• 한국ITS학회 논문지
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• 제14권3호
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• pp.9-23
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• 2015

차로변경은 운전자의 숙련된 주변인식 및 운전기술이 요구되어 심각한 교통사고를 야기한다. 그리하여 우리는 불가피한 차로변경이 대두되는 고속도로 합류구간에서 본선으로 합류하는 차량의 차로변경을 보조하는 차량 자동제어 시스템 (ALCAS; Advanced Lane Change Assist System)을 개발한다. 본 연구에서는 ALCAS 중 조향이 수행되기 이전에 최적 차로변경 시작지점(Optimal Lane Change Start Point; OLCSP)을 생성하고 그 지점까지 도달하는 종방향 제어 알고리즘 개발에 초점을 두었다. 이를 위해 우선 고속도로 합류구간의 차로변경 행태를 분석하였고, 실제 차량의 가속도 함수 형태를 통해 차로변경 특징모형(Lane Change Feature Model)을 설계하였다. 그 후 차로변경 수행 단계를 정립하였으며, 이 알고리즘 성능과 타당성을 검증하기 위하여 다양한 주변차량 주행환경에 따른 시나리오 시험을 수행하였다. 또한 개발된 알고리즘의 효과를 미시적 교통류 시뮬레이션 (VISSIM)을 통해 확인하였다. 개발한 알고리즘을 합류차량에 적용한 결과 안정류 상태에서 합류성능이 두드러지게 개선되는 것을 확인하였다. 이 차량 자동제어 시스템은 교통 자동차 분야 융합기술의 일환으로 개발되었으며, 운전자의 부하와 오류를 감소시켜 효율성과 안전성을 향상시킬 뿐만 아니라 교통류의 안정성, 임계용량, 주행 효율성의 증대로 사회비용 감소를 기대할 수 있다.

• Journal of Mechanical Science and Technology
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• 제17권3호
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• pp.336-342
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• 2003

Increasing demand on precision machining using computerized numerical control (CNC) machines have necessitated that the tool move not only with the smallest possible position error but also with smoothly varying feedrates in 3-dimensional (3D) space. This paper presents the simultaneous 3D machining process investigated using a retrofitted PC-NC milling machine. To achieve the simultaneous 3-axis motions, a new precision interpolation algorithm for 3D Non Uniform Rational B-Spline (NURBS) curve is proposed. With this accurate and efficient algorithm for the generation of complex 3D shapes, a real-time NURBS interpolator was developed using a PC and the simultaneous 3D machining was accomplished satisfactorily.

• Journal of Advanced Marine Engineering and Technology
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• 제18권5호
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• pp.68-77
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• 1994

The authors apply the transfer influence coefficient method to the 3-dimensional vibration analysis of beam with multi-joints and formulate a general algorithm to analysis the longitudinal, flexural and torsional coupled free vibration. In this paper, the structure, which is mainly founded in the robot arms, cranes and so on, has some crooked parts, subsystems and joints but has no closed loop in this system. It is modeled as the beam of a distributed mass system with massless translational, rotational and torsional springs in each node, and joint elements of release or roll at which node the displacement vector is discontinuous. The superiorty of the present method to the transfer matrix method in the computation accuracy was confirmed by the numerical computation results. Moreover, we confirmed that boundary and intermediate conditions could ve controlled by varying the values o the spring constants.

• 대한산업공학회지
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• 제23권3호
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• pp.581-595
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• 1997

The procedure of grouping the machines and parts to form cells is called manufacturing cell design. The manufacturing cell design is an important step in the development and implementation of advanced manufacturing systems. For the successful implementation of the manufacturing systems, identification of independent manufacturing cells, i.e., cells where parts are completely processed in the cell and no intercell movements, is necessary in the design phase. In this paper, we developed a mixed integer programming model and genetic algorithm based procedure to solve the independent manufacturing cells design problem considering the alternative process plans and machines duplication. Several manufacturing parameters such as, production volume, machine capacity, processing time, number of cells and cell size, are considered in the process. The model determines the process plan for parts, port families and machine cells simultaneously. The model has been verified with the numerical examples.

• Journal of Advanced Marine Engineering and Technology
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• 제21권3호
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• pp.256-266
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• 1997

The authors apply the transfer influence coefficient method to the 3. dimensional vibration analysis of beam with multi - joints and formulate a general algorithm to analyse the longitudinal, flexural and torsional coupled forced vibration. In this paper, a structure which is mainly found in the robot arms, cranes and so on, has some crooked parts, subsystems and joints, but has no closed loop in this system. It is modeled as the beam of a distributed mass system with massless translational, rotational and torsional springs in each node, and joint elements of release or roll at node which the displacement vector is discontinuous. The superiority of the present method to the transfer matrix method in the computation accuracy was confirmed from the numerical computation results. Moreover, we confirmed that boundary and intermediate conditions could be controlled by varying the values of the spring constants.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• 제18권1호
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• pp.17-26
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• 2014

This paper presents development of an improved domain decomposition method for large scale structural problem that aims to provide high computational efficiency. In the previous researches, we developed the domain decomposition algorithm based on augmented Lagrangian formulation and proved numerical efficiency under both serial and parallel computing environment. In this paper, new computational analysis by the proposed domain decomposition method is performed. For this purpose, reduction in computational time achieved by the proposed algorithm is compared with that obtained by the dual-primal FETI method under serial computing condition. It is found that the proposed methods significantly accelerate the computational speed for a linear structural problem.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• 제19권2호
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• pp.171-188
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• 2015

In this paper, the efficient column-wise/row-wise lattice reduction (LR) updating and downdating methods are developed and their complexities are analyzed. The well-known LLL algorithm, developed by Lenstra, Lenstra, and Lov${\acute{a}}$sz, is considered as a LR method. When the column or the row is appended/deleted in the given lattice basis matrix H, the proposed updating and downdating methods modify the preconditioning matrix that is primarily computed for the LR with H and provide the initial parameters to reduce the updated lattice basis matrix efficiently. Since the modified preconditioning matrix keeps the information of the original reduced lattice bases, the redundant computational complexities can be eliminated when reducing the lattice by using the proposed methods. In addition, the rounding error analysis of the proposed methods is studied. The numerical results demonstrate that the proposed methods drastically reduce the computational load without any performance loss in terms of the condition number of the reduced lattice basis matrix.

• 한국경영과학회지
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• 제16권1호
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• pp.135-146
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• 1991

This paper shows the infinite horizon model of Partially Observable Markov Decision Process with lagged information. The lagged information is uncertain delayed observation of the process under control. Even though the optimal policy of the model exists, finding the optimal policy is very time consuming. Thus, the aim of this study is to find an .eplison.-optimal stationary policy minimizing the expected discounted total cost of the model. .EPSILON.- optimal policy is found by using a modified version of the well known policy iteration algorithm. The modification focuses to the value determination routine of the algorithm. Some properties of the approximation functions for the expected discounted cost of a stationary policy are presented. The expected discounted cost of a stationary policy is approximated based on these properties. A numerical example is also shown.

• 제어로봇시스템학회논문지
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• 제4권2호
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• pp.187-193
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• 1998

This paper proposes an advanced visual tracking algorithm for the stable grasping of a moving target(2D). This algorithm is programmed to find grasping points of an unknown polygonal object and execute visual tracking. The Kalman Filter(KF) algorithm based on the SVD(Singular Value Decomposition) is applied to the visual tracking system for the tracking of a moving object. The KF based on the SVD improves the accuracy of the tracking and the robustness in the estimation of state variables and noise statistics. In addition, it does not have the numerical unstability problem that can occur in the visual tracking system based on Kalman filter. In the grasping system, a parameterized family is constructcd, and through the family, the grasping system finds the stable grasping points of an unknown object through the geometric properties of the parameterized family. In the previous studies, many researchers have been studied on only 'How to track a moving target'. This paper concern not only on 'how to track' but also 'how to grasp' and apply the grasping theory to a visual tracking system.

• 한국항공우주학회지
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• 제50권4호
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• pp.233-240
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• 2022

스마트무장은 종말 유도조종을 통해 정밀타격 임무를 수행하는 초소형 유도무기로 미래 전장환경의 신무기체계이다. 하지만 크기로 인한 구조적 제한으로 인해 압전구동 방식의 조종날개를 이용해 제어를 수행하기 때문에 기동력이 작아 유도범위가 제한적이다. 본 논문에서는 스마트무장의 효과도를 높이기 위한 비 표준조건 사격제원 산출 알고리즘을 제안한다. 제안된 알고리즘은 획득한 전장환경 정보를 이용해 표준조건에서의 사격제원을 보정해 비 표준조건의 사격제원을 산출한다. 다양한 조건에서의 수치 시뮬레이션을 통해 제안된 알고리즘의 성능을 검증하였다.