• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1034-1039
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• 1991

A robot motion planning algorithm for time-varying obstacle avoidance is proposed. The robot motion planning problem is replaced with the optimization problem by using the distance function with the divided configuration space. To divide the configuration space, the polar coordinate system is used. For each divided configuration space, the admissible region where the robot can reach without collisions is obtained using the distance function. For an object moving in a plane, the admissible region is described by linear constraints on the polar coordinate system. A numerical algorithm that solves the optimization problem is shown and the computer simulation is carried out.

• 제어로봇시스템학회논문지
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• 제3권2호
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• pp.169-178
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• 1997

This paper presents a new solution approach to moving obstacle avoidance problem of a robot. A new concept, avoidability measure(AVM) is defined to describe the state of a pair of a robot and an obstacle regarding the collision between them. As an AVM, virtual distance function(VDF) is derived as a function of three state variables: the distance from the obstacle to the robot, outward speed of the obstacle relative to the robot, and outward speed of the robot relative to the obstacle. By keeping the virtual distance above some positive limit value, the robot avoids the obstacle. In terms of the VDF, an artificial potential is constructed to repel the robot away from the obstacle and to attract the robot toward a goal location. At every sampling time, the artificial potential field is updated and the force driving the robot is derived from the gradient of the artificial potential field. The suggested algorithm drives the robot to avoid a moving obstacle in real time. Since the algorithm considers the mobility of the obstacle and robot as well as the distance, it is effective for moving obstacle avoidance. Some simulation studies show the effectiveness of the proposed approach.

• 한국컴퓨터정보학회논문지
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• 제16권12호
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• pp.11-21
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• 2011

임베디드 센서는 낮은 전력량과 신호의 세기로 장애물이나 거리와 같은 공간 환경에 많은 영향을 받으며, 이러한 원인들로 인해 임베디드 센서에서는 노이즈 데이터가 빈번히 발생한다. 임베디드 센서에서 획득하는 정보는 시계열 데이터로 존재하기 때문에 지속적으로 발생하는 시계열 정보에 대한 오류 검출을 실시간적으로 수행하기는 어렵다. 본 논문에서는 임베디드 장치의 물리적 특성을 고려하여 실시간적으로 발생하는 임베디드 센서의 오류 신호를 검출하는 시계열 예측 기반 오류 검출 기법을 제안한다. 본 논문에서 제안한 시계열 예측 기반 오류 검출 기법은 안정 구간 함수를이용하여 현재 발생하는 임베디드장치 신호의 오류를 판단한다. 안정 구간 함수는 임베디드장치 신호를 관측하여 오류 검출을 수행할 때 최근의 신호들에 오류 가중화를 적용함으로써 효과적으로 오류 신호를 탐지할 수 있다. 본 논문에서 제안한 기법을 Intel Lab 신호를 이용하여 실험하였으며, 실험에서 본 논문에서 제안한 기법은 중심이동평균 기법에 비해 26.25%의 정확도 향상을 나타내었다.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1998년도 춘계학술대회 논문집
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• pp.88-93
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• 1998

This paper presents a new solution approach to moving obstacle avoidance problem for a mobile robot. A new concept avoidability measure(AVM) is defined to describe the state of a pair of a robot and an obstacle regarding the collision between them. As an AVM, virtual distance function(VDF) is derived as a function of the distance from the obstacle to the robot and outward speed of the obstacle relative to the robot. By keeping the virtual distance above some positive limit value, the robot avoids the obstacle. In terns of the VDF, an artificial potential field is constructed to repel the robot away from the obstacle and to attract the robot toward a goal location. At every sampling time, the artificial potential field is updated and the force driving the robot is derived form the gradient of the artificial potential field. The suggested algorithm drives the robot to avoid moving obstacles in real time. Since the algorithm considers the mobility of the obstacle as well as the distance, it is effective for moving obstacle avoidance. Some simulation studies show the effectiveness of the proposed approach.

• Earthquakes and Structures
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• 제8권6호
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• pp.1463-1480
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• 2015

This research aims to develop an empirical model for simulation of time-varying frequency in earthquake ground motion so as to be used easily in engineering applications. Briefly, 10545 recordings of the Next Generation Attenuation (NGA) global database of accelerograms from shallow crustal earthquakes are selected and binned by magnitude, distance and site condition. Then the wavelet spectrum of each acceleration record is calculated by using one-dimensional continuous wavelet transform, and the frequencies corresponding to the maximum values of the wavelet spectrum at a series of sampling time, named predominant frequencies, are extracted to analyze the variation of frequency content of seismic ground motions in time. And the time-variation of the predominant frequencies of 178 magnitude-distance-site bins for different directions are obtained by calculating the mean square root of predominant frequencies within a bin. The exponential trigonometric function is then use to fit the data, which describes the predominant frequency of ground-motion as a function of time with model parameters given in tables for different magnitude, distance, site conditions and direction. Finally, a practical frequency-dependent amplitude envelope function is developed based on the time-varying frequency derived in this paper, which has clear statistical parameters and can emphasize the effect of low-frequency components on later seismic action. The results illustrate that the time-varying predominant frequency can preferably reflect the non-stationarity of the frequency content in earthquake ground motions and that empirical models given in this paper facilitates the simulation of ground motions.

• 한국음향학회지
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• 제36권6호
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• pp.378-386
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• 2017

해양무기체계 연구개발 과정에 있어서 정량적 시험평가를 수행하기 위해 수중에서 기동하는 표적과 계측 장비간의 거리측정이 요구된다. 일반적으로 정확하게 동기화된 송 수신기 사이의 전송 시간차를 측정하는 단방향 ToA(Time of Arrival) 기법을 이용하여 목표물의 거리를 측정한다. 하지만 수신된 신호는 다중경로의 영향으로 왜곡되어 거리 추정 성능을 저하시킨다. 본 논문에서는 음선 기반의 블라인드 디컨볼루션 기법을 사용하여 수신된 각 데이터 프레임으로부터 시변하는 복합 수중 채널 함수를 추정하고 추정된 시변 전달 함수를 시역전하여 다중경로 현상을 제거한다. 제안된 기법으로 시뮬레이션 및 해상실험을 진행하였을 때, 기존의 ToA 기법보다 거리 추정 성능이 향상되는 결과를 확인하였다.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2005년도 Proceedings of ISRS 2005
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• pp.294-297
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• 2005

Time series are comprehensively appeared and developed in many applications, ranging from science and technology to business and entertainrilent. Similarity search under time warping has attracted much interest between the time series in the large sequence databases. DTW (Dynamic Time Warping) is a robust distance measure and is superior to Euclidean distance for time series, allowing similarity matching although one of the sequences can elastic shift along the time axis. Nevertheless, it is more unfortunate that DTW has a quadratic time. Simultaneously the false dismissals are come forth since DTW distance does not satisfy the triangular inequality. In this paper, we propose an efficient range query algorithmbased on a new similarity search method under time warping. When our range query applies for this method, it can remove the significant non-qualify time series as early as possible before computing the accuracy DTW distance. Hence, it speeds up the calculation time and reduces the number of scanning the time series. Guaranteeing no false dismissals, the lower bounding function is advised that consistently underestimate the DTW distance and satisfy the triangular inequality. Through the experimental result, our range query algorithm outperforms the existing others.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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• pp.667-672
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• 2000

This article presents a new acceleration/deceleration method for real-time control of autonomous mobile robots. In this method, a function which produces the table of acceleration/deceleration in real-time is proposed. This function, while satisfying the basic concept of mechanics, can choose both various ranges of velocity and distance ranges for the selected velocities. Moreover it can control motors with real time. This function is convenient to be realized by programming. and it is faster than other functions because it can be made by assembly language.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1140-1143
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• 1996

A new approach based on artificial potential function is proposed for the obstacle avoidance of redundant manipulators. Unlike the so-called "global" path planning method, which requires expensive computation for the path search before the manipulator starts to move, this new approach, "local" path planning, researches the path in real-time using the local distance information. Previous use of artificial potential function has exhibited local minima in some complex environments. This thesis proposes a potential function that has no local minima even for a cluttered environment. This potential function has been implemented for the collision avoidance of a redundant robot in Simulation. The simulation also employ an algorithm that eliminates collisions with obstacles by calculating the repulsive potential exerted on links, based on the shortest distance to object.

• 제어로봇시스템학회논문지
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• 제5권2호
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• pp.174-179
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• 1999

In this paper, we propose an optimal algorithm for finding the shortest connection of two kinds of parts to pairs. If total part numbers are of size N, then there are order 2ㆍ(N/2)$^{N}$ possible solutions, of which we want the one that minimizes the energy function. The appropriate dynamic rule and parameters used in network are proposed by a new energy function which is minimized when 3-constraints are satisfied. This dynamic nile has three important parameters, an enhancement variable connected to pairs, a normalized distance term and a time variable. The enhancement variable connected to pairs have to a perfect connection of two kinds of parts to pairs. The normalized distance term get rids of a unstable states caused by the change of total part numbers. And the time variable removes the un-optimal connection in the case of distance constraint and the wrong or not connection of two kinds of parts to pairs. First of all, we review the theoretical basis for Hopfield model and present a new energy function. Then, the connection matrix and the offset bias created by a new energy function and used in dynamic nile are shown. Finally, we show examples through computer simulation with 20, 30 and 40 parts and discuss the stability and feasibility of the resultant solutions for the proposed connection algorithm.m.