• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.948-954
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• 1999

In this paper, we propose a cooperative motion planning algorithm for two tightly-coupled mobile robots. Specifically, the considered cooperative work is that two mobile robots should transfer a long rigid object along a predefined path. To resolve the problem, we introduce a master-slave concept for two obile robots having the same structure. According to the velocity of the master robot and the positions of two robots on the path, the velocity of the slave robot is determined. The slave normally tracks the master's motion, but in case that the velocity of the slave exceeds the velocity limit, the roles of the robots should be interchanged. The effectiveness of the proposed algorithm is proved by computer simulations.

• The Journal of Korea Robotics Society
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• v.3 no.1
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• pp.1-8
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• 2008

Automatic parking assist system is one of the key technologies of the future automobiles. Control problem of a car-like vehicle is not easy due to the nonholonomic constraints. In this paper, a practical solution for planning a car-parking path is proposed according to the proposed motion space (M-space) approach. The M-space is the extension of the conventional configuration space (C-space). A collision-free, nonholonomic feasible path can be directly computed by the M-space conversion and a back-propagation of reachable regions from the goal. The proposed planning scheme provide not a single solution, but also a candidate solution set, therefore, optimization of the parking path can be easily carried out with respect to performance criteria such as safety, maneuvering, and so on. Presented simulation results clearly show that the proposed scheme provides various practical solutions.

• Journal of Integrative Natural Science
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• v.12 no.1
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• pp.14-19
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• 2019

In this paper, we propose a system for controlling the brightness of street lights by predicting pedestrian paths, identifying the position of pedestrians with motion sensing sensors and obtaining motion vectors based on past walking directions, then predicting pedestrian paths through the route prediction smart street lighting system. In addition, by using motion vector data, the pre-treatment process using linear interpolation method and the fuzzy system and neural network system were designed in parallel structure to increase efficiency and the rough set was used to correct errors. It is expected that the system proposed in this paper will be effective in securing the safety of pedestrians and reducing light pollution and energy by predicting the path of pedestrians in the detection of movement of pedestrians and in conjunction with smart street lightings.

• Journal of Information Processing Systems
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• v.13 no.4
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• pp.818-833
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• 2017

This paper introduces a new algorithm that renders motion blur using triangular motion paths. A triangle occupies a set of pixels when moving from a position in the start of a frame to another position in the end of a frame. This is a motion path of a moving triangle. For a given pixel, we use a motion path of each moving triangle to find a range of time that this moving triangle is visible to the camera. Then, we sort visible time ranges in the depth-time dimensions and use bitwise operations to solve the occlusion problem. Thereafter, we compute an average color of each moving triangle based on its visible time range. Finally, we accumulate an average color of each moving triangle in the front-to-back order to produce the final pixel color. Thus, our algorithm performs shading after the visibility test and renders motion blur in real time.

• Structural Engineering and Mechanics
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• v.35 no.5
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• pp.555-570
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• 2010

Shallow fixed arches have a nonlinear primary equilibrium path with limit points and an unstable postbuckling equilibrium path, and they may also have bifurcation points at which equilibrium bifurcates from the nonlinear primary path to an unstable secondary equilibrium path. When a shallow fixed arch is subjected to a central step load, the load imparts kinetic energy to the arch and causes the arch to oscillate. When the load is sufficiently large, the oscillation of the arch may reach its unstable equilibrium path and the arch experiences an escaping-motion type of dynamic buckling. Nonlinear dynamic buckling of a two degree-of-freedom arch model is used to establish energy criteria for dynamic buckling of the conservative systems that have unstable primary and/or secondary equilibrium paths and then the energy criteria are applied to the dynamic buckling analysis of shallow fixed arches. The energy approach allows the dynamic buckling load to be determined without needing to solve the equations of motion.

• Journal of Drive and Control
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• v.18 no.2
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• pp.20-31
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• 2021

An excavator is a construction machine that can perform various tasks such as trenching, piping, excavating, slope cutting, grading, and rock demolishing. In the 2010s, unmanned construction equipment using ICT technology was continuously developed. In this paper, the path design process was studied to implement the output data of the decision stage, and the path design algorithm was developed. For example, the output data of the decision stage were terrain data around the excavator, excavator mechanism information, excavator hydraulic information, the position and posture of the bucket at key points, the speed of the desired bucket path, and the required excavation volume. The result of the path design was the movement of the hydraulic cylinder, boom arm, bucket, and bucket edge. The core functions of the path design algorithm are the function of avoiding impact during the excavation process, the function to calculate the excavation depth that satisfies the required excavation volume, and the function that allows the bucket to pass through the main points of the excavation process while maintaining the speed of the desired path. In particular, in the process of developing the last function, the node tracking method expressed in the path design table was newly developed. The path design algorithm was verified as this path design satisfied the JCMAS H02 requirement.

• Proceedings of the KIEE Conference
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• summer
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• pp.117-119
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• 2004

An optimal flight motion simulator path generation method is proposed for hardware in the loop simulation of high maneuverable missile. The proposed method consists of open loop and closed loop path calculation algorithm based on the energy optimal control strategies. The optimal angle command is able to protect the simulator from high acceleration shock at initial control phase.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.93.2-93
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• 2002

$\textbullet$ Design of Path-Finding Agents in Game Programming $\textbullet$ Computational Efficiency vs. Realistic Motion $\textbullet$ Path-Finding by Planning $\textbullet$ Path-Finding by Behavior-based Control $\textbullet$ implementation and Test of Path-Finding Program

• Journal of the Korean Chemical Society
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• v.32 no.2
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• pp.94-102
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• 1988

A quantitative description of the principle of least motion is suggested. The reaction path function of electronic variables, its norm and the reaction path average energy, which are unique for a given reaction path on a potential energy surface of a reacting system, are defined and their characteristics are discussed. It is postulated that the norm of the function and the average energy can be used as a criterion for identification of the preferred path of a unimolecular isomerization reaction. For a molecule with a certain symmetry, the preferred path, with which Woodward-Hoffmann rule agrees, is immediately identified without laborious computation.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.168-173
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• 2003

In this paper, we will present a deeper look on optimal design methods that are related to path-planning for a mobile robot. To control the motion of a mobile robot in a clustered environment, it's necessary to know a suitable trajectory assuming certain start and goal point. Up to now, there are many literatures that concern optimal path planning for an obstacle avoided mobile robot. Among those literatures, we have chosen 2 novel methods for our further analysis. The first approach [4] is based on HJB(Hamilton-Jacobi-Bellman) equation whose solution is the return-function that helps to generate a shortest path to the goal. The later [5] is called polynomial-path-planning approach, in this method, a shortest polynomial-shape path would become a solution if it was a collision-free path. The camera network plays the role as sensors to generate updated map which locates the static and dynamic objects in the space. Therefore, the exhibition of both path planning and dynamic obstacle avoidance by the updated map would be accomplished simultaneously. As we mentioned before, our research will include the motion control of a true mobile robot on those optimal planned paths which were generated by above algorithms. Base on the kinematic and dynamic simulation results, we can realize the affection of moving speed to the stable of motion on each generated path. Also, we can verify the time-optimal trajectory through velocity tuning. To simplify for our analysis, we assumed the obstacles are cylindrical circular objects with the same size.