• Journal of the Korea Institute of Military Science and Technology
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• v.16 no.1
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• pp.89-94
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• 2013

Electro Otical Tracking System(EOTS) is required for a rapid movement as well as the stabilization of Line-Of-Sight(LOS). In order to achieve these two goals, this paper presents a position and velocity driving profile generation method from the constant acceleration and deceleration profile according to the current state, enabling a fast and smooth trajectory even if the target position changes during the movement of LOS. Simulation and experimental results reveal that the settling time could be reduced significantly by adopting the present position control scheme.

• Bulletin of the Korean Space Science Society
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• 2008.10a
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• pp.25.3-26
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• 2008

The direct way to the moon is to start from the parking orbit by using impulsive thruster In previous domestic research, the direct way has been studied by using a single impulsive shot. However, when a single impulsive shot occurs to go into a Translunar orbit, gravity losses occur because thruster is not impulsive shot but the finite burns and it causes the gravity losses. To make up for the weak point of a single impulsive shot, this paper divides TLI (Trans Lunar Injection) into several small burns. Therefore, departure loop trajectory and the Translunar trajectory. This method is useful not only to reduce the gravity losses but also to check the condition of satellite. By using this method, this paper demostrates the optimized trajectory from Earth parking orbit to lunar mission orbit which minimizes the fuel, and the SNOPT (Sparse Nonlinear OPTimizer software) is used to find optimal solution. Also, this paper provides lunar mission profile which includes the mission schedule when TLI, LOI (Lunar Orbit Insertion) maneuvers occur, a mount of fuel when thruster is used and other mission parameters.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.531-536
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• 2003

In this paper, a redesigned guidance and control system for a lunar lander is presented. In past studies, the authors developed a trajectory and attitude control system which achieves the vertical soft landing on the lunar surface. It is confirmed that the system has a good tracking ability to a predefined profile and good robustness against a thruster failure mode where a partial failure of clustered engines was assumed. However, under the previous control laws, the landing point tends to be shifted, in response to the system parameter values, from a target point. Also, an unbalanced moment due to a thruster failure mode was not considered in the simulation. Therefore, in this study, the downrange control is added to the system to enable the vehicle to land at a pre-assigned target point accurately. Furthermore, inhibiting the effect of the unbalanced moment is attempted thorough redesigning the attitude control system. A numerical simulation was performed to confirm the ability of the proposed system with regard to the above problems. Moreover, in the past simulations, a low initial altitude was assumed as an initial condition: in this study, however, the performance of the proposed system is examined over the whole trajectory from an initial altitude of 10 [km] to the lunar surface.

• Journal of Electrical Engineering and information Science
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• v.2 no.3
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• pp.51-60
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• 1997

A practically applicable collision free trajectory planning technique for tow robot systems is proposed. The robot trajectories considered in this work are composed of many segments, an at the intersection points between segments robots stop to assemble, weld, ordo other jobs by the attached a end-effectors. The proposed method is based on the Planning-Coordination Decomposition where planning is to find a trajectory of each robot independently according to their tasks and coordination is to find a velocity modification profile to avoid collision with each other. To fully utilize the independently planned trajectories and to ensure no geometrical path deviation after coordination, we develop a simple technique added the minimal delay time to avoid collision just before moving along path segments. We determine the least delay time by the graphical method in the Coordination space where collisions and coordinations are easily visualized. We classify all possible cases into 3 group and derive the optimal solution for each group.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.27 no.4
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• pp.27-36
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• 2019

An accurate trajectory prediction is a key to the safe and efficient operations of aircraft. One way to improve trajectory prediction accuracy is to develop a model for aircraft ground speed prediction. This paper proposes a generative model for posterior aircraft ground speed prediction. The proposed method fits the Gaussian Mixture Model(GMM) to historical data of aircraft speed, and then the model is used to generates probabilistic speed profile of the aircraft. The performances of the proposed method are demonstrated with real traffic data in Incheon Flight Information Region(FIR).

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.405-411
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• 2011

This paper presents a hierarchical trajectory planning method which can handle a collision-free of the planned path in complex and dynamic environments. A PV (Path & Velocity profile) planning method minimizes a sharp change of orientation and waiting time to avoid a collision with moving obstacle through detour path. The path generation problem is solved by three steps. In the first step, a smooth global path is generated using $A^*$ algorithm. The second step sets up the velocity profile for the optimization problem considering the maximum velocity and acceleration. In the third step, the velocity profile for obtaining the shortest path is optimized using the fuzzy and genetic algorithm. To show the validity and effectiveness of the proposed method, realistic simulations are performed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.3
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• pp.283-288
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• 2014

The use of robots is no longer limited to the field of industrial robots and is now expanding into the fields of service and medical robots. In this light, a trajectory generation method that can respond instantaneously to the external environment is strongly required. Toward this end, this study proposes a method that enables a robot to change its trajectory in real-time using a convolution operation. The proposed method generates a trajectory in real time and satisfies the physical limits of the robot system such as acceleration and velocity limit. Moreover, a new way to improve the previous method (11), which generates inefficient trajectories in some cases owing to the characteristics of the trapezoidal shape of trajectories, is proposed by introducing a triangle shape. The validity and effectiveness of the proposed method is shown through a numerical simulation and a comparison with the previous convolution method.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.94.2-94
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• 2002

$\textbullet$ The method to have real-time response at the motion control. $\textbullet$ The trajectory generation method guarantees the continuous acceleration in changing the velocity during the actuator is moving. $\textbullet$ We propose the velocity profile generation algorithm in order to change object position or object velocity with continuous acceleration using blending method.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.239-239
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• 2000

This paper present experimental results on temperature trajectory tracking. The benefits of precalculated feedforward input together with PID feedback control are demonstrated by experimental results. To find the feedforward input, the plant (autoregresiive) model is first identified and convex optimization procedure is applied. PID controller is then implemented based on Ziegler-Nickels tuning rule to reduce effects of disturbances and modeling errors. Experimental results show an improvement in slope tracking performance over the fully PID controller.

• Transactions of Materials Processing
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• v.18 no.2
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• pp.172-176
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• 2009

In this paper, new aspherical surface polishing mechanism is suggested to polish aspherical glass lens mold by both airbag polishing tool and reverse-rotational eccentric motion. Up to now, conventional aspherical lens polishing method by the small tool polishing uses the aspherical surface profile and the trajectory of the polishing tool is also controlled. However, full contact concept by airbag polishing tool and no position control make the easy polishing setup and does not need aspherical design profile. An aspherical lens polishing machine was made for this study and a tool mark removal experiment fur the fine-grounded lens mold was successfully performed.