• Journal of the Korean Mathematical Society
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• v.39 no.5
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• pp.745-764
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• 2002

In this paper we Study a time-optimal model of pursuit in which the players move on a plane with bounded velocities. This game is supposed to be a nonzero-sum group pursuit game. The main point of the work is to construct and compare cooperative and non-cooperative solutions in the game and make a conclusion about cooperation possibility in differential pursuit games. We consider all possible cooperations of the players in the game. For that purpose for every game $\Gamma(x_0,y_0,z_0)$ we construct the corresponding game in characteristic function form $\Gamma_v(x_0,y_0,z_0)$. We show that in this game there exists the nonempty core for any initial positions of the players. The core can take four various forms depending on initial positions of the players. We study how the core changes when the game is proceeding. For the original agreement (an imputation from the original core) to remain in force at each current instant t it is necessary for the core to be time-consistent. Nonemptiness of the core in any current subgame constructing along a cooperative trajectory and its time-consistency are shown. Finally, we discuss advantages and disadvantages of choosing this or that imputation from the core.

• Journal of information and communication convergence engineering
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• v.7 no.2
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• pp.119-124
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• 2009

In this paper, we propose a novel approach to estimating the real-time moving trajectory of an object is proposed in this paper. The object's position is obtained from the image data of a CCD camera, while a state estimator predicts the linear and angular velocities of the moving object. To overcome the uncertainties and noises residing in the input data, a Extended Kalman Filter(EKF) and neural networks are utilized cooperatively. Since the EKF needs to approximate a nonlinear system into a linear model in order to estimate the states, there still exist errors as well as uncertainties. To resolve this problem, in this approach the Kohonen networks, which have a high adaptability to the memory of the input-output relationship, are utilized for the nonlinear region. In addition to this, the Kohonen network, as a sort of neural network, can effectively adapt to the dynamic variations and become robust against noises. This approach is derived from the observation that the Kohonen network is a type of self-organized map and is spatially oriented, which makes it suitable for determining the trajectories of moving objects. The superiority of the proposed algorithm compared with the EKF is demonstrated through real experiments.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.10 no.2
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• pp.101-106
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• 2010

We propose an approach to estimate the real-time moving trajectory of an object in this paper. The object's position is obtained from the image data of a CCD camera, while a state estimator predicts the linear and angular velocities of the moving object. To overcome the uncertainties and noises residing in the input data, a Extended Kalman Filter(EKF) and neural networks are utilized cooperatively. Since the EKF needs to approximate a nonlinear system into a linear model in order to estimate the states, there still exist errors as well as uncertainties. To resolve this problem, in this approach the Kohonen networks, which have a high adaptability to the memory of the inputoutput relationship, are utilized for the nonlinear region. In addition to this, the Kohonen network, as a sort of neural network, can effectively adapt to the dynamic variations and become robust against noises. This approach is derived from the observation that the Kohonen network is a type of self-organized map and is spatially oriented, which makes it suitable for determining the trajectories of moving objects. The superiority of the proposed algorithm compared with the EKF is demonstrated through real experiments.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.455-462
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• 2022

Since electric connectors such as power connectors have a small assembly tolerance and have a complex shape, the assembly process is performed manually by workers. Especially, it is difficult to overcome the assembly error, and the assembly takes a long time due to the error correction process, which makes it difficult to automate the assembly task. To deal with this problem, a reinforcement learning-based assembly strategy using contact states was proposed to quickly perform the assembly process in an unstructured environment. This method learns to generate a search trajectory to quickly find a hole based on the contact state obtained from the force/torque data. It can also learn the stiffness needed to avoid excessive contact forces during assembly. To verify this proposed method, power connector assembly process was performed 200 times, and it was shown to have an assembly success rate of 100% in a translation error within ±4 mm and a rotation error within ±3.5°. Furthermore, it was verified that the assembly time was about 2.3 sec, including the search time of about 1 sec, which is faster than the previous methods.

• Wind and Structures
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• v.38 no.5
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• pp.381-398
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• 2024

This study presents a mode analysis of 3D turbulent velocity data around a square-section building model to identify the dynamic system for Kármán-type vortex shedding. Proper orthogonal decomposition (POD) was first performed to extract the significant 3D modes. Magnitude-squared coherence was then applied to detect the phase consistency between the modes, which were roughly divided into three groups. Group 1 (modes 1-4) depicted the main vortex shedding on the wake of the building, with mode 2 being controlled by the inflow fluctuation. Group 2 exhibited complex wake vortexes and single-sided vortex phenomena, while Group 3 exhibited more complicated phenomena, including flow separation. Subsequently, a third-order polynomial regression model was used to fit the dynamics system of modes 1, 3, and 4, which revealed average trend of the state trajectory. The two limit cycles of the regression model depicted the two rotation directions of Kármán-type vortex. Furthermore, two characteristic periods were identified from the trajectory generated by the regression model, which indicates fast and slow motions of the wake vortex. This study provides valuable insights into 3D mode morphology and dynamics of Kármán-type vortex shedding that helps to improve design and efficiency of structures in turbulent flow.

• Journal of KIISE:Software and Applications
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• v.29 no.3
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• pp.167-179
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• 2002

In this paper, we propose a new acoustic model for characterizing segmental features and an algorithm based upon a general framework of hidden Markov models (HMMs) in order to compensate the weakness of HMM assumptions. The segmental features are represented as a trajectory of observed vector sequences by a polynomial regression function because the single frame feature cannot represent the temporal dynamics of speech signals effectively. To apply the segmental features to pattern classification, we adopted segmental HMM(SHMM) which is known as the effective method to represent the trend of speech signals. SHMM separates observation probability of the given state into extra- and intra-segmental variations that show the long-term and short-term variabilities, respectively. To consider the segmental characteristics in acoustic model, we present segmental-feature HMM(SFHMM) by modifying the SHMM. The SFHMM therefore represents the external- and internal-variation as the observation probability of the trajectory in a given state and trajectory estimation error for the given segment, respectively. We conducted several experiments on the TIMIT database to establish the effectiveness of the proposed method and the characteristics of the segmental features. From the experimental results, we conclude that the proposed method is valuable, if its number of parameters is greater than that of conventional HMM, in the flexible and informative feature representation and the performance improvement.

• International Journal of Aeronautical and Space Sciences
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• v.12 no.1
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• pp.43-56
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• 2011

An integrated system composed of guidance, navigation and control (GNC) system for autonomous proximity operations and the docking of two spacecraft was developed. The position maneuvers were determined through the integration of the state-dependent Riccati equation formulated from nonlinear relative motion dynamics and relative navigation using rendezvous laser vision (Lidar) and a vision sensor system. In the vision sensor system, a switch between sensors was made along the approach phase in order to provide continuously effective navigation. As an extension of the rendezvous laser vision system, an automated terminal guidance scheme based on the Clohessy-Wiltshire state transition matrix was used to formulate a "V-bar hopping approach" reference trajectory. A proximity operations strategy was then adapted from the approach strategy used with the automated transfer vehicle. The attitude maneuvers, determined from a linear quadratic Gaussian-type control including quaternion based attitude estimation using star trackers or a vision sensor system, provided precise attitude control and robustness under uncertainties in the moments of inertia and external disturbances. These functions were then integrated into an autonomous GNC system that can perform proximity operations and meet all conditions for successful docking. A six-degree of freedom simulation was used to demonstrate the effectiveness of the integrated system.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.12
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• pp.995-1006
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• 1989

If robots have the ability to track the parts on a moving conveyor belt, the efficiency of the manipulation tasks will be increased. This paper presents a motion planning algorithm for conveyor tracking. Tracking trajectory of a robot manipulator is determined by belt speed, initial part position, and initial robot position. Torque limit, maximum velocity, maximum acceleration and maximum jerk are also taken into account. To obtain the tracking solution, the problem is converted to the linear quadratic tracking problem. We describe the manipulator dynamics as second order state equation using parametric functions. Constraints on torques and smoothness are converted to those on input and state variables. The solution of the state equation which minimizes the performance index is obtained by dynamic programming method. Numerical examples are then presented to demonstrate the utility of the motion planning method developed.

• International Journal of Precision Engineering and Manufacturing
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• v.6 no.3
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• pp.24-28
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• 2005

Stress state of chip formation zone is one of the main problems in metal cutting mechanics. In two-dimensional case this process is usually considered as consistent shears of work material along one of several shear surfaces, separating chip from workpiece. These shear planes are assumed to be trajectories of maximum shear stress forming corresponding slip-line field. This paper suggests a new approach to the constriction of slip-line field, which implies uniform compression in chip formation zone. Based on the given model it has been found that imaginary shear line in orthogonal cutting is close to the trajectory of maximum normal stress and the problem about its determination has been considered as well. It has been shown that there is a second central slip-line field inside chip, which corresponds well to experimental data about stress distribution on tool rake face and tool-chip contact length. The suggested model would be useful in understanding mechanistic problems in machining.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.963-968
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• 1990

An iterative learning control scheme for tracking control of a class of uncertain nonlinear systems is presented. By introducing a model reference adaptive controller in the learning control structure, it is possible to achieve zero tracking of unknown system even when the upperbound of uncertainty in system dynamics is not known apriori. The adaptive controller pull the state of the system to the state of reference model via control gain adaptation at each iteration, while the learning controller attracts the model state to the desired one by synthesizing a suitable control input along with iteration numbers. In the controller role transition from the adaptive to the learning controller takes place in gradually as learning proceeds. Another feature of this control scheme is that robustness to bounded input disturbances is guaranteed by the linear controller in the feedback loop of the learning control scheme. In addition, since the proposed controller does not require any knowledge of the dynamic parameters of the system, it is flexible under uncertain environments. With these facts, computational easiness makes the learning scheme more feasible. Computer simulation results for the dynamic control of a two-axis robot manipulator shows a good performance of the scheme in relatively high speed operation of trajectory tracking.