as drillstring transformation, casing wear and key-seating. These torque and drag magnitude is determined by variations such as the well trajectory geometry, drilling mud, drillstring type and kick-off point. Therefore, it is essential to consider these variations for designing directional well trajectory. In this study, it was selected well trajectory by the most common build-hold type well and calculated torque and drag on each section by Analytical friction model. Analysis indicates that torque and drag could be minimized by using high lubricity drilling mud, kick-off point appropriate according to the well geometry and possible minimize dogleg severity. The results of this study is useful to minimize torque and drag from directional well trajectory design.

• International Journal of Computer Science & Network Security
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• v.24 no.1
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• pp.17-22
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• 2024

The objective of this work is to design a low cost yet fully functional 4-DOF articulate manipulator for educational applications. The design is based on general purpose, programmable smart servo motors namely the Dynamixel Ax-12. The mechanism for motion was developed by formulating the equations of kinematics and subsequent solutions for joint space variables. The trajectory of end-effector in joint variable space was determined by interpolation of a 3rd order polynomial. The solutions were verified through computer simulations and ultimately implemented on the hardware. Owing to the feedback from the built-in sensors, it is possible to correct the positioning error due to loading effects. The proposed solution offers an efficient and cost-effective platform to study the trajectory planning as well as dynamics of the manipulator.

• Journal of Korea Spatial Information System Society
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• v.10 no.3
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• pp.1-18
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• 2008

Because we can usually get many information through analyzing trajectories of moving objects on spatial networks, efficient trajectory index structures are required to achieve good retrieval performance on their trajectories. However, there has been little research on trajectory index structures for spatial networks such as FNR-tree and MON-tree. Also, because FNR-tree and MON-tree store the segment unit of moving objects, they can't support the trajectory of whole moving objects. In this paper, we propose an efficient trajectory index structures based on signatures on a spatial network, named SigMO-Tree. For this, we divide moving object data into spatial and temporal attributes, and design an index structure which supports not only range query but trajectory query by preserving the whole trajectory of moving objects. In addition, we divide user queries into trajectory query based on spatio-temporal area and similar-tralectory query, and propose query processing algorithms to support them. The algorithm uses a signature file in order to retrieve candidate trajectories efficiently Finally, we show from our performance analysis that our trajectory index structure outperforms the existing index structures like FNR-Tree and MON-Tree.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.168-171
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• 1993

In this paper, we design a time optimal controller of a dual arm robot to handle the object. Differently from the master-slave type robot, same priority is imposed on the both of the arms for effective handling the specifed object. For finding a time optimal collision-free trajectory, a graphical method is applied for the robot with two degree of freedom. Some simulation results show the effectiveness of the proposed method.