• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.6
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• pp.783-790
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• 2013

Circular path generation for ball bar measurement using the simultaneous movement of two axes with at least one rotary axis requires the execution of CAM software. However, a change in the machine type or measurement condition requires a new execution of the CAM software, which is cumbersome. This paper presents a circular path generation technique that does not require CAM software and is applicable to different types of driving axes with an arbitrary structural configuration of machine tools and any ball bar setup condition. Mathematical equations are derived for three cases using the proposed technique. In addition, to inspect the measurement feasibility for avoiding physical interference among the ball bar parts, a tilting angle calculation is proposed. The validity of the proposed technique was verified by performing a ball bar experiment with A and C as the simultaneous axes of a five-axis machine tool.

• Journal of IKEEE
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• v.27 no.1
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• pp.1-11
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• 2023

Path driving tests are necessary for the development of self-driving cars or robots. These tests are being conducted in simulation as well as real environments. In particular, for development using reinforcement learning and deep learning, development through simulators is also being carried out when data of various environments are needed. To this end, it is necessary to utilize not only manually designed paths but also various randomly and automatically designed paths. This test site design can be used for actual construction and manufacturing. In this paper, we introduce a method for randomly generating a driving test path consisting of a combination of arcs and segments. This consists of a method of determining whether there is a collision by obtaining the distance between an arc and a line segment, and an algorithm that deletes part of the path and recreates an appropriate path if it is impossible to continue the path.

• Cement
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• s.176
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• pp.4-10
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• 2007

• 대한관절경학회:학술대회논문집
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• 2009.10a
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• pp.49-50
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• 2009

• 월간낙농육우
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• v.28 no.3 s.311
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• pp.97-102
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• 2008

• Journal of KSNVE
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• v.19 no.4
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• pp.9-16
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• 2009

• Proceedings of the Korea Multimedia Society Conference
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• 2004.05a
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• pp.429-432
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• 2004

능동 네트워크에 관한 연구들은 능동 패킷 정의와 능동 센서 프로그램 언어, 능동 노드의 구성, 경로 설정에 관한 것이다. 본 논문에서는 정보처리가 가능하고 원격에서 제어 가능한 능동 라우터 시스템의 구축 방향을 제시하고 능동 라우터 시스템에 전달되는 능동 패킷에 대한 정의와 능동 센서 프로그램 언어 및 인터프리터도 설계 및 구현한다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.6
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• pp.458-464
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• 2013

This paper presents an algorithm for autonomous landing approach of a unmanned aerial vehicle. The main purpose of the autonomous landing approach in this study is to help a safe landing at night. From any initial position of the aircraft when this function is engaged, a flight path command is generated from the initial position. The shortest combination of an initial circular arc, a straight line segment, and a final circular arc is chosen for the flight path that will lead the aircraft to one end of runway for a landing. The algorithm is initially validated through numerous simulations with various initial conditions of aircraft. Then it is successfully validated through a number of flight tests.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.12 no.4
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• pp.17-22
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• 2003

This paper presents a new circular curve fitting approach of articulated manipulators, based on least square. The approach aims at gaining the interpolation of circle from n data points, under the condition that the fitted circle should pass both a starting point and an ending point. First a spherical fitting should be performed, using least squares. Then the circular curve fitting can be resulted from the intersection of the fitted sphere and the plane obtained from 3 points, i. e., a starting point, an ending point and the center of a sphere. The proposed algorithms are shown to be efficient by using MATLAB-based simulation.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1523-1524
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• 2008

이 논문에서는 주어진 복도 환경에서 원호경로 알고리즘을 제안함으로써 장애물 회피 알고리즘을 적용하였을 때 보다 이동로봇의 실제적 이동거리를 적게하고 또한 각속도의 변화를 적게하여 결과적으로 이동로봇에 가해지는 기계적, 에너지적 부담을 줄일수 있도록 하였다. 실험 결과는 제안된 알고리즘이 효율적임을 보여준다.