• Journal of Aerospace System Engineering
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• v.14 no.2
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• pp.1-11
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• 2020

Detecting obstacles and generating a suitable path to avoid obstacles in real time is a prime mission requirement for UAVs. In areas, close to buildings and people, detecting obstacles in the path and estimating its own position (egomotion) in GPS degraded/denied environments are usually addressed with vision-based Simultaneous Localization and Mapping (SLAM) techniques. This presents possibilities and challenges for the feasible path generation with constraints of vehicle dynamics in the configuration space. In this paper, a near real-time feasible path is shown to be generated in the ORB-SLAM framework using a chain-based path planning approach in a force field with dynamic constraints on path length and minimum turn radius. The chain-based path plan approach generates a set of nodes which moves in a force field that permits modifications of path rapidly in real time as the reward function changes. This is different from the usual approach of generating potentials in the entire search space around UAV, instead a set of connected waypoints in a simulated chain. The popular ORB-SLAM, suited for real time approach is used for building the map of the environment and UAV position and the UAV path is then generated continuously in the shortest time to navigate to the goal position. The principal contribution are (a) Chain-based path planning approach with built in obstacle avoidance in conjunction with ORB-SLAM for the first time, (b) Generation of path with minimum overheads and (c) Implementation in near real time.

• Journal of the Society of Naval Architects of Korea
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• v.44 no.2 s.152
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• pp.198-209
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• 2007

In this paper, we present the gouging and collision-free tool-path generation for manufacturing model propellers using the 5-axis NC machine. Because it takes much time to generate tool-paths when we use general purpose CAD/CAM systems, a specific system would be necessary for marine propellers. Overall manufacturing process is composed of two steps: roughcut and finishcut steps. The roughcut is conducted using only 3-axis for efficient machining and the finishcut is done using 5-axis for avoiding collision. The tool-path that might happen to gouging is searched and the tool position is also decided for avoiding interference between the tool and the propeller blades. The present algorithm is applied extensively to the surface piercing propellers. Some results are demonstrated for its validation.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.12
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• pp.142-150
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• 1996

Nowadays, as the development paeiod of new products becomes even shorter, the importance of Rapid Prototyping Technology(RPT) has been rapidly increased. The major application of RPT is an early verification of product designs and quick production of prototypes for testing. Moreover, RPT is applied not only as a second tooling process such as mold making and investment casting but also as a creating some physical structure in medical field. Despite the remarkable progress of RPT, it is required to improve various problems resulting from application such as production time, accuracy and materials. This paper presents a laser scan path generation for accuracy of stereolithographicparts The methodology of laser scan path generation is discussed based on the stereolithography, The procedure of this research is as follows : 1) Input laser scanning conditions such as a laser beam diameter and a laser scanning interval, 2) Reconstruct original contours without self intersecting offset, 3) Calculate offset about reconstructed contours, 4) Calculate intersection points between horizontal or vertical lines and offset contours for internal hatch, 5) Decide laser shutter on/off points. The algorithm developed and programmed by C language is verified as an efficient method after testing a number of STL files of mechanical parts.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.6
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• pp.951-957
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• 2010

An optimal path generation method considering the safety of UGV(Unmanned Ground Vehicle) is proposed and demonstrated through examples. Among various functions of UGV, real-time obstacle avoidance is a key issue to realize realistic scenario in FCS(Future Combat Systems). A two-dimensional narrow corridor environment is considered as a test field. For each step of UGV movement, two objectives are considered: One is to minimize the distance to the target and the other to maximize the distance to the nearest point of an obstacle. A weighted objective function is used in the optimization problem. Equality and inequality constraints are taken to secure the UGV's dynamics and safety. The weighting factors are controlled by a fuzzy controller which is constructed by a fuzzy rule set and membership functions. Simulations are performed for two cases. First the weighting factors are considered as constant values to understand the characteristics of the corresponding solutions and then as variables that are adjusted by the fuzzy controller. The results are satisfactory for realistic situations considered. The proposed optimal path generation with the fuzzy control is expected to be well applicable to real environment.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.6 no.1
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• pp.305-321
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• 2012

Since Internet Protocol (IP) is the most important protocol in Next Generation Networks (NGNs), 3rd Generation Partnership Project (3GPP) utilizes Session Initial Protocol (SIP) based on IP as the base protocol for negotiating sessions in IP Multimedia Subsystem (IMS). Different from traditional circuit-switched network, in IMS, the media traffic and signaling are delivered through IP transport. The media traffic may affect the signaling efficiency in core network, due to traffic collisions and best effort packets delivery. This paper proposes a novel path-migration mechanism for enhancing the traffic efficiency in integrated NGN-IMS. The simulation results show that the interference and traffic collision can be reduce by applying proposed path-migration mechanism and the signaling efficiency in core network can be improved with higher system capability and voice quality.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1012-1016
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• 2004

In this paper, we propose a simple but optimized NC code generating technique for disk cams by means of tool path error control in a five-axis CNC machining center. Using the geometric theorem of the triangle made between manufacturing points and error checkpoint, the tool path error has been studied for disk cams profile generation and an improvement in the profile has been obtained. Then, based on the present manufacturing approach a computer program is developed on $C^{++}$ language to perform and to verify the shape design, the manufacturing simulation, and the optimized generation of the NC code.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1993.10a
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• pp.687-692
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• 1993

This paper deals with the generation of laser scan path for manufacturing 3-dimensional body using StereoLithography. The purpose of this study is to develop one module of the StersoLithography system(SLA) for Rapid Protyping and Manufacturing. AutoCAD system is used to supply CAD information from model. The X-Y controller which was made for a special purpose is used to test this system. The system software developed is composed of 3 main modules, the first module is calculating the boundary point os laser scan path. The scound module is generating final output file which is used to down load on the controller. The result of this study shows a good algorithm to generate laser scan path on the basis of simple mathematical background.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2001.10a
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• pp.124-127
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• 2001

We consider the routing and wavelength assignment problem in survivable WDM transport network without wavelength conversion. We assume the single-link failure and a path protection scheme in optical layer. When a physical network and a set of working paths are given, the problem is to select a link-disjoint protection path for each working path and assign a wavelength for each working and protection path. We give an integer programming formulation of the problem and propose an algorithm to solve it based on column generation technique and variable fixing. We devise a branch-and-price algorithm to solve the column generation problem. We test the proposed algorithm on some randomly generated data and test results show that the algorithm gives very good solutions.

• Journal of Mechanical Science and Technology
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• v.18 no.5
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• pp.753-761
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• 2004

In this paper, an efficient method for generating 5-axis cutting data for a turbine blade is presented. The interference elimination of 5-axis cutting currently is very complicated, and it takes up a lot of time. The proposed method can generate an interference-free tool path, within an allowance range. Generating the cutting data just point to the cutting process and using it to obtain NC data by calculating the feed rate, allows us to maintain the proper feed rate of the 5-axis machine. This paper includes the algorithms for: (1) CL data generation by detecting an interference-free heel angle, (2) finding the optimal tool path interval considering the cusp-height, (3) finding the adaptive feed rate values for each cutter path, and (4) the inverse kinematics depending on the structure of the 5-axis machine, for generating the NC data.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.1
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• pp.53-64
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• 1994

Rouge cutting process takes the major portion of machining operation using NC milling machine. Especially, most of the machining time is spent in this process when molds are machined. Therefore, an efficient algorithm for generating the tool path for rough cutting is suggested in this paper. The first step of the procedure is getting the volume to be machined by applying the Boolean operation on the finished model and the workpiece which have been modeling system. Basic principle of determining machining procedure is that a large tool should be used at the portion of the simple shape while a small tool should be used at the complex portion. This principle is realized by representing the volume to be machined by an octree, which is basically a set of hexahedrons, and matching the proper tools with the given octants. When the tools are matched with the octants, the tool path can be derived at the same time.