• 제어로봇시스템학회논문지
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• 제19권7호
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• pp.599-604
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• 2013

Path planning of mobile robots has a purpose to design an optimal path from an initial position to a target point. Minimum driving time, minimum driving distance and minimum driving error might be considered in choosing the optimal path and are correlated to each other. In this paper, an efficient driving trajectory is planned in a real situation where a mobile robot follows a moving object. Position and distance of the moving object are obtained using a web camera, and the rotation angular and linear velocities are estimated using Kalman filters to predict the trajectory of the moving object. Finally, the mobile robot follows the moving object using a single curvature trajectory by estimating the trajectory of the moving object. Using the estimation by Kalman filters and the single curvature in the trajectory planning, the total tracking distance and time saved amounts to about 7%. The effectiveness of the proposed algorithm has been verified through real tracking experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.45-49
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• 1988

This paper presents a centralized adaptive control scheme based on perturbation equations in the vicinity of a desired trajectory,which are used to design a feedback control about the desired trajectory. This adaptive control scheme reduces the manipulator control problem from a nonlinear control to controlling a linear control system about a desried trajectory. Computer simulation studies of a two-joint manipulator are performed on a IBM-PC to illustrate the performance of this adaptive control scheme.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2000년도 봄 학술발표논문집 Vol.27 No.1 (B)
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• pp.110-112
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• 2000

이미지와는 달리, 비디오 데이터는 객체에 대한 움직임 정보(motion trajectory)를 가지고 있으며, 이러한 움직임 정보는 비디오 데이터만이 가지는 매우 중요한 특징으로 비디오 데이터에 대한 색인과 내용 기반 검색을 수행하는 데 있어 중요한 역할을 한다. 따라서, 본 논문에서는 비디오 데이터베이스에서 효율적인 내용기반 검색을 위해 하나의 객체에 대한 움직임 정보를 나타내는 single motion trajectory와 두 객체에 대한 움직임 정보를 나타내는 multiple motion trajectory를 위한 새로운 시공간 표현 기법을 제안한다. 아울러, 움직임 정보에 대한 사용자 질의에 대해 유사성을 측정하여 순위부여와 Time Interval을 지원하는 새로운 유사성 측정 알고리즘인 SIST와 SIMT를 제안한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.47-52
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• 1998

This study deals with guidance and control laws for an optimal reentry trajectory of a vertical landing reusable launch vehicle (RLV) in the future. First, a guidance law is designed to create the reference trajectory which minimizes propellant consumption. Then, a nonlinear feedback controller based on a linear quadratic regulator is designed to make the vehicle follow the predetermined reference trajectory, The proposed method is simulated for the first stage of the H-II scale rocket.

• 대한교통학회지
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• 제18권3호
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• pp.29-39
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• 2000

본 논문은 교차로 좌회전 궤적에 따른 정지선의 위치결정에 관한 연구로서 현행 교차로를 설계하는데 있어 좌회전 차량의 운행특성을 고려하지 못하는 불합리한 점을 지적하고, 좌회전 궤적을 고려한 차량정지선의 위치를 결정하는 기준을 제시하는데 그 목적이 있다. 면적이 한정되어 있는 교차로상에서 좌회전궤적을 고려하여 이를 수용하려면 정지선의 형태가 일자형이 아닌 계단형의 모양을 보이게 되는데, 이때 후퇴하게 되는 정지선의 길이를 산정함에 있어 차종을 3가지로 분류하였고 그에 따른 설치곡선반경을 12m, 15m, 23m로 제시하였다. 그리고 교차로 연석선상을 기준으로 개별 차로의 폭 차로수의 조합을 고려하였다. 따라서 본 논문은 후퇴되는 차량정지선의 길이뿐 아니라 곡선반경의 설치방법을 제시함으로서 설계된 곡선반경을 노면상에 표시하는데 도움이 될 것이다. 좌회전 궤적의 영향에 대한 연구는 교통류율과 안전성에 관계되는 것으로 불합리하게 설계된 좌회전 이동류에 대한 곡선반경은 좌회전 용량감소의 원인으로 작용할 뿐만 아니라 운전자로 하여금 죄회전시에 불안정함을 느리게 하여 인근차로를 침범하게 되는 상충발생을 증가시키게 된다.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2008년 영문 학술대회
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• pp.690-699
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• 2008

In this paper a conventional approach for design and analysis of subsonic air vehicle is used. First of all subsonic aerodynamic coefficients are calculated using Computational Fluid Dynamics(CFD) tools and then wind-tunnel model was developed that integrates vehicle components including control surfaces and initial data is validated as well as refined to enhance aerodynamic efficiency of control surfaces. Experimental data and limited computational fluid dynamics solutions were obtained over a Mach number range of 0.5 to 0.8. The experimental data show the component build-up effects and the aerodynamic characteristics of the fully integrated configurations, including control surface effectiveness. The aerodynamic performance of the fully integrated configurations is comparable to previously tested subsonic vehicle models. Mathematical model of the dynamic equations in 6-Degree of Freedom(DOF) is then simulated using MATLAB/SIMULINK to simulate trajectory of vehicle. Effect of altitude on range, Mach no and stability is also shown. The approach presented here is suitable enough for preliminary conceptual design. The trajectory evaluation method devised accurately predicted the performance for the air vehicle studied. Formulas for the aerodynamic coefficients for this model are constructed to include the effects of several different aspects contributing to the aerodynamic performance of the vehicle. Characteristic parameter values of the model are compared with those found in a different set of similar air vehicle simulations. We execute a set of example problems which solve the dynamic equations to find the aircraft trajectory given specified control inputs.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.1167-1168
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• 2013

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2003년도 추계학술대회
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• pp.207-212
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• 2003

This paper proposed trajectory tracking control of Mobile Robot. Trajectory tracking control scheme are Real coding Genetic-Algorithm and Back-propergation Algorithm. Control scheme ability experience proposed simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.76-81
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• 1989

This paper represents the preliminary design process and the performance of the sounding rockets. At the design phase of the development, we selected rocket configuration according to results of aerodynamic weight and thrust analysis. And the payload-apogee performance of the rockets are determined with the variation of the launch angle and payload weight. Also the performance trajectory was calculated by a particle trajectory simulation. And the parameters which affect the system performance was analyzed.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2008년 영문 학술대회
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• pp.543-545
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• 2008

The Inner Arch developed several softwares: $\circ$ One dedicated to solid propulsion project : APSOL $\circ$ One dedicated to liquid propulsion projects ELIS A third one, PERFOL, is used to optimize the trajectory and the propulsion parameters The paper will describe the main software used for this study and illustrate the interest of these tools to make the first design of a new version of a launch vehicle with optimisation both of intrinsic propulsion parameters and of the trajectory.