• Journal of the Korean Operations Research and Management Science Society
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• v.14 no.1
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• pp.72-79
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• 1989

In this paper we consider the problem of finding an optimal straight line path of moving facility which interacts with a set of existing facilities fixed within a given rectangular area. We present a simple algorithm for rectilinear metric which greatly improves the pervious method and also propose algorithms for Euclidean and squared Euclidean distances.

• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.800-804
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• 1999

An intelligent path planning algorithm for an autonomous cleaning robot is presented. This algorithm recognizes obstacle on the architectural CAD draft and generates subgoals as tracking points which executes the area filling task based on heuristic approach. A sweeping path is planned by sequentially connecting the tracking points in such a way that (1) the connected line segments should be crossed, (2) the total tracking points should be as short as possible, (3) the tracking line should not pass through the obstacle. Feasibility of the developed techniques has been demonstrated on real architectural CAD draft.

• The Journal of the Korean dental association
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• v.11 no.2
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• pp.134-138
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• 1973

The author measured and analyzed the condyle path inclinations of 25 normal Korean adults roentgeno-cephalometrically and following conclusions were obtained. In protrusive movement of mandible, the angle of condyle pation inclination in relation to 1) occlusal plane is 19.86±8.25, 2) Frankfort Horizontal plane is 28.32±8.56, 3) Camper line is 12.22±4.06, 4) Nasion-sella line is 36.80±8.54.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.18 no.5
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• pp.100-111
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• 2019

The existing selected station analysis (SSA) method analyzes the link transfer mode data between origin and destination of individuals passing through stations from a microscopic standpoint. As such, existing SSA is insufficient as it uses integrated analysis using macroscopic data such as subway lines. This research builds a line chain OD based on path search of individual passenger's movement through the subway, and explores means to utilize the findings. First, a method is proposed that searches the traversed subway path from the linked passage modes that the passenger uses and applies the results to SSA line analysis. Compared to the existing SSA, this method provides for analysis of commonly conflicting features such as the line on which the station is passed, and the stations included on the line thanks to the presence of complete information of the individual passenger's traversed path. It also allows for integrated observation of the line chain OD that approaches a certain station. For enhanced understanding, Seoul Metro Line 9 is used as a case study to demonstrate the integrated formulation concept of line chain OD centered around a certain station as well as the macroscopic features of the traversed path that approaches stations included on the line.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.10a
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• pp.301-305
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• 2001

Conventionally, robot control algorithms are divided into two stages, namely, path or trajectory planning and path tracking(or path control). This division has been adopted mainly as a means of alleviating difficulties in dealing with complex, complex, coupled manipulator dynamics. The minimum-time manipulator control problem is solved for the case when the path is specified and the actuator torque limitations are known. In path planning, DP is applied to applied to find the shortest path form initial position to final position with the assumptions that there is no obstacle and that each path is straight line. In path control, the phase plane technique is applied to the minimum-time control with the assumptions that the bound on each actuator torque is a function of joint position and velocity or constant. This algorithm can be used for any manipulator that has rigid link, known dynamics equations of motion, and joint angles that can be determined at a given position on the path.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.267-271
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• 1996

In this study, performance improvement of the inverse modeling as the on-line control method for the estimation, control experiment is performed. As the modeling errors is occurred in duct system arbitrarily, a case using the filtered-x LMS algorithm only as the control method, a case using tile inverse modeling method only and a case using the inverse modeling with the adaptive line enhancer are compared. The estimation errors between real secondary path transfer functions and the estimated and the control performances of primary noises with these estimated transfer functions are compared.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1469-1473
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• 2004

We suggest how to program off-line robot path along shoes' outsole shape in the footwear buffing process by a 5-axis microscribe system like robot arms. This microscribe system developed consists a 5-axis robot link with a turn table, signal processing circuit, PC and an application software program. It makes a robot path on the shoe's upper through the movement of a microscribe with many joints. To do this, first it reads 5-encoder's pulse values while a robot arm points a shoes' outsole shape from the initial status. This system developed calculates the encoder pulse values for the robot arm's rotation and transmits the angle pulse values to the PC through a circuit. Then, Denavit-Hartenberg's(D-H) direct kinematics is used to make the global coordinate from robot joint one. The determinant is obtained with kinematics equation and D-H variable representation. To drive the kinematics equation, we have to set up the standard coordinates first. The many links and the more complicated structure cause the difficult kinematics problem to solve in the geometrical way. Thus, we can solve the robot's kinematics problems efficiently and systematically by Denavit-Hartenberg's representation. Finally, with the coordinate values calculated above, it can draw a buffing gauge-line on the upper. Also, it can program off-line robot path on the shoes' upper. We are subjected to obtaining shoes' outline points, which are 2 outlines coupled with the points and the normal vector based on the points. These data is supposed to be transformed into .dxf file to be used for data of automatic buffing robot. This system developed is simulated by using spline curves coupled with each point from dxf file in Autocad. As a result of applying this system to the buffing robot in the flexible footwear manufacturing system, it can be used effectively to program the path of a real buffing robot.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.4
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• pp.392-398
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• 2008

We propose a new path planning method for autonomous mobile robots. To maximize the utility of mobile robots, the collision-free shortest path should be generated by on-line computation. In this paper, we develop an effective and practical method to generate a good solution by lower computation time. The initial path is obtained from skeleton graph by Dijkstra's algorithm. Then the path is improved by changing the graph and path dynamically. We apply the dynamic programming algorithm into the stage of improvement. Simulation results are presented to verify the performance of the proposed method.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.9
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• pp.1216-1223
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• 2018

As field of application of AMI, AMR uses the power line as the primary means of communication. PLC has a big merit without installation of the new network for communication in a field using the power line which is the existing equipment. However, there is a serious obstacle in commercialization for the instability by noise and communication environment. Therefore, the technical method for maintaining the communication state which overcome such demerit and was stabilized is required essentially. PLC routing technology is applied with the alternative plan now. The routing technology currently managed by field includes many problems by applying the algorithm of an elementary level. PLC routing path search problem can be modeled with the problem of searching for optimal solution as similar to such as optimal routing problem and TSP(Travelling salesman problem). In this paper, in order to search for a PLC routing path efficiently and to choose the optimal path, GA(Genetic Algorithm) was applied. Although PLC was similar in optimal solution search as compared with typical GA, it also has a difference point by the characteristic of communication, and presented the new methodology over this. Moreover, the validity of application technology was verified by showing the experimental result to which GA is applied and analyzing as compared with the existing algorithm.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.9 no.6
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• pp.584-590
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• 2016

This paper proposed "Priority Scheduling and MultiPath Routing Protocol (RRPS) for preventing communication disruption in the urban environment" to minimize the disconnection or disruption of V2I and V2V communication in the urban environment where communication is frequently disconnected according to density. The flow of the RRPS is explained as follows. RSU Request Priority Scheduling (RRPS) is used to apply the priority of the request message prior to reaching the end line by using the Start Line and End Line, which are the management areas of the RSU). This paper also proposed MPRP (Multi Path Routing Protocol) design to set up the multipath to the destination. As a result, the proposed RRPS improves the processing efficiency of V2I by applying priority scheduling to the message of the vehicle requesting the information in the RSU, and can prevent the communication disconnection. Thereby, it is improved the transmission success probability.