• Journal of Institute of Control, Robotics and Systems
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• v.7 no.1
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• pp.1187-1195
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• 2001

This paper presents a sweeping path planning algorithm for an autonomous smearing robot. An automatic planner generates a sweeping path pattern by proposed five basic procedures. This algorithm rocog-nizes 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 track-ing points in such a way that(1) the connected line segments should not be crossed, (2) the total tracking points should be as short as possible, and (3) the tracking line should not pass through the obstacle, Feasibility of the developed techniques has been demonstrated on a real architectural CAD draft.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.539-543
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• 1999

This paper describes a sweeping path planning algorithm for an autonomous smearing robot on commercial autoCAD system. An automatic planner generates a sweeping path pattern by proposed five basic procedures, (1) interfacing architectural CAD system, (2) off-line obstacle map building, (3) scanning the whole workspace for subgoals of sweeping line, (4) tracking sequence of the subgoals, and (5) obstacle avoiding. 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 Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.1
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• pp.61-67
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• 1999

There has been an ever increasing interest in mobile robot for home services. However, issues currently being investigated for path planning of the mobile robot is concentrated to solving the problem of finding the optimal path from the initial location to the final location under the given performance index. In this study, we newly present a sweeping algorithm for autonomous mobile robot to cover the whole closed area under the unknown environment. And we verify the validity the validity of the formalized algorithm by computer simulation with the changing environment conditions. In addition to this, we analyse the effect of real system implementation of the proposed algorithm to a experimental miniature mobile robit(Khepera).

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.7
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• pp.1525-1530
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• 2014

In this research, we describe teaching based sweeping control for grinder robot has been proposed as a system which is suitable to work utilizing pressure sensitive alternative to human. Teaching method is used for grinder robots operations because of their position accuracy, path accuracy, and machining reaction force. A grinder robot for two-dimensional iron plate was developed on the basis of an force sensor based teaching method. An automatic-path-generation method and experimental results using specific points was adopted to reduce the number of teaching points and time. And also, in order to determine the proper machining conditions, various machining conditions such as grinder-wheel rotation speed and robot moving speed, were evaluated.

• Korean Journal of Computational Design and Engineering
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• v.2 no.1
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• pp.28-34
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• 1997

A swept volume is a useful tool for solving various types of interference problems. Previous works have concentrated on sweeping an object along an arbitrary path, that results in complex algorithms. This paper concerns the volume swept by translating an object along a linear path. After analyzing the structure of the swept volume, we present an incremental algorithm for constructing a swept volume. Our algorithm takes O(n/sup 2/ *.alpha.(n)+T/sub c/) time where n is the number of vertices in the original object and T/sub c/ is time for handling face cycles.

• 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 Transactions of the Korea Information Processing Society
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• v.6 no.3
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• pp.633-640
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• 1999

Reinforcement learning performs learning through interacting with trial-and-error in dynamic environment. Therefore, in dynamic environment, reinforcement learning method like Q-learning and TD(Temporal Difference)-learning are faster in learning than the conventional stochastic learning method. However, because many of the proposed reinforcement learning algorithms are given the reinforcement value only when the learning agent has reached its goal state, most of the reinforcement algorithms converge to the optimal solution too slowly. In this paper, we present COMREL(COMpressed REinforcement Learning) algorithm for finding the shortest path fast in a maze environment, select the candidate states that can guide the shortest path in compressed maze environment, and learn only the candidate states to find the shortest path. After comparing COMREL algorithm with the already existing Q-learning and Priortized Sweeping algorithm, we could see that the learning time shortened very much.

• Journal of electromagnetic engineering and science
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• v.10 no.4
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• pp.282-289
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• 2010

A simplified, practical vector network analyzer (VNA) that uses mature radio-over-fiber technology has been designed and demonstrated. The measurement concept allows the full S-parameters of a microwave device (or antenna) to be obtained while minimizing the detrimental effects of electrical cables, which are replaced with a photonic link. A variety of high-frequency light modulation schemes with frequency sweeping capabilities are presented to realize a one-path (single, forward), frequency-multiplied optical link for VNA applications. Using the photonic one-path link, full two-port S-parameters have been extracted based on five-term error modeling, which has half the error terms compared with the standard duplex configuration. The S-parameters of a microwave filter and antenna measured using frequency-multiplied optical links are found to be in good agreement with those obtained using a conventional VNA.

• 유체기계공업학회:학술대회논문집
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• 2004.12a
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• pp.473-478
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• 2004

This work presents the Thermal Hydraulic analysis has been performed for a 19-pin wire-spacer fuel assembly using three-dimensional Reynolds-averaged Navier-Stokes equations. SST model is used as a turbulence closure. The whole fuel assembly has been analyzed for one period of the wire-spacer using periodic boundary condition at inlet and outlet of the calculation domain. The overall results far a preliminary calculation show a good agreement with the experimental observations. It has been found that the major unidirectional flows are the axial velocity in sub-channels and the peripheral sweeping flows and the velocities are found to be following a cyclic path of period equal to the wire-wrap pitch. The temperature is found to be maximum in the central region and also, there exist a radial temperature gradient between the fuel rods. The major advantage of performing this kind of analysis is the prediction of thermal-hydraulic behavior of a fuel assembly with much ease.

• Journal of Communications and Networks
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• v.4 no.3
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• pp.176-188
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• 2002

This paper presents results of continuous wave and swept frequency response measurements over the frequency range of UNII lower and middle bands from 5.15GHz to 5.35GHz in indoor environments. From the continuous wave measurements at 5.2GHz, the excess path loss, and the statistical characteristics of the temporal and spatial fading were found. By sweeping the frequency over the band, envelope correlation as a function of frequency was found and the coherence bandwidth (CBW) was determined from the envelope correlation. Using a channel model, the CBW was used to evaluate RMS delay spread. The dependence of CBW on the antenna polarization was simulated and compared with the measurement results. The influence of room size and separation of transmitter and receiver for LOS paths on RMS delay spread was discussed.