• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.904-907
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• 1996

In this paper, we propose an efficient collision-free path planning method of two cooperating robot manipulators grasping a common object rigidly. For given two robots and an object, the procedure is described which constructs the reduced dimensional configuration space by the kinematic analysis of two cooperating robot manipulators. A path planning algorithm without explicit representation of configuration obstacles is also described. The primary steps of the algorithm is as follows. First, we compute a graph which represents the skeleton of the free configuration space. Second, a connection between an initial and a goal configuration to the graph is searched to find a collision-free path.

• Journal of Information Processing Systems
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• 제16권6호
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• pp.1324-1342
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• 2020

Various modified algorithms of rapidly-exploring random tree (RRT) have been previously proposed. However, compared to the RRT algorithm for collision avoidance with global and static obstacles, it is not easy to find a collision avoidance and local path re-planning algorithm for dynamic obstacles based on the RRT algorithm. In this study, we propose boundary-RRT*, a novel-algorithm that can be applied to aerial vehicles for collision avoidance and path re-planning in a three-dimensional environment. The algorithm not only bounds the configuration space, but it also includes an implicit bias for the bounded configuration space. Therefore, it can create a path with a natural curvature without defining a bias function. Furthermore, the exploring space is reduced to a half-torus by combining it with simple right-of-way rules. When defining the distance as a cost, the proposed algorithm through numerical analysis shows that the standard deviation (σ) approaches 0 as the number of samples per unit time increases and the length of epsilon ε (maximum length of an edge in the tree) decreases. This means that a stable waypoint list can be generated using the proposed algorithm. Therefore, by increasing real-time performance through simple calculation and the boundary of the configuration space, the algorithm proved to be suitable for collision avoidance of aerial vehicles and replanning of local paths.

• Journal of Astronomy and Space Sciences
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• 제6권1호
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• pp.1-15
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• 1989

Magnetospheic substorm in the magnetotail region is studied numerically by means of a three dimensional MHD code. The analytic solution for the quiet magnetotail is employed as an initial configuration. The localized solar wind is modeled to enter the simulation domain through the boundaries located in the magnetotail lobe region. As a result of the interaction between the solar wind and the magnetosphere, the magnetic field lines are stretched, and the plasma sheet becomes thinner and thinner. When the current driven resistivity is generated, magnetic reconnection is triggered by this resistivity. The resulting plasma jetting is found to be super-magnetosonic. Although the plasmoid formation and its tailward motion is not quite clear as in the two dimensional simulation, which is mainly because of the numerical model chosen for the present simulation, the rarification of the plasmas near the x-point is observed. Field aligned currents are observed in the late expansive stage of the magnetospheric substorm. These field aligned currents flow from the tail toward the ionosphere on the dawn side from the ionosphere to ward the tail on the dusk side, namely in the same sense of the region 1 current. As the field aligned currents develop, it is found that the cross tail current in the earth side midnight section of the magnetic x-point is reduced.

• International Journal of Aeronautical and Space Sciences
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• 제18권3호
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• pp.403-413
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• 2017

Dual-point aerodynamic design optimization is conducted for DLR-F6 wing-body-nacelle-pylon configuration adopting an efficient surface mesh movement method for complex junction geometries. A three-dimensional unstructured Euler solver and its discrete adjoint code are utilized for flow and sensitivity analysis, respectively. Considered design conditions are a low-lift condition and a cruise condition in a transonic regime. Design objective is to minimize drag and reduce shock strength at both flow conditions. Shape deformation is made by variation of the section shapes of inboard wing and pylon, nacelle vertical location and nacelle pitch angle. Hicks-Henne shape functions are employed for deformation of the section shapes of wing and pylon. By the design optimization, drag coefficients were remarkably reduced at both design conditions retaining specified lift coefficient and satisfying other constraints. Two-point design results show mixed features of the one-point design results at low-lift condition and cruise conditions.

• International Journal of Naval Architecture and Ocean Engineering
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• 제13권1호
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• pp.758-771
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• 2021

This paper presents a novel control scheme for the three-dimensional (3D) path following of underactuated Autonomous Underwater Vehicle (AUVs) subject to unknown internal and external disturbances, in term of the time scale decomposition method. As illustration, two-time scale motions are first artificially forced into the closed-loop control system, by appropriately selecting the control gain of the integrator. Using the singular perturbation theory, the integrator is considered as a fast dynamical control law that designed to shape the space configuration of fast variable. And then the stabilizing controller is designed in the reduced model independently, based on the time scale decomposition method, leading to a relatively simple control law. The stability of the resultant closed-loop system is demonstrated by constructing a composite Lyapunov function. Finally, simulation results are provided to prove the efficacy of the proposed controller for path following of underactuated AUVs under internal and external disturbances.

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2007년도 추계 종합학술대회 논문집
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• pp.209-211
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• 2007

2차원 상호작용하는 페르미온 계에 대한 혼돈 대각화 계산의 컴퓨터 계산 시간이, 대칭성 연산과 같은 여러 가지 방법을 이용함으로써 감소되었다. 첫째로, 각각의 격자를 업스핀(${\uparrow}$) 격자와 다운스핀(${\downarrow}$) 격자로 나누어서 2부분 격자가 가능케 했다. 이에 따라, 유효한 바탕 상태는 업스핀 배열에 다운스핀 배열을 겹침으로써 얻어진다. 결과적으로, 시험 바탕 상태를 저장하는데 사용되는 메모리 공간이 현저하게 감소되었다. 두 번째로, 바탕 상태 집합을 구성할 때, 해밀토니안 행렬의 원소들을 순람표에 기록하였다. 그럼으로써, 혼돈 대각화 과정에서 해밀토니안 행렬의 원소들을 반복적으로 계산하는 것을 피했다. 세 번째로, 바탕 상태 집합에 대칭성 연산을 적용함으로써 원 바탕 상태 집합이 대칭성 연산의 고유벡터들로 구성된 새로운 바탕 상태 집합으로 변환되었다. 기저 상태 파동함수는 대칭적인 바탕상태 (결합상태) 집합으로부터 구성되었다. 결과로서, 대칭성 연산을 이용함으로써, 혼돈 대각화 계산에 쓰이는 바탕상태의 총 개수가 50%까지 감소되었다.