• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1939-1944
• /
• 2003

This paper presents a global path planning algorithm based on a visibility graph method, and applies additionally various constraints for constructing the reduced visibility graph. The modification algorithm for generating the rounded path is applied to the globally shortest path of the visibility graph using the robot size constraint in order to avoid the obstacle. In order to check the visibility in given 3D map data, 3D CAD data with VRML format is projected to the 2D plane of the mobile robot, and the projected map is converted into an image for easy map analysis. The image processing are applied to this grid map for extracting the obstacles and the free space. Generally, the tree size of visibility graph is proportional to the factorial of the number of the corner points. In order to reduce the tree size and search the shortest path efficiently, the various constraints are proposed. After short paths that crosses the corner points of obstacles lists up, the shortest path among these paths is selected and it is modified to the combination of the line path and the arc path for the mobile robot to avoid the obstacles and follow the rounded path in the environment. The proposed path planning algorithm is applied to the mobile robot LCAR-III.

• Journal of Electrical Engineering and Technology
• /
• 제8권2호
• /
• pp.385-392
• /
• 2013

An uncalibrated visual servo control method for tracking a target is presented. We define the robot-positioning problem as an unconstrained optimization problem to minimize the image error between the target feature and the robot end-effector feature. We propose a method to find the residual term for more precise modeling using the secant approximation method. The composite image Jacobian is estimated by the proper method for eye-to-hand configuration without knowledge of the kinematic structure, imaging geometry and intrinsic parameter of camera. This method is independent of the motion of a target feature. The algorithm for regulation of the joint velocity for safety and stability is presented using the cost function. Adaptive regulation for visibility constraints is proposed using the adaptive parameter.

• Journal of Astronomy and Space Sciences
• /
• 제28권4호
• /
• pp.319-332
• /
• 2011

The objectives of this study are to analyze the satellite visibility at the randomly established ground sites, to determine the five optimal ground sites to perform the optical surveillance and tracking of domestic satellites, and to verify the acquisition of the optical observation time sufficient to maintain the precise ephemeris at optimal ground sites that have been already determined. In order to accomplish these objectives, we analyzed the visibility for sun-synchronous orbit satellites, low earth orbit satellites, middle earth orbit satellites and domestic satellites as well as the continuous visibility along with the fictitious satellite ground track, and calculate the effective visibility. For the analysis, we carried out a series of repetitive process using the satellite tool kit simulation software developed by Analytical Graphics Incorporated. The lighting states of the penumbra and direct sun were set as the key constraints of the optical observation. The minimum of the observation satellite elevation angle was set to be 20 degree, whereas the maximum of the sun elevation angle was set to be -10 degree which is within the range of the nautical twilight. To select the candidates for the optimal optical observation, the entire globe was divided into 84 sectors in a constant interval, the visibility characteristics of the individual sectors were analyzed, and 17 ground sites were arbitrarily selected and analyzed further. Finally, five optimal ground sites (Khurel Togoot Observatory, Assy-Turgen Observatory, Tubitak National Observatory, Bisdee Tier Optical Astronomy Observatory, and South Africa Astronomical Observatory) were determined. The total observation period was decided as one year. To examine the seasonal variation, the simulation was performed for the period of three days or less with respect to spring, summer, fall and winter. In conclusion, we decided the optimal ground sites to perform the optical surveillance and tracking of domestic satellites and verified that optical observation time sufficient to maintain the precise ephemeris could be acquired at the determined observatories.

• International Journal of Naval Architecture and Ocean Engineering
• /
• 제7권1호
• /
• pp.142-156
• /
• 2015

A new method for ship Inner Shell optimization, which is called Parametric Inner Shell Optimization Method (PISOM), is presented in this paper in order to improve both hull performance and design efficiency of transport ship. The foundation of PISOM is the parametric Inner Shell Plate (ISP) model, which is a fully-associative model driven by dimensions. A method to create parametric ISP model is proposed, including geometric primitives, geometric constraints, geometric constraint solving etc. The standard optimization procedure of ship ISP optimization based on parametric ISP model is put forward, and an efficient optimization approach for typical transport ship is developed based on this procedure. This approach takes the section area of ISP and the other dominant parameters as variables, while all the design requirements such as propeller immersion, fore bottom wave slap, bridge visibility, longitudinal strength etc, are made constraints. The optimization objective is maximum volume of cargo oil tanker/cargo hold, and the genetic algorithm is used to solve this optimization model. This method is applied to the optimization of a product oil tanker and a bulk carrier, and it is proved to be effective, highly efficient, and engineering practical.

• 항공우주시스템공학회지
• /
• 제7권2호
• /
• pp.29-34
• /
• 2013

Safety requirements for aircraft and system functions include minimum performance constraints for both availability and integrity of the function. These safety requirements should be determined by conducting a safety assessment. The depths and contents of aircraft system safety assessment vary depending on factors such as the complexity of the system, how critical the system is to flight safety, what volume of experience is available on the type of system and the novelty and complexity of the technologies being used. Requirements that are defined to prevent failure conditions or to provide safety related functions should be uniquely identified and traceable through the levels of development. This will ensure visibility of the safety requirements at the software and electronic hardware design level. This paper has prepared to study on promoting the efficiency of establishing hierarchical safety requirements from aircraft level function to item level through system safety processes.

• 대한인간공학회지
• /
• 제29권2호
• /
• pp.203-210
• /
• 2010

For the development of a better product which fits to the target user population, physical workloads such as reach and visibility are evaluated using digital human simulation in the early stage of product development; however, ergonomic workload assessment mainly relies on visual observation of reach envelopes and view cones generated in a 3D graphic environment. The present study developed a quantitative assessment method of physical workload in a digital environment and applied to the evaluation of a Korean utility helicopter (KUH) cockpit design. The proposed assessment method quantified physical workloads for the target user population by applying a 3-step process and identified design features requiring improvement based on the quantified workload evaluation. The scores of physical workloads were quantified in terms of posture, reach, visibility, and clearance, and 5-point scales were defined for the evaluation measures by referring to existing studies. The postures of digital humanoids for a given task were estimated to have the minimal score of postural workload by finding all feasible postures that satisfy task constraints such as a contact between the tip of the index finger and a target point. The proposed assessment method was applied to evaluate the KUH cockpit design in the preliminary design stage and identified design features requiring improvement. The proposed assessment method can be utilized to ergonomic evaluation of product designs using digital human simulation.

• 정보처리학회논문지:소프트웨어 및 데이터공학
• /
• 제3권9호
• /
• pp.335-340
• /
• 2014

Crowd Sourcing 기반의 Social App Manufacturing 환경에서는 소규모 앱 개발 프로젝트를 익명의 가상팀에 의해 시공간의 제약이 없이 수행하며 이를 위해 앱 개발 관리를 위한 자동화된 방법을 필요로 한다. Social App Manufacturing의 특징인 익명성을 갖는 가상팀은 프로젝트 진행 상황에 대한 가시성의 저하와 프로젝트 완료 여부의 불확실성을 증가시키는 핵심 요인이다. 본 연구에서는 Social App Manufacturing 환경하의 프로젝트 관리 방법의 하나로 개발 지연이 프로젝트에 주는 위험 영향을 정량적으로 측정할 수 있는 위험영향도 측정 모델을 제안한다. 제시한 측정 모델은 작업일정 지연에 따른 위험 영향 유형과 위험영향도 특성함수를 정의하고 진행 성과에 따른 프로젝트 위험영향도 측정식을 제안한다. Social App Manufacturing 환경에서 수행하는 프로젝트 관리에 이 모델을 활용하여 진행 상황에 대한 가시성을 확보하고 일정 지연으로 실패 위험이 발생하는 프로젝트를 식별하고 미리 대처할 수 있도록 한다.

• 천문학회보
• /
• 제46권2호
• /
• pp.40.3-41
• /
• 2021

Minor mergers leave behind long lived, but extremely faint and extended tidal features including tails, streams, loops and plumes. These act as a fossil record for the host galaxy's past interactions, allowing us to infer recent accretion histories and place constraints on the properties and nature of a galaxy's dark matter halo. However, shallow imaging or small homogeneous samples of past surveys have resulted in weak observational constraints on the role of galaxy mergers and interactions in galaxy assembly. The Rubin Observatory, which is optimised to deliver fast, wide field-of-view imaging, will enable deep and unbiased observations over the 18,000 square degrees of the Legacy Survey of Space and Time (LSST), resulting in samples of potentially of millions of objects undergoing tidal interactions. Using realistic mock images produced with state-of-the-art cosmological simulations we perform a comprehensive theoretical investigation of the extended diffuse light around galaxies and galaxy groups down to low stellar mass densities. We consider the nature, frequency and visibility of tidal features and debris across a range of environments and stellar masses as well as their reliability as an indicator of galaxy accretion histories. We consider how observational biases such as projection effects, the point-spread-function and survey depth may effect the proper characterisation and measurement of tidal features, finding that LSST will be capable of recovering much of the flux found in the outskirts of L* galaxies at redshifts beyond local volume. In our simulated sample, tidal features are ubiquitous In L* galaxies and remain common even at significantly lower masses (M*>10^10 Msun). The fraction of stellar mass found in tidal features increases towards higher masses, rising to 5-10% for the most massive objects in our sample (M*~10^11.5 Msun). Such objects frequently exhibit many distinct tidal features often with complex morphologies, becoming increasingly numerous with increased depth. The interpretation and characterisation of such features can vary significantly with orientation and imaging depth. Our findings demonstrate the importance of accounting for the biases that arise from projection effects and surface-brightness limits and suggest that, even after the LSST is complete, much of the discovery space in low surface-brightness Universe will remain to be explored.

• 항공우주기술
• /
• 제13권2호
• /
• pp.122-130
• /
• 2014

2018년 발사를 목표로 한국항공우주연구원이 개발중인 정지궤도복합위성(GEO-KOMPSAT-2)은 사용되는 발사체에 따라 GTO(Geostationary Transfer Orbit) 혹은 SSTO(Supersynchronous Transfer Orbit)를 거쳐 정지궤도에 진입하게 된다. GTO는 오늘날 대부분의 정지궤도위성이 사용하는 방식인 반면 SSTO의 경우는 사례가 많지 않고 GTO와는 완전히 다른 기술적인 접근이 필요하다. 본 논문에서는 정지궤도복합위성에의 적용을 목표로 SSTO 운용의 제약 사항을 정리하고 SSTO로부터 정지궤도로 진입하기 위한 액체원지점엔진 점화계획을 예비적인 수준에서 구성하였다. 또한 지상추적소의 가시성을 포함한 궤도 시뮬레이션을 수행하여 구성된 계획을 검증하였다.

• 한국해양공학회지
• /
• 제23권5호
• /
• pp.61-70
• /
• 2009

An AUV (Autonomous Underwater Vehicle) is an unmanned underwater vessel to investigate sea environments and deep sea resource. To be completely autonomous, AUV must have the ability to home and dock to the launcher. In this paper, we consider a class of homing trajectory planning problem for an AUV with kinematic and tactical constraints in horizontal plane. Since the AUV under consideration has underactuated characteristics, trajectory for this kind of AUV must be designed considering the underactuated characteristics. Otherwise, the AUV cannot follow the trajectory. Proposed homing trajectory panning method that called VGM (Virtual Goal Method) based on visibility graph takes the underactated characteristics into consideration. And it guarantees shortest collision free trajectory. For tracking control, we propose a PD controller by simple guidance law. Finally, we validate the trajectory planning algorithm and tracking controller by numerical simulation and ocean engineering basin experiment in KORDI.