• International Journal of Control, Automation, and Systems
• /
• v.4 no.4
• /
• pp.466-479
• /
• 2006

This paper addresses a formation navigation issue for a group of mobile robots passing through an environment with either static or moving obstacles meanwhile keeping a fixed formation shape. Based on Lyapunov function and graph theory, a NN formation control is proposed, which guarantees to maintain a formation if the formation pattern is $C^k,\;k\geq1$. In the process of navigation, the leader can generate a proper trajectory to lead formation and avoid moving obstacles according to the obtained information. An evolutionary computational technique using particle swarm optimization (PSO) is proposed for motion planning so that the formation is kept as $C^1$ function. The simulation results demonstrate that this algorithm is effective and the experimental studies validate the formation ability of the multiple mobile robots system.

• Journal of the Korean Society for Precision Engineering
• /
• v.16 no.10
• /
• pp.126-131
• /
• 1999

Up until now, it is said that no satisfactory computer solutions have been found for synthesizing four-bar linkage based on the prescribed coupler link curve. In our study, an algorithm has been developed to improve the design synthesis of four-bar linkage automatically generating prescribed path by using B-spline interpolation. The suggested algorithm generates the desired coupler curve by using B-spline interpolation, and hence the generated curve approximates as closely as to the desired curve representing coupler link trajectory. Also, when comparing each generated polygon with the control polygon, rapid comparison by applying convex hull concept. finally, optimization process using ADS is incorporated into the algorithm based on the 5 precision point method to reduce the total optimization process time. As for examples, three different four-bar linkages were tested and the results showed the effectiveness of the algorithm.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.15 no.2
• /
• pp.713-728
• /
• 2021

This paper proposes an augmented reality technique to generate acrobatic scenes from hitting motion videos. After a user shoots a motion that mimics hitting an object with hands or feet, their pose is analyzed using motion tracking with deep learning to track hand or foot movement while hitting the object. Hitting position and time are then extracted to generate the object's moving trajectory using physics optimization and synchronized with the video. The proposed method can create videos for hitting objects with feet, e.g. soccer ball lifting; fists, e.g. tap ball, etc. and is suitable for augmented reality applications to include virtual objects.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2020.11a
• /
• pp.846-849
• /
• 2020

하이퍼파라미터(초매개변수) 최적화란 모델의 학습에 앞서 미리 설정해야 하는 값인 하이퍼파라미터의 최적값을 탐색하는 문제이다. 이때의 최적값은 학습을 끝낸 모델의 성능을 가능한 최대치로 높이게 하는 값이다. 한편, 최근 모바일 장치를 이용한 포지셔닝 데이터의 대량 수집이 가능해지면서 이를 활용하여 위치 기반 서비스(Location-Based Service)를 위한 데이터 분석 및 예측에 관한 연구가 활발히 이루어졌다. 그중 이동 경로를 이미지로 패턴화하여 국소 지역 내에서 다음 위치를 예측하는 CNN 모델에 대해서 하이퍼파라미터 튜닝을 진행하였다. 결과적으로 베이지안 최적화(Bayesian Optimization)를 통해 모델의 성능을 평균 3.7%, 최대 9.5%까지 개선할 수 있음을 확인하였다.

• Proceedings of the Korean Society of Propulsion Engineers Conference
• /
• 2008.03a
• /
• pp.283-292
• /
• 2008

The foremost criterion in the design of a Satellite Launch Vehicle(SLV) is its performance capability to boost the designated payload to the desired mission orbit; it starts from focusing on the SLV configuration to achieve the velocity requirements($}\Delta}V$) for the mission. In this paper we review an analytical approach which is suitable enough for preliminary conceptual design and is used previously to optimize stage configurations for Two Stage to Orbit SLV for Low Earth Orbit(LEO) Missions; we have extended this approach to Three Stage to Orbit SLV and compared different propellant options for the mission. The objective is to minimize the Gross Lift off Weight(GLOW). The primary performance figures of merit were the total inert weight of the SLV and the payload weight that the SLV could lift into LEO, given candidate propulsion systems. The optimization is achieved by configuring the $}\Delta}V$ between stages. A comparison of configurations of single-stage and multi-stage SLVs is made for different propellants. Based upon the optimized stage configurations a comparative performance analysis is made between Liquid and Solid fueled SLV. A 3 degree of freedom trajectory-analysis program is modeled in SIMULINK and used to conduct the performance analysis. Furthermore, a cost analysis is performed on our stage optimized SLVs. The cost estimation relationships(CER) used give us a comparison of development and fabrication costs for the Liquid vs. Solid fueled SLV in man years. The pros and cons of the production, operation ability, performance, responsiveness, logistics, price, shelf life, storage etc of both Solid and Liquid fueled SLVs are discussed. The statistics and data are used from existing or historical(real) SLV stages.

• Journal of Advanced Navigation Technology
• /
• v.27 no.4
• /
• pp.365-373
• /
• 2023

Unmanned aerial vehicles are widely used in various fields, and real-time path replanning is a critical factor in enhancing the safety and efficiency of these devices. In this paper, we propose a real-time path replanning technique based on RRT* and LOSPO. The proposed technique first generates an initial path using the RRT* algorithm and then optimizes the path using LOSPO. Additionally, the optimized path can be converted into a trajectory that considers actual time and the dynamic limits of the aircraft. In this process, environmental changes and collision risks are detected in real-time, and the path is replanned as needed to maintain safe operation. This method has been verified through simulation-based experiments. The results of this paper make a significant contribution to the research on real-time path replanning for UAVs, and by applying this technique to various situations, the safety and efficiency of UAVs can be improved.

• Proceedings of the KWS Conference
• /
• 2002.10a
• /
• pp.181-186
• /
• 2002

Laser welding application for car body manufacturing has many advantages in the stiffness and the lightness of vehicle, the productivity of assembly line, and the degree of freedom in design. This presentation will express the innovation of car body manufacturing including parameter optimization, process modeling, and system integration. In this application the investment for systems was cut down dramatically by real time switching over the laser path between two welding stations. Points of technical discussion are as follows: optimization of parameters such as laser power, robot speed and trajectory, compact and useful design of jig & fixture to assure welding quality for 3 sheet-layer zinc-coated steel, system integration between 4kW Nd:YAG laser device and the other systems, on-line real time welding quality monitoring system, perfect safety standards for high power laser, minimization of consumption costs such as arc lamp, protective glass for optic, etc. Laser welding has found a place on Hyundai's production plant in conjunction with the startup of mass production of new sports car, and this production system is the result of a collaboration of its engineers. Outer side sheets are joined to inner side sheets by 122 stitch welds totally. And the length is about 2.4meter.

• Journal of the Korea Society for Simulation
• /
• v.27 no.1
• /
• pp.39-49
• /
• 2018

An SLBM (submarine-launched ballistic missile) seriously threatens the national security due to its stealthiness that makes it difficult to detect in advance. We consider a destroyer deployment optimization problem for effectively detecting an SLBM. An optimization model is based on the two-person zero-sum game in which an adversary determines the firing and arriving places with an appropriate trajectory that provides a low detection probability, and we establish a destroyer deployment plan that guarantees the possibly highest detection probability. The proposed two-person zero-sum game model can be solved with the corresponding linear programming model, and we perform computational studies with a randomly generated area and scenario and show the optimal mixed strategies for both the players in the game.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.47 no.3
• /
• pp.228-239
• /
• 2019

In order to design the conceptual configuration of the short-range ballistic missile, the authors have established an optimization problem considering various aspects such as volume, aerodynamics, propulsion, structure, stability, and flight trajectory. For this purpose, the existing missile cases were analyzed and the design conditions and performance indices were derived. The performance of the whole system was analyzed by integrating each subsystem's model. Through the design example, we analyzed the relationship between various design variables and final performances.

• Nuclear Engineering and Technology
• /
• v.52 no.9
• /
• pp.2017-2024
• /
• 2020

In this study, a fractional order proportional integral derivative (FOPID) controller is designed to create the reference power trajectory and to conquer the uncertainties and external disturbances. A fractional nonlinear model was utilized to describe the nuclear reactor dynamic behaviour considering thermal-hydraulic effects. The controller parameters were tuned using optimization method in Matlab/Simulink. The FOPID controller was simulated using Matlab/Simulink and the controller performance was evaluated for Hard variation of the reference power and compared with that of integer order a proportional integral derivative (IOPID) controller by two models of fractional neutron point kinetic (FNPK) and classical neutron point kinetic (CNPK). Also, the FOPID controller robustness was appraised against the external disturbance and uncertainties. Simulation results showed that the FOPID controller has the faster response of the control attempt signal and the smaller tracking error with respect to the IOPID in tracking the reference power trajectory. In addition, the results demonstrated the ability of FOPID controller in disturbance rejection and exhibited the good robustness of controller against uncertainty.