• The Journal of Korea Robotics Society
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• v.8 no.3
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• pp.173-178
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• 2013

We present six-degree-of-freedom (6DoF) haptic rendering algorithms using translational ($PD_t$) and generalized penetration depth ($PD_g$). Our rendering algorithm can handle any type of object/object haptic interaction using penalty-based response and makes no assumption about the underlying geometry and topology. Moreover, our rendering algorithm can effectively deal with multiple contacts. Our penetration depth algorithms for $PD_t$ and $PD_g$ are based on a contact-space projection technique combined with iterative, local optimization on the contact-space. We circumvent the local minima problem, imposed by the local optimization, using motion coherence present in the haptic simulation. Our experimental results show that our methods can produce high-fidelity force feedback for general polygonal models consisting of tens of thousands of triangles at near-haptic rates, and are successfully integrated into an off-the-shelf 6DoF haptic device. We also discuss the benefits of using different formulations of penetration depth in the context of 6DoF haptics.

• Proceedings of the Korean Information Science Society Conference
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• 2007.10c
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• pp.433-438
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• 2007

This paper presents a distance mapping-based localization method with incomplete data which means partially observed data. We make three contributions. First, we propose the use of Multi Dimensional Scaling (MDS) for multi-robot localization. Second, we formulate the problem to accomodate partial observations common in multi-robot settings. We solve the resulting optimization problem using #Scaling by Majorizing a Complicated function (SMACOF)#, a popular algorithm fur iterative MDS. Third, we not only verify the performance of MDS-based multi-robot localization by computer simulations, but also implement a real world localization of multi-robot team. Using extensive empirical results, we show that the accuracy of the proposed method is almost similar to that of Monte Carlo Localization(MCL).

• Journal of Ship and Ocean Technology
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• v.11 no.2
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• pp.10-25
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• 2007

With the sharp increase of the oil price, the issue of the energy saving requires even higher propulsive efficiency of the propellers. Traditionally the propellers have been designed with the criteria such as that of Lerbs optimum based on the lifting line theory and the empirical formulae of Lerbs and van Manen giving relations of the wake pitch with the wake non-uniformity. With the aid of the high speed computer, it is now possible to apply the time-consuming iterative approaches for the solution of the lifting surface problems. In this paper we formulate the variational problem to optimize the efficiency of the propeller operating in the given ship wake using the lifting surface method. The variational formulation relating the spanwise circulation distribution with the propulsive efficiency to be maximized is however non-linear in circulation distribution functions, thus the iterative method is applied to the quasi-linearized equations. The blade shape design also requires the iterative procedures, because the shape of the blade which is represented by the lifting surface is unknown a priori. The numerical code was validated with the DTNSRDC propeller 4119 which is well-known to be optimum in uniform inflow condition. In addition existing (well-designed) commercial propellers were selected and compared with the results of the open water tests and the self-propulsion tests.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.3
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• pp.111-116
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• 2000

In this paper, we presented a new algebraic iterative algorithm for the optimal control of the nonlinear systems. The algorithm is based on tow steps. The first step transforms optimal control problem into a sequence of linear optimal control problem using the quasilinearization method. In the second step, TPB(two point boundary condition problem) is solved by algebraic equations instead of differential equations using BPF(block pulse functions). The proposed algorithm is simple and efficient in computation for the optimal control of nonlinear systems. In computer simulation, the algorithm was verified through the optimal control design of Van del pole system and Volterra Predatory-prey system.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2301-2306
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• 2005

Even if there are lots of researches on localization using 2D range finder in static environment, very few researches have been reported for robust real-time localization of mobile robot in uncertain and dynamic environment. In this paper, we present a new localization method based on ICP(Iterative Closest Point) algorithm for navigation of mobile robot under dynamic or uncertain environment. The ICP method is widely used for geometric alignment of three-dimensional models when an initial estimate of the relative pose is known. We use the method to align global map with 2D scanned data from range finder. The proposed algorithm accelerates the processing time by uniformly sampling the line fitted data from world map of mobile robot. A data filtering method is also used for threshold of occluded data from the range finder sensor. The effectiveness of the proposed method has been demonstrated through computer simulation and experiment in an office environment.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.20 no.4
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• pp.86-97
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• 2006

For the design of DC traction power supply system at new Light Rail Transit(LRT) construction, it is very important to determine system configuration, location and power capacity of substation. However, a LRT system consists of a number of subsystems such as train movement, power supply and traction drives, which inevitably contains many complexities and diversities. The objective of this paper is to clarify and systematize the design procedure and its assessment for the electrification system of a LRT line. This paper discusses in detail our approach to system design and its assessment. The whole DC-feeding network configuration, characteristics of a train, and design method of substation arrangements is thoroughly investigated for the design. As a result of the investigations, the design procedure is clarified and systematized and a computer program for the design and evaluation of the system is developed using the most suitable iterative method with nodal equation. To verify the proposed design and its assessment procedure, case studies for the DC traction power supply system of a planed Korean LRT line are performed.

• Journal of Power System Engineering
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• v.9 no.4
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• pp.202-208
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• 2005

The genetic algorithm (GA) which is one of the popular optimum algorithm has been used to solve a variety of optimum problems. Because it need not require the gradient of objective function and is easier to find global solution than gradient-based optimum algorithm using the gradient of objective function. However optimum method using the GA and the finite element method (FEM) takes many computational time to solve the optimum structural design problem which has a great number of design variables, constraints, and system with many degrees of freedom. In order to overcome the drawback of the optimum structural design using the GA and the FEM, the author developed a computer program which can optimize frame structures by using the GA and the generalized transfer stiffness coefficient method. In order to confirm the effectiveness of the developed program, it is applied to optimum design of plane frame structures. The computational results by the developed program were compared with those of iterative design.

• Journal of Broadcast Engineering
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• v.14 no.3
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• pp.322-331
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• 2009

This paper proposes an efficient data representation of stereo images using edge-based mesh optimization. Mash-based two dimensional warping for stereo images mainly depends on the performance of a node selection and a disparity estimation of selected nodes. Therefore, the proposed method first of all constructs the feature map which consists of both strong edges and boundary lines of objects for node selection and then generates a grid-based mesh structure using initial nodes. The displacement of each nodal position is iteratively estimated by minimizing the predicted errors between target image and predicted image after two dimensional warping for local area. Generally, iterative two dimensional warping for optimized nodal position required a high time complexity. To overcome this problem, we assume that input stereo images are only horizontal disparity and that optimal nodal position is located on the edge include object boundary lines. Therefore, proposed iterative warping method performs searching process to find optimal nodal position only on edge lines along the horizontal lines. In the experiments, we compare our proposed method with the other mesh-based methods with respect to the quality by using Peak Signal to Noise Ratio (PSNR) according to the number of nodes. Furthermore, computational complexity for an optimal mesh generation is also estimated. Therefore, we have the results that our proposed method provides an efficient stereo image representation not only fast optimal mesh generation but also decreasing of quality deterioration in spite of a small number of nodes through our experiments.

• Journal of Computational Design and Engineering
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• v.1 no.4
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• pp.223-232
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• 2014

This paper describes a variant of the extended Gaussian image based registration algorithm for point clouds with surface color information. The method correlates the distributions of surface normals for rotational alignment and grid occupancy for translational alignment with hue filters applied during the construction of surface normal histograms and occupancy grids. In this method, the size of the point cloud is reduced with a hue-based down sampling that is independent of the point sample density or local geometry. Experimental results show that use of the hue filters increases the registration speed and improves the registration accuracy. Coarse rigid transformations determined in this step enable fine alignment with dense, unfiltered point clouds or using Iterative Common Point (ICP) alignment techniques.

• Journal of the Society of Naval Architects of Korea
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• v.28 no.2
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• pp.69-76
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• 1991

A design method based on the surface vorticity distribution is developed to generate a two-dimensional blade section for prescribed velocity distribution in potential flow. The boundary condition used to determine the strength of vorticity distribution requires that the surface of blade section should be a streamline of the resulting flow. In order to obtain the required final geometry of a two-dimensional blade section, an iterative procedure is used. A computer program is developed and several numerical results are presented.