• 한국생산제조학회지
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• 제26권1호
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• pp.13-19
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• 2017

In modern industry, the machining process is very important for manufacturing various products. More than 80% of machining processes apply rough cutting. The target of this study is to establish the optimal condition of rough cutting using trochoidal motion for improving productivity. For research, the range of cutting conditions is defined by trochoidal motion. The cutting time and tolerance are measured and evaluated according to the cutting conditions of machining. Experimental data are utilized for comparing trochoidal motion and contouring. It is found that the cutting time of trochoidal motion is two times less than that of contouring with optimal cutting conditions. To conclude, trochoidal motion for rough cutting under appropriate cutting conditions improves productivity and shortens processing time significantly.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 하계종합학술대회 논문집(4)
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• pp.39-42
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• 2000

Motion estimation plays an important role for video coding. In this paper, we derive optimal search patterns for fast block matching motion estimation. By analyzing the block matching algorithm as a function of block shape and size, we can find an optimal search pattern for initial motion estimation. The proposed idea, which has been verified experimentally by computer simulations, can provide an analytical basis for the current MPEG-2 proposals. In order to choose a more compact search pattern for BMA, we exploit the statistical relationship between the motion and the frame difference of each block.

• 한국정밀공학회지
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• 제16권12호
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• pp.204-213
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• 1999

This paper suggests a numerical method of finding optimal geometric path and minimum-time motion for a manipulator arm. To find the minimum-time motion, the optimal geometric path is searched first, and the minimum-time motion is searched on this optimal path. In the algorithm finding optimal geometric path, the objective function is minimizing the combination of joint velocities, joint-jerks, and actuator forces as well as avoiding several static obstacles, where global search is performed by adjusting the seed points of the obstacle models. In the minimum-time algorithm, the traveling time is expressed by the linear combinations of finite-term quintic B-splines and the coefficients of the splines are obtained by nonlinear programming to minimize the total traveling time subject to the constraints of the velocity-dependent actuator forces. These two search algorithms are basically similar and their convergences are quite stable.

• Journal of Electrical Engineering and Technology
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• 제7권6호
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• pp.1023-1033
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• 2012

An underwater planar covering problem is studied where the coverage region consists of polygonal cells, and line sweep motion is used for coverage. In many subsea applications, sidescan sonar has become a common tool, and the sidescan sonar data is meaningful only when the sonar is moving in a straight line. This work studies the optimal line sweep coverage where the sweep paths of the cells consist of straight lines and no turn is allowed inside the cell. An optimal line sweep coverage solution is presented when the line sweep path is parallel to an edge of the cell boundary. The total time to complete the coverage task is minimized. A unique contribution of this work is that the optimal sequence of cell visits is computed in addition to the optimal line sweep paths and the optimal cell decomposition.

• 정보처리학회논문지A
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• 제12A권1호
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• pp.79-86
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• 2005

이 논문에서는 계산적으로나 수명적으로 코드를 최적화 하기 위해 절제된 코드 모션 알고리즘을 제안한다. 제한한 알고리즘은 BCM과 LCM 알고리즘을 확장한 SpCM 알고리즘이다. SpCM 알고리즘에서 BCM 알고리즘은 계산적으로 최적의 코드 모션을 수행하며, LCM 알고리즘은 레지스터 압박을 감소시킨다. 일반적으로, 코트 모션 알고리즘은 계산의 최적화와 레지스터 압박에 관련된 실행시간 최적화를 실행한다. 이 논문에서는 계산 비용과 레지스터 압박에 코드의 크기를 고려하는 부분을 추가하였다. 코드의 계산적 최적화와 수명적 최적화에 이어 코드의 크기를 고려하는 SpCM 알고리즘에 의해 코드 모션의 최적화 결과를 얻을 수 있다. 이 논문에서 제안한 알고리즘은 모든 불필요한 코드 모션을 억제시키기 때문에 계산적으로나 수명적으로 최적인 알고리즘이라 할 수 있다.

• 한국정밀공학회지
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• 제18권10호
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• pp.116-126
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• 2001

This paper suggests a numerical method to find optimal geometric path and minimum-time motion for a spatial 6-link manipulator arm (PUMA 560 type). To find a minimum-time motion, the optimal geometric paths minimizing 2 different dynamic performance indices are searched first, and the minimum-time motions are searched on these optimal paths. In the algorithm to find optimal geometric paths, the objective functions (performance indices) are selected to minimize joint velocities, actuator forces or the combinations of them as well as to avoid one static obstacle. In the minimum-time algorithm the traveling time is expressed by the power series including 21 terms. The coefficients of the series are obtained using nonlinear programming to minimize the total traveling time subject to the constraints of velocity-dependent actuator forces.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.293-298
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• 1993

In this paper, methods for computing the time-optimal motion of a robotic manipulator are presented that considers the nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacles. The optimization problem can be reduced to a search for the time-optimal path in the n-dimensional position space. These paths are further optimized with a local path optimization to yield a global optimal solution. Time-optimal motion of a robot with an articulated arm is presented as an example.

• 한국정밀공학회지
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• 제20권9호
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• pp.84-91
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• 2003

This paper concerns on one-DOF non-rotating active magnetic bearing (AMB) system subject to base motion. In such a system, it is desirable to retain the axis within the predetermined air-gap while the base motion forces the axis to deviate from the desired air-gap. Motivated from this, an optimal acceleration feedforward control is proposed to reduce the base motion response without deteriorating other feedback control performances. Experimental results demonstrate that the proposed optimal feedforward control reduces the standard deviation of the air-gap to 29％ that by feedback control alone.

• 한국정밀공학회지
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• 제32권1호
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• pp.107-111
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• 2015

This paper proposes an optimal design for a precision motion stage employing a parallelogram flexure hinge. The voltage applied to the piezo element produces motion that is amplified through a 3-stage amplification structure. Especially, instead of the generally used conic section flexure hinge a parallelogram shaped flexure hinge is used that improves the flexibility of the lever. An Finite Element Analysis is performed on each motion stage lever where optimal design was achieved using Response Surface Methodology(RSM).

• 제어로봇시스템학회논문지
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• 제5권7호
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• pp.836-840
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• 1999

Linear motion and angular motion in task space are handled separately in joint velocity planning for redundant robot manipulators. In solving inverse kinematic equations with given joint velocity limits, we consider the order of priority for linear motion and angular motion. The proposed method will be useful in such applications where only linear motions are important than angular motions or vice versa.