• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.135-139
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• 1990

In general, the control of robot arms falls into two board categories (position control and force control). The joint interpolated trajectory schemes generally interpolate the desired joint path by a class of polynomial functions and generate a sequence of time based control set points for the control of a manipulator from a initial location to its destination. A digital position controller was designed and adapted to the industrial balancing manipulator. And also, the joint interpolated trajectory using 3rd order polynomial was generated in this study. The IBM PC used as the main controller and the trajectory planner had enough run-time capabilities. The 8097BH microcontroller is an integral pan of the joint controller which directly controls an axis of motion. The PI servo control system to treat each joint of the robot arm as a independent joint servo mechanism had satisfying performance, and a sequence of time-based intermediate configurations of the manipulator hand showed good continuity and smoothness on position and velocity of the manipulator's joint coordinates along the trajectory.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.482-487
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• 2002

This paper presents a robot trajectory generation method based on the dual curvature theory of ruled surfaces. Robot trajectory can be represented as a ruled surface generated by the TCP(Tool Center Point) and my unit vector among the tool frame. Dual curvature theory of ruled surfaces provides the robot control algorithm with the motion property parameters. With the differential properties of the ruled surface, the linear and angular motion properties of the robot end effector can be utilized in the robot trajectory planning.

• International Journal of Internet, Broadcasting and Communication
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• v.15 no.3
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• pp.94-102
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• 2023

Anomaly detection in human movements can improve safety in indoor workplaces. In this paper, we design a framework for detecting anomalous trajectories of humans in indoor spaces based on a variational autoencoder (VAE) with Bi-LSTM layers. First, the VAE is trained to capture the latent representation of normal trajectories. Then the abnormality of a new trajectory is checked using the trained VAE. In this step, the anomaly score of the trajectory is determined using the trajectory reconstruction error through the VAE. If the anomaly score exceeds a threshold, the trajectory is detected as an anomaly. To select the anomaly threshold, a new metric called D-score is proposed, which measures the difference between recall and precision. The anomaly threshold is selected according to the minimum value of the D-score on the validation set. The MIT Badge dataset, which is a real trajectory dataset of workers in indoor space, is used to evaluate the proposed framework. The experiment results show that our framework effectively identifies abnormal trajectories with 81.22% in terms of the F1-score.

• 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 Korea Society of Computer and Information
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• v.26 no.12
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• pp.133-142
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• 2021

Travel pattern recognition is widely used in many aspects such as user trajectory query, user behavior prediction, interest recommendation based on user location, user privacy protection and municipal transportation planning. Because the current recognition accuracy cannot meet the application requirements, the study of travel pattern recognition is the focus of trajectory data research. With the popularization of GPS navigation technology and intelligent mobile devices, a large amount of user mobile data information can be obtained from it, and many meaningful researches can be carried out based on this information. In the current travel pattern research method, the feature extraction of trajectory is limited to the basic attributes of trajectory (speed, angle, acceleration, etc.). In this paper, permutation entropy was used as an eigenvalue of trajectory to participate in the research of trajectory classification, and also used as an attribute to measure the complexity of time series. Velocity permutation entropy and angle permutation entropy were used as characteristics of trajectory to participate in the classification of travel patterns, and the accuracy of attribute classification based on permutation entropy used in this paper reached 81.47%.

• Journal of Positioning, Navigation, and Timing
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• v.4 no.3
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• pp.123-130
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• 2015

In this study, a carrier smoothed global positioning system / dead reckoning (CSGPS/DR) integrated system for high-precision trajectory estimation for the purpose of vehicle navigation was proposed. Existing code-based GPS has a low position accuracy, and carrier-phase differential global positioning system (CPDGPS) has a long waiting time for high-precision positioning and has a problem of high cost due to the establishment of infrastructure. To resolve this, the continuity of a trajectory was guaranteed by integrating CSGPS and DR. The results of the experiment indicated that the trajectory precision of the code-based GPS showed an error performance of more than 30cm, while that of the CSGPS/DR integrated system showed an error performance of less than 10cm. Based on this, it was found that the trajectory precision of the proposed CSGPS/DR integrated system is superior to that of the code-based GPS.

• Journal of Applied Reliability
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• v.18 no.2
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• pp.153-160
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• 2018

Purpose: A traffic signal controller needs to control and coordinate to ensure that traffic and pedestrians move as smoothly as possible. Since a traffic signal controller has a significant impact on the safety of vehicles and pedestrians, it is important to monitor the failure and deterioration of the traffic signal controller. The purpose of this paper is to propose an IoT (Internet of Things)-based monitoring system for a traffic signal controller. Methods: Every traffic signal controller has a nominal system trajectory specified when it is deployed. The proposed IoT-based monitoring system collects the system trajectory information through real-time monitoring. By comparing the nominal system trajectory and the monitored system trajectory, we are able to detect the failure and deterioration of the traffic signal controller. Conclusion: The proposed IoT-based monitoring system can contribute to the safety of vehicles and pedestrians by maximizing the availability of a traffic signal controller.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.12
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• pp.1216-1222
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• 2009

This article describes a simple method for generating the walking trajectory for the biped humanoid robot. The method used a simple inverted model instead of complex multi-mass model and a reasonable explanation for the model simplification is included. The problem of gait trajectory generation is to find the solution from the desired ZMP trajectory to CoG trajectory. This article presents the analytic solution for the bipedal gait generation on the bases of ZMP trajectory. The presented ZMP trajectory has Fourier series form, which has finite or infinite summation of sine and cosine functions, and ZMP trajectory can be designed by calculating the coefficients. From the designed ZMP trajectory, this article focuses on how to find the CoG trajectory with analytical way from the simplified inverted pendulum model. Time segmentation based approach is adopted for generating the trajectories. The coefficients of the function should be designed to be continuous between the segments, and the solution is found by calculating the coefficients with this connectivity conditions. This article also has the proof and the condition of solution existence.

• Journal of computational fluids engineering
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• v.19 no.2
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• pp.86-92
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• 2014

In this paper, prediction of separation trajectory for Two-stage-To-Orbit space launch vehicle has been numerically simulated by using an aerodynamic database based on steady state analysis. Aerodynamic database were obtained for matrix of longitudinal and vertical positions. The steady flow simulations around the launch vehicle have been made by using a 3-D RANS flow solver based on unstructured meshes. For this purpose, a vertex-centered finite-volume method was adopted to discretize inviscid and viscous fluxes. Roe's finite difference splitting was utilized to discretize the inviscid fluxes, and the viscous fluxes were computed based on central differencing. To validate this flow solver, calculations were made for the wind-tunnel experiment model of the LGBB TSTO vehicle configuration on steady state conditions. Aerodynamic database was constructed by using flow simulations based on test matrix from the wind-tunnel experiment. ANN(Artificial Neural Network) was applied to construct interpolation function among aerodynamic variables. Separation trajectory for TSTO launch vehicle was predicted from 6-DOF equation of motion based on the interpolated function. The result of present separation trajectory calculation was compared with the trajectory using experimental database. The predicted results for the separation trajectory shows fair agreement with reference[4] solution.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.6
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• pp.456-465
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• 2003

It is well-known that bio-systems does not calculate inverse dynamics for trajectory planning, but they move by proper modulation of system impedances. Inspired by bio-systems, a biomimetic trajectory planning method is proposed in this work. This scheme is based on employment of redundant actuation which prevails in bio-systems. We discuss that for the generation of the biomimetic trajectory, intelligent structure of bio-systems plays an important role. Redundant actuation and kinematic redundancy fall into such a category of intelligent structure. The proposed biomimetic trajectory planning modulates the complete dynamic behavior such as natural frequencies and damping ratios by using the intelligent structure. Experimental work is illustrated to show the effectiveness of the proposed biomimetic trajectory planning for a five-bar mechanism with redundant actuators.